--- 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,
  9.49925301e-02,-7.00161755e-02, 1.30004097e-01, 4.99966176e-01,
  5.00021091e-01, 4.99917118e-01, 5.00095597e-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,
 -1.86748433e+00,-4.04388506e+00, 1.02419636e+00,-3.08908946e+01,
  6.36221704e+00, 5.83484558e+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,-4.90500000e+00,-1.97518528e-03,
  0.00000000e+00,-2.22220802e-03]


--- 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,
  9.49780048e-02,-7.00476289e-02, 1.30009846e-01, 4.99900423e-01,
  5.00062056e-01, 4.99756021e-01, 5.00281348e-01]

qacc:
[ 1.19504642e+01,-4.00033979e+01, 1.50667357e+02,-2.40612657e+02,
  1.37138546e+00,-3.66594744e+01, 1.09247324e+02,-2.51388178e+02,
  2.21209424e+01,-2.29944044e+01, 1.17652380e+02,-2.34349456e+02,
  5.54936287e+02,-3.72073789e+01, 3.34097154e+02, 5.63416619e+01,
 -1.76384360e+00,-3.81946414e+00, 4.12990564e-01,-2.91415181e+01,
  5.99795622e+00, 5.50433098e+01]

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: -0.00154965328953946
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.16433174e-14,  1.79108293e-14,  1.00000000e+00, -1.28319123e-27,
        1.00000000e+00, -1.79108293e-14, -1.00000000e+00,  0.00000000e+00,
        7.16433174e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10985526, -0.03465313,  0.06195589])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.79458515e-06, 1.16356800e-06,-4.90501081e+00,-1.97546734e-03,
 -1.21758036e-06,-2.22404188e-03]


--- 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,
  9.49567684e-02,-7.00936134e-02, 1.30015189e-01, 4.99804298e-01,
  5.00121867e-01, 4.99520548e-01, 5.00552698e-01]

qacc:
[-1.89857011e+01,-3.34830510e+01, 1.69763866e+02,-3.91480676e+02,
 -1.82837713e+01,-5.16663196e+01, 1.99195935e+02,-4.19803324e+02,
 -4.45152374e+01,-3.20759359e+01, 1.61684666e+02,-3.41620269e+02,
  4.56048816e+02,-4.47277300e+01, 2.06920267e+02,-1.80916348e+02,
 -1.67777135e+00,-3.63277880e+00,-1.01286612e-01,-2.76894717e+01,
  5.68775516e+00, 5.22980914e+01]

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: -0.001523847143887258
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.10707341e-15,  1.82141468e-14,  1.00000000e+00, -1.65877572e-28,
        1.00000000e+00, -1.82141468e-14, -1.00000000e+00,  0.00000000e+00,
        9.10707341e-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([ 0.10986097, -0.03464008,  0.06195661])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.78600881e-06, 4.41367563e-06,-4.90504082e+00,-1.97690289e-03,
 -5.21133610e-06,-2.22789810e-03]


--- 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,
  9.49291058e-02,-7.01535099e-02, 1.30018399e-01, 4.99679073e-01,
  5.00199654e-01, 4.99213843e-01, 5.00905848e-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,  -1.60654061,  -3.47798294,  -0.53346725, -26.48925299,
    5.42290271,  50.02644264]

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: -0.0014891624849541207
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.31918978e-15,  1.86383796e-14,  1.00000000e+00,  1.73694596e-28,
        1.00000000e+00, -1.86383796e-14, -1.00000000e+00,  0.00000000e+00,
       -9.31918978e-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([ 0.10986864, -0.03462255,  0.06195758])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.45138920e-05, 9.48491316e-06,-4.90508714e+00,-1.97923971e-03,
 -1.14961707e-05,-2.23361120e-03]


--- 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,
  9.48952518e-02,-7.02268068e-02, 1.30018024e-01, 4.99525781e-01,
  5.00294678e-01, 4.98838457e-01, 5.01337634e-01]

qacc:
[ -21.88822896, -31.05562988, 163.22604831,-383.23095755, -17.07149402,
  -45.94868225, 196.23199139,-400.68787003, -46.55928139, -31.75789629,
  153.73266859,-322.33893153, 294.66082666, -32.84110684,  98.85821726,
 -244.40687148,  -1.54784697,  -3.35012525,  -0.89624955, -25.50271633,
    5.19602957,  48.15603804]

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([ 8.63636364,  7.97471616, -3.3152193 ,  7.97471616, 10.03145984,
        3.35588545, -3.3152193 ,  3.35588545, 16.70890169,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014476942982945273
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.91722629e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.91722629e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10987781, -0.03460157,  0.06195874])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.46536217e-05, 1.62126851e-05,-4.90514769e+00,-1.98229401e-03,
 -1.97241206e-05,-2.24105233e-03]


--- 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,
  9.48566499e-02,-7.02891109e-02, 1.30030154e-01, 4.99431139e-01,
  5.00341124e-01, 4.98483304e-01, 5.01738669e-01]

qacc:
[ -17.87195478, -30.95244851, 164.22769217,-387.2514639 , -15.85488432,
  -43.34338896, 193.3399023 ,-397.92627568, -41.17577327, -33.09304761,
  156.37620196,-323.72376618, 229.5142834 , -25.14169191,  88.23046928,
 -269.24510789,  -1.18699498,   2.74822516,   3.12637829, -14.06306682,
   -5.09014633, -39.55956733]

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: -0.001438338874934053
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.92969655e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.92969655e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10202408, -0.08966144,  0.061959  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.69825557e-05, 2.45083757e-05,-4.90522097e+00,-1.98593263e-03,
 -2.96497562e-05,-2.25012123e-03]


--- 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,
  9.48135929e-02,-7.03411005e-02, 1.30051777e-01, 4.99391939e-01,
  5.00341016e-01, 4.98146910e-01, 5.02111755e-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,  -1.11377764,   2.5786142 ,   2.37320857, -13.82265698,
   -4.44709966, -37.18454678]

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: -0.0014394972023528962
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.85628754e-14,  6.02544928e-14,  1.00000000e+00, -2.32358650e-27,
        1.00000000e+00, -6.02544928e-14, -1.00000000e+00,  0.00000000e+00,
        3.85628754e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10202907, -0.08966174,  0.06195897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.58833568e-05, 9.70431869e-06,-4.90518387e+00,-1.97555695e-03,
 -2.41454223e-05,-2.25516473e-03]


--- 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,
  9.47663198e-02,-7.03833408e-02, 1.30080364e-01, 4.99405482e-01,
  5.00296081e-01, 4.97828055e-01, 5.02459177e-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,  -1.05400824,   2.4373119 ,   1.7409353 , -13.59292668,
   -3.92354507, -35.20219015]

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: -0.0014277377579790668
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.94402477e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.94402477e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10203443, -0.08966567,  0.06195932])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.52450193e-05,-7.17630388e-07,-4.90515758e+00,-1.96639428e-03,
 -1.79400937e-05,-2.25917498e-03]


--- 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,
  9.47150246e-02,-7.04163014e-02, 1.30113796e-01, 4.99469502e-01,
  5.00207777e-01, 4.97525723e-01, 5.02782808e-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,  -1.0055301 ,   2.31994024,   1.21143377, -13.38265054,
   -3.49455881, -33.55042965]

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([ 8.63636364, -2.24576974,  8.33926227, -2.24576974, 17.83404576,
        2.47694287,  8.33926227,  2.47694287,  9.30340625,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014057685712782764
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.94881152e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.94881152e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10204012, -0.08967243,  0.06195995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.82735000e-06,-7.40269271e-06,-4.90514044e+00,-1.95811301e-03,
 -1.10876156e-05,-2.26221534e-03]


--- 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,
  9.46598632e-02,-7.04403708e-02, 1.30150306e-01, 4.99582104e-01,
  5.00077327e-01, 4.97239071e-01, 5.03084182e-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,  -0.96654468,   2.22280378,   0.76918952, -13.19736349,
   -3.140398  , -32.17763604]

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([ 8.63636364, -2.9700149 ,  8.10961086, -2.9700149 , 18.85017152,
        3.74064331,  8.10961086,  3.74064331, 10.00631425,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013758538709600365
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.03466912e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.03466912e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10204606, -0.08968139,  0.0619608 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.54186876e-06,-1.08466169e-05,-4.90513123e+00,-1.95046939e-03,
 -3.62889245e-06,-2.26433702e-03]


--- 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,
  9.46009597e-02,-7.04558690e-02, 1.30188419e-01, 4.99741707e-01,
  4.99905739e-01, 4.96967400e-01, 5.03364561e-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,  -0.93555048,   2.14278091,   0.40092688, -13.04022067,
   -2.84540357, -31.04073294]

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([ 8.63636364, -3.86178686,  7.72485463, -3.86178686, 27.516409  ,
        9.43845736,  7.72485463,  9.43845736, 13.35480978,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001339880973708199
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.07149561e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.07149561e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1020522 , -0.08969201,  0.06196182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.59885132e-05,-1.14297735e-05,-4.90512897e+00,-1.94328300e-03,
  4.40681041e-06,-2.26558133e-03]


--- 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,
  9.45384109e-02,-7.04630583e-02, 1.30226913e-01, 4.99947002e-01,
  4.99693831e-01, 4.96710125e-01, 5.03624982e-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,
 -9.11292604e-01, 2.07723326e+00, 9.52900333e-02,-1.29126559e+01,
 -2.59714043e+00,-3.01036844e+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: -0.0012994173723182845
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.13600158e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.13600158e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10205849, -0.08970385,  0.06196298])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.66068429e-05,-9.44323658e-06,-4.90513296e+00,-1.93641914e-03,
  1.30004119e-05,-2.26598154e-03]


--- 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,
  9.44722913e-02,-7.04621519e-02, 1.30264777e-01, 5.00196906e-01,
  4.99442253e-01, 4.96466760e-01, 5.03866299e-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,
 -8.92720980e-01, 2.02393000e+00,-1.57430653e-01,-1.28148830e+01,
 -2.38572215e+00,-2.93362750e+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: -0.0012557594564901742
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.42052424e-14,  4.42052424e-14,  1.00000000e+00,  1.95410346e-27,
        1.00000000e+00, -4.42052424e-14, -1.00000000e+00,  0.00000000e+00,
       -4.42052424e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10206486, -0.08971657,  0.06196422])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.74695263e-05,-5.10882284e-06,-4.90514266e+00,-1.92977634e-03,
  2.21415833e-05,-2.26556429e-03]


--- 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,
  9.44026559e-02,-7.04533215e-02, 1.30301180e-01, 5.00490536e-01,
  4.99151505e-01, 4.96236899e-01, 5.04089217e-01]

qacc:
[ -20.6471078 , -24.13892007, 132.12574301,-318.23533781, -16.07808036,
  -29.5209859 , 142.4889687 ,-292.52085783, -34.22697926, -24.45130028,
  120.65104048,-265.68104174, -46.87384697,  51.03476595,  46.15474788,
 -170.2867284 ,  -0.87895592,   1.98098438,  -0.36553358, -12.74627484,
   -2.20327951, -28.7131192 ]

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: -0.001209974086099283
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.5877967e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        4.5877967e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10207127, -0.08972987,  0.06196552])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.86344624e-05, 1.40544226e-06,-4.90515766e+00,-1.92327719e-03,
  3.18274284e-05,-2.26435090e-03]


--- 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,
  9.43295434e-02,-7.04367040e-02, 1.30335438e-01, 5.00827176e-01,
  4.98821953e-01, 4.96020202e-01, 5.04294317e-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,  -0.86925961,   1.94680045,  -0.53610752, -12.70564804,
   -2.04354158, -28.21285401]

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: -0.0011629340564433682
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.38668525e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.38668525e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10207768, -0.08974351,  0.06196685])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.01494165e-05, 9.97333232e-06,-4.90517770e+00,-1.91686182e-03,
  4.20613151e-05,-2.26235827e-03]


--- 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,
  9.42529788e-02,-7.04124063e-02, 1.30366995e-01, 5.01206253e-01,
  4.98453844e-01, 4.95816387e-01, 5.04482079e-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,  -0.86301251,   1.92002822,  -0.67520469, -12.69147397,
   -1.90150494, -27.81747644]

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: -0.0011153483422327443
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.48851185e-14, -9.95404738e-14,  1.00000000e+00,  2.47707648e-27,
        1.00000000e+00,  9.95404738e-14, -1.00000000e+00,  0.00000000e+00,
        2.48851185e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10208404, -0.08975731,  0.0619682 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.20551624e-05, 2.05010766e-05,-4.90520258e+00,-1.91048301e-03,
  5.28518686e-05,-2.25959970e-03]


--- 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,
  9.41729755e-02,-7.03805105e-02, 1.30395400e-01, 5.01627318e-01,
  4.98047319e-01, 4.95625216e-01, 5.04652897e-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,  -0.85969381,   1.89952581,  -0.78798922, -12.70203377,
   -1.77317218, -27.51179801]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010677878774621313
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.19870589e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.19870589e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10209033, -0.08977111,  0.06196955])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.43876022e-05, 3.29200452e-05,-4.90523217e+00,-1.90410271e-03,
  6.42121197e-05,-2.25608555e-03]


--- 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,
  9.40895367e-02,-7.03410775e-02, 1.30420289e-01, 5.02090026e-01,
  4.97602426e-01, 4.95446490e-01, 5.04807099e-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,  -0.85886529,   1.8843275 ,  -0.87886463, -12.73553015,
   -1.65534484, -27.2829935 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010207075180889424
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.71924867e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.71924867e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10209652, -0.08978479,  0.06197089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.71791888e-05, 4.71809938e-05,-4.90526641e+00,-1.89768943e-03,
  7.61587963e-05,-2.25182371e-03]


--- 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,
  9.40026576e-02,-7.02941506e-02, 1.30441370e-01, 5.02594122e-01,
  4.97119129e-01, 4.95280039e-01, 5.04944950e-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,  -0.86008628,   1.87345937,  -0.95231086, -12.78916142,
   -1.54533771, -27.11812456]

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: -0.0009744647405944551
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.69657874e-14, -5.69657874e-14,  1.00000000e+00,  3.24510093e-27,
        1.00000000e+00,  5.69657874e-14, -1.00000000e+00,  0.00000000e+00,
        5.69657874e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10210257, -0.08979825,  0.0619722 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.10459871e-04, 6.32495128e-05,-4.90530530e+00,-1.89121626e-03,
  8.87117405e-05,-2.24682006e-03]


--- 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,
  9.39123276e-02,-7.02397615e-02, 1.30458392e-01, 5.03139405e-01,
  4.96597336e-01, 4.95125717e-01, 5.05066677e-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,  -0.8627302 ,   1.86554637,  -1.01467147, -12.85677277,
   -1.44059439, -26.99890873]

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: -0.0009293386593941105
  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([ 0.10210848, -0.08981142,  0.06197347])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.24256579e-04, 8.11009297e-05,-4.90534884e+00,-1.88465938e-03,
  1.01892507e-04,-2.24107899e-03]


--- 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,
  9.38185311e-02,-7.01779316e-02, 1.30471142e-01, 5.03725732e-01,
  4.96036898e-01, 4.94983393e-01, 5.05172469e-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,  -0.86661253,   1.86019466,  -1.06774783, -12.93786729,
   -1.33966808, -26.92019472]

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: -0.0008855570170858418
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.13425054e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.13425054e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10211422, -0.08982423,  0.06197471])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.38589441e-04, 1.00711226e-04,-4.90539708e+00,-1.87799644e-03,
  1.15720374e-04,-2.23460430e-03]


--- 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,
  9.37212481e-02,-7.01086730e-02, 1.30479443e-01, 5.04353004e-01,
  4.95437610e-01, 4.94852955e-01, 5.05262481e-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 ,  -0.8716267 ,   1.85717494,  -1.11259667, -13.03258458,
   -1.2414607 , -26.87902017]

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: -0.0008433037796609505
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.29129031e-14,  6.58258063e-14,  1.00000000e+00, -2.16651839e-27,
        1.00000000e+00, -6.58258063e-14, -1.00000000e+00,  0.00000000e+00,
        3.29129031e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10211978, -0.08983664,  0.06197591])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.53477833e-04, 1.22061416e-04,-4.90545005e+00,-1.87120632e-03,
  1.30216589e-04,-2.22739882e-03]


--- 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,
  9.36247381e-02,-7.00319726e-02, 1.30487167e-01, 5.05003781e-01,
  4.94812900e-01, 4.94753787e-01, 5.05321745e-01]

qacc:
[-1.58468067e+01,-2.03121096e+01, 1.10258361e+02,-2.62482143e+02,
 -1.41628932e+01,-2.78521338e+01, 1.33755728e+02,-2.74931867e+02,
 -3.23477469e+01,-2.03286583e+01, 9.92951202e+01,-2.17773742e+02,
 -1.03079975e+02, 8.46958882e+01, 3.55603284e+01,-1.32299083e+02,
  1.93246570e-01, 1.86045787e+00,-1.44098741e-01, 3.27437083e+00,
  8.76045540e-01,-2.77283481e+01]

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: -0.0008084107655575712
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.71667528e-14, -3.43335057e-14,  1.00000000e+00, -5.89394806e-28,
        1.00000000e+00,  3.43335057e-14, -1.00000000e+00,  0.00000000e+00,
       -1.71667528e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09153973, -0.08793815,  0.0619769 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.68941415e-04, 1.45137566e-04,-4.90550786e+00,-1.86426876e-03,
  1.45405019e-04,-2.21946442e-03]


--- 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,
  9.35289500e-02,-6.99479036e-02, 1.30493710e-01, 5.05677753e-01,
  4.94162799e-01, 4.94685297e-01, 5.05350963e-01]

qacc:
[-2.10857329e+01,-2.15800856e+01, 1.13730240e+02,-2.64573607e+02,
 -9.32098424e+00,-2.80101110e+01, 1.34849730e+02,-2.78355436e+02,
 -3.37938832e+01,-1.96740252e+01, 9.54258081e+01,-2.07058291e+02,
 -1.02709475e+02, 8.09433479e+01, 3.94216872e+01,-1.45779999e+02,
  1.80475931e-01, 1.84213775e+00,-2.95162950e-01, 3.03368996e+00,
  9.89984985e-01,-2.73184300e+01]

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: -0.0007835939399156444
  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([ 0.09153945, -0.08794427,  0.0619776 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.73490277e-04, 1.64324250e-04,-4.90553995e+00,-1.85630434e-03,
  1.56627094e-04,-2.21227800e-03]


--- 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,
  9.34384098e-02,-6.98822429e-02, 1.30506351e-01, 5.06263774e-01,
  4.93605263e-01, 4.94571465e-01, 5.05420519e-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,   1.3119816 ,  -4.60205509,   1.5245466 ,  23.70111558,
   -3.13254917,  66.52079673]

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: -0.0007839547688961584
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.0809125e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        7.0809125e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08270235, -0.0314496 ,  0.06197759])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.78020203e-04, 1.84252231e-04,-4.90557599e+00,-1.84827019e-03,
  1.67339300e-04,-2.20444424e-03]


--- 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,
  9.33528114e-02,-6.98339803e-02, 1.30522697e-01, 5.06767672e-01,
  4.93135317e-01, 4.94414090e-01, 5.05528232e-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,   1.23545681,  -4.34953603,   0.92610627,  22.00084447,
   -3.43206209,  62.817928  ]

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: -0.0008230847720564344
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.74428116e-14,  6.74428116e-14,  1.00000000e+00, -4.54853284e-27,
        1.00000000e+00, -6.74428116e-14, -1.00000000e+00,  0.00000000e+00,
        6.74428116e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08271173, -0.03146994,  0.06197649])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.41016005e-04, 1.29365723e-04,-4.90543976e+00,-1.83753921e-03,
  1.35791939e-04,-2.19896756e-03]


--- 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,
  9.32718903e-02,-6.98022541e-02, 1.30540686e-01, 5.07194345e-01,
  4.92748705e-01, 4.94214737e-01, 5.05672229e-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 ,   1.16930543,  -4.13411233,   0.41077345,  20.57597189,
   -3.66276287,  59.6650359 ]

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: -0.0008476134623397469
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.30982231e-13,  6.54911156e-14,  1.00000000e+00, -8.57817244e-27,
        1.00000000e+00, -6.54911156e-14, -1.00000000e+00,  0.00000000e+00,
        1.30982231e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08271813, -0.03148239,  0.0619758 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.10313288e-04, 8.75956972e-05,-4.90533561e+00,-1.82722967e-03,
  1.09694261e-04,-2.19486149e-03]


--- 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,
  9.31954192e-02,-6.97863357e-02, 1.30558558e-01, 5.07547889e-01,
  4.92441813e-01, 4.93974744e-01, 5.05850921e-01]

qacc:
[-1.00539841e+01,-1.54074160e+01, 8.85285736e+01,-2.21176154e+02,
 -7.96617786e+00,-2.56724227e+01, 1.24835893e+02,-2.59082014e+02,
 -2.68257618e+01,-2.17571221e+01, 1.01370067e+02,-2.09201139e+02,
 -9.54910545e+01, 7.81436349e+01, 5.61771242e+01,-2.02532154e+02,
  1.11249564e+00,-3.95194118e+00,-2.94482825e-02, 1.93853024e+01,
 -3.84413029e+00, 5.70000614e+01]

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([  8.29443274,  -3.34878956,  -7.58836102,  -3.34878956,
        35.71266659, -12.09983223,  -7.58836102, -12.09983223,
        13.6341618 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0008602101923209093
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.45320780e-14,  6.45320780e-14,  1.00000000e+00, -4.16438909e-27,
        1.00000000e+00, -6.45320780e-14, -1.00000000e+00,  0.00000000e+00,
        6.45320780e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08272215, -0.03148844,  0.06197546])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.49979266e-05, 5.67451757e-05,-4.90525867e+00,-1.81712928e-03,
  8.81900439e-05,-2.19212564e-03]


--- 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,
  9.31232035e-02,-6.97856128e-02, 1.30574814e-01, 5.07831718e-01,
  4.92211587e-01, 4.93695235e-01, 5.06062956e-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,   1.06387477,  -3.7988493 ,  -0.40365331,  18.39171203,
   -3.99030419,  54.75987111]

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([  8.30810873,  -4.00725105,  -7.27781627,  -4.00725105,
        31.10380863, -12.5515799 ,  -7.27781627, -12.5515799 ,
        15.21915593,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0008631411839800096
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.43129447e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.43129447e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08272428, -0.03148932,  0.06197538])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -6.43348367e-05, 3.51305557e-05,-4.90520513e+00,-1.80708882e-03,
  7.06041444e-05,-2.19074958e-03]


--- 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,
  9.30550771e-02,-6.97995730e-02, 1.30588187e-01, 5.08048666e-01,
  4.92055460e-01, 4.93377143e-01, 5.06307192e-01]

qacc:
[ -18.03921686, -19.83841946, 104.32669476,-243.34582137, -13.29457981,
  -24.54257326, 116.9104679 ,-236.87171826, -22.84268599, -18.0126273 ,
   83.26967693,-173.12147151, -89.84946289,  82.21418364,  39.89989451,
 -146.99583945,   1.02231686,  -3.67080497,  -0.72084811,  17.56297508,
   -4.11157974,  52.88548017]

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([  8.28548207,  -4.56687687,  -6.91323722,  -4.56687687,
        27.32477572, -12.57733635,  -6.91323722, -12.57733635,
        16.59405657,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000858319892931711
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.29348397e-13,  6.46741986e-14,  1.00000000e+00, -8.36550393e-27,
        1.00000000e+00, -6.46741986e-14, -1.00000000e+00,  0.00000000e+00,
        1.29348397e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08272493, -0.03148608,  0.06197552])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.77392161e-05, 2.14722725e-05,-4.90517201e+00,-1.79700058e-03,
  5.64069745e-05,-2.19071795e-03]


--- 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,
  9.29908979e-02,-6.98277898e-02, 1.30597603e-01, 5.08201080e-01,
  4.91971274e-01, 4.93021230e-01, 5.06582664e-01]

qacc:
[  -9.38072647, -18.8822077 ,  98.68604999,-228.12148599,  -2.23636842,
  -24.23201878, 117.0549769 ,-240.91452697, -23.54108277, -16.28349051,
   80.5119992 ,-179.84307811, -86.72896937,  72.99269541,  42.4376112 ,
 -155.71028958,   0.9867919 ,  -3.56413809,  -0.98936653,  16.87176508,
   -4.21546661,  51.32428312]

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([  8.23158421,  -5.09591915,  -6.46456391,  -5.09591915,
        34.99507924, -21.09726329,  -6.46456391, -21.09726329,
        24.86224167,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0008473555338152083
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.55110506e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.55110506e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08272441, -0.03147958,  0.06197583])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -3.47494049e-05, 1.48058013e-05,-4.90515702e+00,-1.78678404e-03,
  4.51841908e-05,-2.19201363e-03]


--- 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,
  9.29305443e-02,-6.98699090e-02, 1.30602152e-01, 5.08290894e-01,
  4.91957227e-01, 4.92628100e-01, 5.06888557e-01]

qacc:
[  -6.9939375 , -17.57787858,  93.645232  ,-220.57829313,  -1.42693841,
  -22.32007649, 107.92093078,-221.13458254, -26.87490612, -16.22300602,
   83.06265092,-189.39114322, -83.47527107,  79.63187006,  29.6527256 ,
 -112.10660068,   0.95639153,  -3.4756191 ,  -1.21663119,  16.29525252,
   -4.30744296,  50.03063415]

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([  8.14841254,  -5.51463003,  -5.99879009,  -5.51463003,
        41.55057718, -30.70628865,  -5.99879009, -30.70628865,
        36.37640834,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0008315972229031021
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  6.6752449e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -6.6752449e-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([ 0.082723  , -0.03147054,  0.06197628])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.50034058e-05, 1.44117069e-05,-4.90515841e+00,-1.77637636e-03,
  3.66120099e-05,-2.19461958e-03]


--- 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,
  9.28739119e-02,-6.99256382e-02, 1.30601065e-01, 5.08319692e-01,
  4.92011815e-01, 4.92198223e-01, 5.07224184e-01]

qacc:
[  -5.62106407, -17.02310654,  92.93829231,-223.87855677,  -7.15478169,
  -21.75281095, 103.64394834,-209.01729502, -28.65798438, -18.62793741,
   89.14015495,-187.69166036, -80.18110888,  80.74672826,  25.34834913,
  -97.44146965,   0.9303318 ,  -3.4024628 ,  -1.40910475,  15.81454223,
   -4.39149561,  48.96557654]

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([  8.0372021 ,  -5.84146899,  -5.52031319,  -5.84146899,
        45.72370611, -39.87899542,  -5.52031319, -39.87899542,
        50.23624171,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0008121728247332677
  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([ 0.08272091, -0.03145957,  0.06197683])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.82194778e-05, 1.97617782e-05,-4.90517483e+00,-1.76572604e-03,
  3.04376399e-05,-2.19851999e-03]


--- 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,
  9.28209114e-02,-6.99947365e-02, 1.30593689e-01, 5.08288763e-01,
  4.92133791e-01, 4.91731946e-01, 5.07588966e-01]

qacc:
[  -7.78970627, -17.41103154,  93.53663037,-221.4418192 , -10.64677497,
  -22.27262258, 105.91410226,-213.01122812, -20.34025   , -21.92173033,
   97.31628435,-188.65531266, -76.84672712,  73.80456248,  31.4290243 ,
 -117.14252816,   0.90794461,  -3.34229561,  -1.57233847,  15.41408111,
   -4.47050999,  48.09618338]

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: -0.0007900224631486041
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.02652821e-14,  7.02652821e-14,  1.00000000e+00, -4.93720987e-27,
        1.00000000e+00, -7.02652821e-14, -1.00000000e+00,  0.00000000e+00,
        7.02652821e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08271831, -0.03144716,  0.06197745])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.41805024e-05, 3.04780426e-05,-4.90520526e+00,-1.75478876e-03,
  2.64640034e-05,-2.20370085e-03]


--- 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,
  9.27714655e-02,-7.00770072e-02, 1.30579468e-01, 5.08199140e-01,
  4.92322123e-01, 4.91229506e-01, 5.07982414e-01]

qacc:
[ -12.11929973, -17.14553088,  90.14667236,-208.72605391,  -6.56383804,
  -21.76210621, 104.00127809,-210.37665404, -21.16456092, -19.0939767 ,
   87.77282529,-178.49137967, -73.4843657 ,  74.55892264,  37.24679245,
 -137.14403251,   0.8886646 ,  -3.2931078 ,  -1.71106439,  15.08110183,
   -4.54655375,  47.39476543]

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: -0.0007659270866083451
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.24757646e-14,  7.24757646e-14,  1.00000000e+00, -5.25273645e-27,
        1.00000000e+00, -7.24757646e-14, -1.00000000e+00,  0.00000000e+00,
        7.24757646e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08271534, -0.03143372,  0.06197813])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.27215710e-05, 4.63017860e-05,-4.90524894e+00,-1.74352452e-03,
  2.45379115e-05,-2.21015018e-03]


--- 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,
  9.27261233e-02,-7.01494969e-02, 1.30576055e-01, 5.08130888e-01,
  4.92478262e-01, 4.90775774e-01, 5.08337783e-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,   1.02590875,   2.4452474 ,   2.7019329 ,   8.28287686,
    5.93023042, -35.00102316]

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([ 7.82044135,  0.27665635, -7.81554631,  0.27665635, 77.00347979,
        2.44895569, -7.81554631,  2.44895569,  7.90713   ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000777962798680587
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42709012e-13, -3.34474247e-14,  1.00000000e+00,  4.77324894e-27,
        1.00000000e+00,  3.34474247e-14, -1.00000000e+00,  0.00000000e+00,
        1.42709012e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08602139, -0.08800024,  0.06197779])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.37202038e-05, 6.70702156e-05,-4.90530530e+00,-1.73189582e-03,
  2.45409423e-05,-2.21785819e-03]


--- 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,
  9.26846039e-02,-7.02126928e-02, 1.30581171e-01, 5.08082596e-01,
  4.92605140e-01, 4.90368868e-01, 5.08655705e-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,   0.95571811,   2.3234721 ,   2.13238203,   8.74180995,
    5.21577096, -33.29758914]

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([ 7.98836061, -1.00904934, -7.92437535, -1.00904934, 29.67349864,
       -2.76127431, -7.92437535, -2.76127431,  8.33996713,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008041031108201036
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.90348669e-14,  7.11922065e-14,  1.00000000e+00, -4.91474450e-27,
        1.00000000e+00, -7.11922065e-14, -1.00000000e+00,  0.00000000e+00,
        6.90348669e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08601555, -0.08799367,  0.06197705])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.07819594e-05, 5.18489244e-05,-4.90524479e+00,-1.73550128e-03,
  3.61142171e-05,-2.22572290e-03]


--- 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,
  9.26466724e-02,-7.02670107e-02, 1.30592860e-01, 5.08053091e-01,
  4.92705137e-01, 4.90007148e-01, 5.08936832e-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,   0.89697176,   2.21948841,   1.64299351,   9.05734224,
    4.6465671 , -31.84574047]

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([ 8.0771814 , -1.17601972, -7.99110987, -1.17601972, 36.39955198,
       -4.16809016, -7.99110987, -4.16809016,  8.69058258,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008189730584425986
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.77814131e-14,  6.98995823e-14,  1.00000000e+00,  4.73789247e-27,
        1.00000000e+00, -6.98995823e-14, -1.00000000e+00,  0.00000000e+00,
       -6.77814131e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08601039, -0.08799009,  0.06197663])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.77684727e-06, 3.94180531e-05,-4.90519336e+00,-1.73794584e-03,
  4.65810193e-05,-2.23254744e-03]


--- 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,
  9.26121327e-02,-7.03128031e-02, 1.30609450e-01, 5.08041407e-01,
  4.92780185e-01, 4.89689198e-01, 5.09181802e-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,   0.8479626 ,   2.13135578,   1.22555599,   9.26861286,
    4.19371347, -30.61523118]

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([ 8.10973887, -1.41076111, -7.986089  , -1.41076111, 49.1214455 ,
       -7.24481294, -7.986089  , -7.24481294,  9.38955185,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008246563246474548
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.34628571e-13,  3.57607141e-14,  1.00000000e+00, -4.81441384e-27,
        1.00000000e+00, -3.57607141e-14, -1.00000000e+00,  0.00000000e+00,
        1.34628571e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08600575, -0.08798891,  0.06197648])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.39324673e-06, 2.93322541e-05,-4.90514989e+00,-1.73954038e-03,
  5.59507277e-05,-2.23840200e-03]


--- 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,
  9.25808218e-02,-7.03503672e-02, 1.30629526e-01, 5.08046745e-01,
  4.92831847e-01, 4.89413799e-01, 5.09391214e-01]

qacc:
[ -14.56669895, -14.53303026,  79.20418249,-189.54333025,  -9.18274071,
  -18.42596108,  89.85947728,-187.34697974, -16.48261323, -16.0768748 ,
   75.38304993,-158.44058601, -39.58815685,  13.97661429,  48.27871966,
 -174.92214276,   0.80716584,   2.05709481,   0.87135499,   9.40436382,
    3.83397304, -29.57682019]

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([  8.0999365 ,  -1.72944959,  -7.91315205,  -1.72944959,
        78.82159511, -15.45648847,  -7.91315205, -15.45648847,
        11.47801106,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000822930600386032
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.95634294e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.95634294e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08600152, -0.08798966,  0.06197653])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.41281597e-06, 2.12453551e-05,-4.90511348e+00,-1.74051477e-03,
  6.42495286e-05,-2.24334564e-03]


--- 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,
  9.25526038e-02,-7.03799519e-02, 1.30651890e-01, 5.08068451e-01,
  4.92861383e-01, 4.89179911e-01, 5.09565620e-01]

qacc:
[ -15.67034347, -13.7618211 ,  75.64984855,-182.81539522,  -8.17966544,
  -20.31140956,  95.07605712,-190.77171785, -20.97769185, -16.83496518,
   79.28213365,-167.7413954 , -29.8131169 ,  10.17047516,  41.03417913,
 -149.84202259,   0.77325969,   1.99484392,   0.57199785,   9.48586607,
    3.54872522, -28.70387962]

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([  8.05574938,   2.1626001 ,   7.76004245,   2.1626001 ,
        57.23598368, -13.70574714,   7.76004245, -13.70574714,
        11.87532257,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0008153044005319299
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.36172824e-13,  5.31925093e-14,  1.00000000e+00, -7.24337419e-27,
        1.00000000e+00, -5.31925093e-14, -1.00000000e+00,  0.00000000e+00,
        1.36172824e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08599761, -0.08799193,  0.06197675])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.68245388e-06, 1.48896556e-05,-4.90508338e+00,-1.74103890e-03,
  7.15111859e-05,-2.24742735e-03]


--- 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,
  9.25273664e-02,-7.04017649e-02, 1.30675534e-01, 5.08105983e-01,
  4.92869812e-01, 4.88986650e-01, 5.09705517e-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 ,   0.74512017,   1.94292868,   0.3198088 ,   9.52895702,
    3.32308063, -27.97298675]

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([  7.98189298,   2.70695745,   7.50886122,   2.70695745,
        76.03471128, -24.53315862,   7.50886122, -24.53315862,
        16.82613906,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0008030524773965791
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.67227546e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.67227546e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08599396, -0.08799538,  0.0619771 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -5.09481715e-06, 1.00588025e-05,-4.90505902e+00,-1.74123824e-03,
  7.77716391e-05,-2.25068737e-03]


--- 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,
  9.25050161e-02,-7.04159784e-02, 1.30699609e-01, 5.08158902e-01,
  4.92857951e-01, 4.88833265e-01, 5.09811347e-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,
  7.21803311e-01, 1.89988229e+00, 1.07976505e-01, 9.54547647e+00,
  3.14514910e+00,-2.73639658e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007872481770136996
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.54246967e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.54246967e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08599052, -0.08799973,  0.06197756])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.57475561e-06, 6.59406124e-06,-4.90503993e+00,-1.74120538e-03,
  8.30659217e-05,-2.25315849e-03]


--- 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,
  9.24854760e-02,-7.04227341e-02, 1.30723406e-01, 5.08226845e-01,
  4.92826450e-01, 4.88719128e-01, 5.09883495e-01]

qacc:
[-7.51980794e+00,-1.25341743e+01, 7.01551114e+01,-1.71451372e+02,
 -4.81050331e+00,-2.11405116e+01, 9.99173529e+01,-2.02816949e+02,
 -2.76229873e+01,-1.39086440e+01, 6.86700932e+01,-1.48960182e+02,
 -1.28198722e+01,-1.58186253e+00, 1.71427116e+01,-6.78941332e+01,
  7.02522597e-01, 1.86444051e+00,-6.94337434e-02, 9.54429223e+00,
  3.00544147e+00,-2.68596569e+01]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007687921263558606
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.22056709e-14,  2.25642721e-15,  1.00000000e+00, -1.62926841e-28,
        1.00000000e+00, -2.25642721e-15, -1.00000000e+00,  0.00000000e+00,
        7.22056709e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08598728, -0.08800476,  0.06197809])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.06983973e-06, 4.37351090e-06,-4.90502574e+00,-1.74100848e-03,
  8.74264780e-05,-2.25486728e-03]


--- 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,
  9.24686823e-02,-7.04221477e-02, 1.30746334e-01, 5.08309519e-01,
  4.92775825e-01, 4.88643711e-01, 5.09922290e-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,   0.68662587,   1.83552426,  -0.21753653,   9.53204305,
    2.89638529, -26.44557097]

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: -0.0007484372086069557
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.22508250e-13,  5.79448568e-14,  1.00000000e+00, -1.28932087e-26,
        1.00000000e+00, -5.79448568e-14, -1.00000000e+00,  0.00000000e+00,
        2.22508250e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0859842 , -0.08801027,  0.06197867])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.54372319e-06, 3.30363262e-06,-4.90501616e+00,-1.74069755e-03,
  9.08823157e-05,-2.25583508e-03]


--- 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,
  9.24545830e-02,-7.04143125e-02, 1.30767898e-01, 5.08406689e-01,
  4.92706481e-01, 4.88606580e-01, 5.09928007e-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,   0.67357375,   1.81221757,  -0.34071259,   9.513684  ,
    2.81193499, -26.10951697]

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: -0.0007268100704848207
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.63764200e-14,  2.14808681e-14,  1.00000000e+00,  1.64063181e-27,
        1.00000000e+00, -2.14808681e-14, -1.00000000e+00,  0.00000000e+00,
       -7.63764200e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08598127, -0.0880161 ,  0.06197928])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.97147675e-06, 3.31279860e-06,-4.90501098e+00,-1.74030905e-03,
  9.34586540e-05,-2.25607893e-03]


--- 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, 0.09244314,-0.0703993 ,
  0.13078769, 0.50851816, 0.49261872, 0.48860738, 0.50990087]

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,   0.66292049,   1.79374495,  -0.44270347,   9.49289176,
    2.74725969, -25.84124641]

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: -0.0007044295296003422
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.36408962e-13,  2.46259335e-15,  1.00000000e+00, -5.82179137e-28,
        1.00000000e+00, -2.46259335e-15, -1.00000000e+00,  0.00000000e+00,
        2.36408962e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08597848, -0.08802213,  0.06197992])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.33629888e-06, 4.34624243e-06,-4.90501001e+00,-1.73986931e-03,
  9.51768605e-05,-2.25561224e-03]


--- 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, 0.0924343 ,-0.07037717,
  0.13080538, 0.5086438 , 0.49251279, 0.48864582, 0.50984105]

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,   0.65429757,   1.77945021,  -0.52670308,   9.47236919,
    2.69849397, -25.63213468]

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: -0.0006817222833482156
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.14278080e-14,  4.32585230e-14,  1.00000000e+00,  3.52244671e-27,
        1.00000000e+00, -4.32585230e-14, -1.00000000e+00,  0.00000000e+00,
       -8.14278080e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08597583, -0.08802824,  0.06198057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.62719274e-06, 6.36217014e-06,-4.90501313e+00,-1.73939705e-03,
  9.60545517e-05,-2.25444545e-03]


--- 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, 0.09242806,-0.07034797,
  0.13082068, 0.50878347, 0.49238884, 0.48872169, 0.50974868]

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,
  6.47399895e-01, 1.76877755e+00,-5.95440854e-01, 9.45407622e+00,
  2.66253950e+00,-2.54749062e+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: -0.0006590363069201161
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.68461587e-13,  1.07920704e-13,  1.00000000e+00, -1.81804932e-26,
        1.00000000e+00, -1.07920704e-13, -1.00000000e+00,  0.00000000e+00,
        1.68461587e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0859733 , -0.08803436,  0.06198121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.57920088e-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,
 -8.37324733e-07, 9.32874314e-06,-4.90502025e+00,-1.73890530e-03,
  9.61057806e-05,-2.25258643e-03]


--- 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, 0.09242439,-0.07031172,
  0.13083338, 0.5089371 , 0.49224699, 0.48883481, 0.50962384]

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,   0.64197432,   1.76125529,  -0.65125446,   9.43940636,
    2.63690727, -25.36340247]

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: -0.0006366522917694434
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.99170166e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.99170166e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0859709 , -0.0880404 ,  0.06198185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  3.71340458e-08, 1.32217243e-05,-4.90503130e+00,-1.73840275e-03,
  9.53412673e-05,-2.25004095e-03]


--- 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, 0.09242327,-0.07026845,
  0.1308433 , 0.50910462, 0.49208729, 0.48898507, 0.50946657]

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,   0.63781022,   1.75648205,  -0.69615191,   9.42932218,
    2.61959251, -25.29239019]

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: -0.0006147934313907172
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.70877087e-13,  2.53947269e-14,  1.00000000e+00, -6.87884964e-27,
        1.00000000e+00, -2.53947269e-14, -1.00000000e+00,  0.00000000e+00,
        2.70877087e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596863, -0.08804632,  0.06198247])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.40206805e-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,
  9.97822571e-07, 1.80226272e-05,-4.90504625e+00,-1.73789485e-03,
  9.37686443e-05,-2.24681295e-03]


--- 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, 0.09242469,-0.07021816,
  0.13085029, 0.50928598, 0.49190978, 0.48917238, 0.50927688]

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,   0.63473185,   1.75411516,  -0.73186377,   9.42446003,
    2.60897538, -25.25740286]

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: -0.0005936338162498139
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.87021526e-13,  7.30552838e-14,  1.00000000e+00, -1.36629107e-26,
        1.00000000e+00, -7.30552838e-14, -1.00000000e+00,  0.00000000e+00,
        1.87021526e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596648, -0.08805208,  0.06198307])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  2.04475923e-06, 2.37172462e-05,-4.90506510e+00,-1.73738458e-03,
  9.13927004e-05,-2.24290483e-03]


--- 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, 0.09242863,-0.07016085,
  0.13085424, 0.50948117, 0.49171442, 0.48939672, 0.50905472]

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,   0.632592  ,   1.75386111,  -0.75988665,   9.4252109 ,
    2.60374238, -25.25461201]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005733056579279028
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.93652899e-13,  9.98522759e-14,  1.00000000e+00, -1.93366827e-26,
        1.00000000e+00, -9.98522759e-14, -1.00000000e+00,  0.00000000e+00,
        1.93652899e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596444, -0.08805762,  0.06198365])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.17673529e-06, 3.02944752e-05,-4.90508784e+00,-1.73687303e-03,
  8.82156147e-05,-2.23831764e-03]


--- 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, 0.09243511,-0.07009652,
  0.13085506, 0.50969018, 0.49150119, 0.48965808, 0.50880003]

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 ,   0.631267  ,   1.75546757,  -0.7815192 ,   9.43178322,
    2.60282401, -25.28072213]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005539055256528341
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00217724e-13,  5.32406660e-14,  1.00000000e+00, -5.33565839e-27,
        1.00000000e+00, -5.32406660e-14, -1.00000000e+00,  0.00000000e+00,
        1.00217724e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596253, -0.08806294,  0.0619842 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.39158216e-06, 3.77453453e-05,-4.90511450e+00,-1.73635989e-03,
  8.42371751e-05,-2.23305126e-03]


--- 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, 0.0924441 ,-0.07002516,
  0.13085269, 0.509913  , 0.49127   , 0.48995648, 0.5085127 ]

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,   0.63065253,   1.75871687,  -0.79789183,   9.44425135,
    2.60534542, -25.3328854 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005354997467924838
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.50706126e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.50706126e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596072, -0.08806802,  0.06198472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.68634776e-06, 4.60622282e-05,-4.90514512e+00,-1.73584374e-03,
  7.94549786e-05,-2.22710457e-03]


--- 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, 0.09245737,-0.06997028,
  0.13085164, 0.5100637 , 0.49112216, 0.49020793, 0.50826197]

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,   1.06843469,  -4.12126578,   0.33013372,  18.06277771,
   -6.50493134,  59.61869598]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005496922953509009
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00985864e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.00985864e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0827275 , -0.03131296,  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:
[-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,
  7.05740755e-06, 5.52381652e-05,-4.90517976e+00,-1.73532238e-03,
  7.38646132e-05,-2.22047552e-03]


--- 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, 0.09247477,-0.06993129,
  0.13085048, 0.51014505, 0.49105451, 0.49041441, 0.50804647]

qacc:
[-6.60207711e+00,-1.27618762e+01, 6.80874657e+01,-1.60626381e+02,
 -4.89446696e+00,-1.22083411e+01, 5.80276221e+01,-1.14402286e+02,
 -1.70874308e+01,-1.08226959e+01, 5.32085920e+01,-1.16580697e+02,
 -1.84662699e+00, 7.69510081e+00, 2.15195730e+01,-8.32955293e+01,
  1.03214467e+00,-3.97107395e+00,-2.78940621e-02, 1.74161357e+01,
 -6.19975097e+00, 5.73106127e+01]

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([ 6.26498097, -6.18053976, -1.02514137, -6.18053976,  7.33455143,
       -6.44840105, -1.02514137, -6.44840105, 45.14215446,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005799350079239846
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.91439215e-13,  9.57196073e-14,  1.00000000e+00, -1.83244865e-26,
        1.00000000e+00, -9.57196073e-14, -1.00000000e+00,  0.00000000e+00,
        1.91439215e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08273137, -0.03132953,  0.06198346])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.64382141e-06, 2.84676285e-05,-4.90511086e+00,-1.73959441e-03,
  6.97157317e-05,-2.21571058e-03]


--- 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, 0.09249617,-0.06990766,
  0.13084794, 0.51015941, 0.4910643 , 0.49057759, 0.507865  ]

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 ,   1.00072746,  -3.83971618,  -0.34404259,  16.8583069 ,
   -5.93077443,  55.3151179 ]

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([ 6.43757659, -6.34793558, -1.07056351, -6.34793558,  7.79005798,
       -8.01957532, -1.07056351, -8.01957532, 53.98986754,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006006073141583274
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.24250337e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.24250337e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08273397, -0.03134072,  0.06198287])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  8.57516594e-06, 1.00370543e-05,-4.90506409e+00,-1.74280874e-03,
  6.82499290e-05,-2.21255853e-03]


--- 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  , 0.09252146,-0.06989893,
  0.13084292, 0.51010879, 0.49114916, 0.49069894, 0.50771654]

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,   0.97386579,  -3.72597921,  -0.62088874,  16.38252865,
   -5.69351174,  53.60422483]

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([ 6.54371004, -6.45121255, -1.09635654, -6.45121255,  8.21072314,
       -9.80908624, -1.09635654, -9.80908624, 64.26261631,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006133315145133711
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.05075802e-14,  9.05075802e-14,  1.00000000e+00, -8.19162207e-27,
        1.00000000e+00, -9.05075802e-14, -1.00000000e+00,  0.00000000e+00,
        9.05075802e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08273551, -0.0313475 ,  0.06198251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.11537783e-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,
  4.24518262e-06,-1.00827773e-06,-4.90503709e+00,-1.74513289e-03,
  6.92124124e-05,-2.21095085e-03]


--- 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, 0.09255057,-0.06990471,
  0.13083446, 0.50999488, 0.49130704, 0.49077967, 0.50760018]

qacc:
[  -4.71895352,  -9.78660504,  51.68018056,-121.52169893,  -2.86509484,
  -13.38082445,  65.49287522,-136.3816864 , -11.38818136, -10.73497179,
   50.48514794,-104.90155118,  -2.17034537,  15.96674281,  14.76602956,
  -60.68092244,   0.95115325,  -3.62828061,  -0.8619457 ,  15.98116118,
   -5.48359688,  52.14826781]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006195129806473437
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79209001e-13,  8.96045006e-14,  1.00000000e+00, -1.60579330e-26,
        1.00000000e+00, -8.96045006e-14, -1.00000000e+00,  0.00000000e+00,
        1.79209001e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0827362 , -0.03135065,  0.06198234])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.76967142e-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,
 -3.04109994e-06,-5.41471634e-06,-4.90502794e+00,-1.74670087e-03,
  7.24018811e-05,-2.21082960e-03]


--- 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, 0.09258339,-0.06992467,
  0.1308217 , 0.50981906, 0.4915362 , 0.49082081, 0.50751515]

qacc:
[  -5.42082848, -10.09348405,  52.35108666,-121.74566165,  -6.61122689,
  -11.0028464 ,  54.04229479,-113.47430548, -12.136142  ,  -8.60677527,
   46.32842261,-107.38457915,  -1.49088635,   4.60528022,  15.02574668,
  -59.63964636,   0.93215461,  -3.54491433,  -1.0710811 ,  15.64647555,
   -5.29698574,  50.91827709]

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: -0.000620360376636403
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.94821032e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.94821032e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08273618, -0.03135088,  0.06198231])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.18364037e-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,
 -1.30516542e-05,-3.75432023e-06,-4.90503511e+00,-1.74761971e-03,
  7.76618598e-05,-2.21214586e-03]


--- 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, 0.09261989,-0.06995853,
  0.13080394, 0.50958246, 0.49183515, 0.49082321, 0.5074608 ]

qacc:
[  -2.7653692 , -10.05245212,  52.7785456 ,-122.82022582,  -5.79795487,
  -12.91921859,  60.24845876,-120.73182608, -12.5037546 , -11.18591037,
   54.77419938,-118.0198694 ,  -1.45977931,   4.41276956,  20.66902388,
  -77.74392725,   0.91644111,  -3.47419432,  -1.25216872,  15.37109801,
   -5.13004332,  49.88725112]

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: -0.0006169069104163816
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.99830271e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.99830271e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08273559, -0.03134875,  0.06198241])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.62787627e-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,
 -2.56138947e-05, 3.54530921e-06,-4.90505740e+00,-1.74797508e-03,
  8.48728863e-05,-2.21485845e-03]


--- 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 , 0.09266   ,-0.07000605,
  0.13078055, 0.509286  , 0.49220264, 0.4907876 , 0.50743656]

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,   0.90360953,  -3.41453266,  -1.40889251,  15.14823561,
   -4.97956472,  49.03073835]

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: -0.0006100310586278218
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.81994508e-13,  9.09972541e-14,  1.00000000e+00, -1.65610005e-26,
        1.00000000e+00, -9.09972541e-14, -1.00000000e+00,  0.00000000e+00,
        1.81994508e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08273456, -0.03134475,  0.0619826 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -4.06034145e-05, 1.61759872e-05,-4.90509388e+00,-1.74783594e-03,
  9.39458113e-05,-2.21893266e-03]


--- 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, 0.09270368,-0.07006702,
  0.13075097, 0.50893037, 0.49263759, 0.49071454, 0.50744194]

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,
  8.93291274e-01,-3.36447699e+00,-1.54464759e+00, 1.49717672e+01,
 -4.84275875e+00, 4.83270042e+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: -0.000600475926739133
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08273318, -0.0313393 ,  0.06198286])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -5.79348512e-05, 3.39284769e-05,-4.90514384e+00,-1.74725830e-03,
  1.04816223e-04,-2.22433923e-03]


--- 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, 0.09275119,-0.07011863,
  0.13073008, 0.5085945 , 0.4930433 , 0.49068929, 0.50740906]

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 ,   0.95765953,   2.34240065,   2.17058192,   9.207127  ,
    5.31102037, -33.70170083]

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: -0.0006017308725384252
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.88288927e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.88288927e-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([ 0.0859262 , -0.08805072,  0.06198282])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -7.75545912e-05, 5.66760478e-05,-4.90520675e+00,-1.74628825e-03,
  1.17439893e-04,-2.23105352e-03]


--- 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, 0.09280237,-0.07016123,
  0.13071611, 0.50827724, 0.49342219, 0.4907104 , 0.50733824]

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,  0.91556772,  2.24959505,  1.73028687,  9.6618455 ,
   4.67698322,-32.37759018]

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([ 6.68933082,  1.56939293,  6.5026266 ,  1.56939293, 32.21518416,
       -6.1606019 ,  6.5026266 , -6.1606019 ,  8.17617693,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006308484675903031
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.75988860e-13,  4.67470409e-14,  1.00000000e+00, -8.22695842e-27,
        1.00000000e+00, -4.67470409e-14, -1.00000000e+00,  0.00000000e+00,
        1.75988860e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08592289, -0.08804315,  0.06198199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.71517253e-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,
 -7.10744067e-05, 4.23643171e-05,-4.90517904e+00,-1.75591446e-03,
  1.12250542e-04,-2.23522960e-03]


--- 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, 0.09285707,-0.07019517,
  0.13070751, 0.5079776 , 0.49377625, 0.49077657, 0.50722985]

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,   0.88077319,   2.168558  ,   1.34252381,   9.99272784,
    4.15686725, -31.22872356]

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([ 6.85027055,  1.81424714,  6.60565772,  1.81424714, 40.82703804,
       -9.33173588,  6.60565772, -9.33173588,  9.4132364 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006503509069932939
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.86715575e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.86715575e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08591997, -0.08803817,  0.06198143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -6.56650780e-05, 3.01710191e-05,-4.90515957e+00,-1.76475660e-03,
  1.06420515e-04,-2.23864301e-03]


--- 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, 0.09291518,-0.0702207 ,
  0.13070292, 0.50769476, 0.49410713, 0.49088667, 0.50708426]

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,   0.85238544,   2.09854828,   1.00434825,  10.2354397 ,
    3.72801447, -30.24054689]

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([  6.94451317,   2.14113137,   6.60619555,   2.14113137,
        52.31360955, -14.70455949,   6.60619555, -14.70455949,
        11.710402  ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006618746314469848
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.38695859e-14,  1.28425303e-13,  1.00000000e+00, -1.07709770e-26,
        1.00000000e+00, -1.28425303e-13, -1.00000000e+00,  0.00000000e+00,
        8.38695859e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08591729, -0.08803533,  0.06198111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.46947573e-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,
 -6.10262733e-05, 1.98170680e-05,-4.90514741e+00,-1.77304178e-03,
  9.98900992e-05,-2.24130893e-03]


--- 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, 0.0929766 ,-0.07023809,
  0.13070118, 0.50742802, 0.4944162 , 0.4910397 , 0.50690181]

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,   0.82956728,   2.03859625,   0.71155973,  10.41636415,
    3.37210328, -29.39693888]

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([  6.9849076 ,   2.56676389,   6.4962033 ,   2.56676389,
        66.42601503, -23.48622438,   6.4962033 , -23.48622438,
        16.26472689,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006668437181718834
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.32446190e-14,  8.58460133e-14,  1.00000000e+00,  7.14621867e-27,
        1.00000000e+00, -8.58460133e-14, -1.00000000e+00,  0.00000000e+00,
       -8.32446190e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08591478, -0.08803422,  0.06198096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.51431538e-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,
 -5.69386706e-05, 1.10745350e-05,-4.90514182e+00,-1.78094150e-03,
  9.26190628e-05,-2.24324276e-03]


--- 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, 0.09304128,-0.07024752,
  0.13070129, 0.50717678, 0.49470458, 0.4912348 , 0.50668281]

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,   0.81156053,   1.98766   ,   0.45947549,  10.55501685,
    3.0743746 , -28.68184881]

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: -0.000666487690575826
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.32890870e-14,  6.50695992e-14,  1.00000000e+00, -5.41958751e-27,
        1.00000000e+00, -6.50695992e-14, -1.00000000e+00,  0.00000000e+00,
        8.32890870e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08591238, -0.08803451,  0.06198097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.32416815e-05, 3.75797621e-06,-4.90514221e+00,-1.78858586e-03,
  8.45792785e-05,-2.24445909e-03]


--- 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, 0.09310914,-0.07024918,
  0.13070236, 0.50694054, 0.49497321, 0.49147123, 0.50642752]

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,   0.79769533,   1.94471535,   0.24338995,  10.66582073,
    2.82297217, -28.08018471]

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: -0.0006618613103999277
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.38712739e-14,  1.07460070e-13,  1.00000000e+00, -9.01281293e-27,
        1.00000000e+00, -1.07460070e-13, -1.00000000e+00,  0.00000000e+00,
        8.38712739e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08591004, -0.08803593,  0.06198111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -4.98174081e-05,-2.28357972e-06,-4.90514810e+00,-1.79607422e-03,
  7.57498451e-05,-2.24497124e-03]


--- 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, 0.09318015,-0.0702432 ,
  0.13070367, 0.5067189 , 0.49522288, 0.49174838, 0.50613614]

qacc:
[-4.51659971e+00,-8.27994948e+00, 4.35109699e+01,-1.00186671e+02,
  2.74131465e-01,-1.29877286e+01, 5.90523695e+01,-1.14623946e+02,
 -7.27908141e+00,-1.01642191e+01, 4.76224191e+01,-9.81158385e+01,
 -1.91986830e+00, 1.11750433e+01, 2.43245520e+01,-9.17682018e+01,
  7.87389613e-01, 1.90880391e+00, 5.88301490e-02, 1.07594115e+01,
  2.60838978e+00,-2.75782331e+01]

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: -0.0006538644265136478
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.08774326e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.08774326e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08590775, -0.08803823,  0.06198133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -4.65790816e-05,-7.17357747e-06,-4.90515914e+00,-1.80348323e-03,
  6.61138699e-05,-2.24479107e-03]


--- 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, 0.09325428,-0.0702297 ,
  0.13070458, 0.50651148, 0.49545422, 0.49206572, 0.50580883]

qacc:
[-1.58228396e+00,-5.42644479e+00, 3.01758630e+01,-7.29748837e+01,
 -7.39338618e+00,-1.25696060e+01, 5.60902171e+01,-1.08074040e+02,
 -8.54489269e+00,-9.52294110e+00, 4.66325712e+01,-1.00250319e+02,
 -1.01535719e+00,-1.58274808e+00, 7.98884971e+00,-3.52193039e+01,
  7.80143256e-01, 1.87905525e+00,-9.83169673e-02, 1.08436007e+01,
  2.42301429e+00,-2.71637986e+01]

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: -0.0006432608129491313
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58889474e-13,  2.42708882e-14,  1.00000000e+00, -6.28347749e-27,
        1.00000000e+00, -2.42708882e-14, -1.00000000e+00,  0.00000000e+00,
        2.58889474e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08590549, -0.08804121,  0.06198163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -4.34627181e-05,-1.10137403e-05,-4.90517504e+00,-1.81087280e-03,
  5.56563553e-05,-2.24392904e-03]


--- 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, 0.09333152,-0.07020878,
  0.13070457, 0.50631798, 0.49566778, 0.49242283, 0.50544566]

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,  0.77552977,  1.85469367, -0.23175534, 10.92408914,
   2.26075162,-26.82618411]

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: -0.0006306954676503912
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.87623253e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.87623253e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08590326, -0.08804471,  0.06198199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.67644609e-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,
 -4.04210868e-05,-1.38888194e-05,-4.90519561e+00,-1.81829055e-03,
  4.43628196e-05,-2.24239422e-03]


--- 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, 0.09341185,-0.07018053,
  0.13070318, 0.50613815, 0.49586401, 0.49281935, 0.50504668]

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,  0.77318713,  1.83503641, -0.34477596, 11.00499781,
   2.11672313,-26.55608871]

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: -0.0006167101703745265
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.80023466e-13,  2.53157999e-14,  1.00000000e+00,  4.55743805e-27,
        1.00000000e+00, -2.53157999e-14, -1.00000000e+00,  0.00000000e+00,
       -1.80023466e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08590107, -0.08804858,  0.06198238])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.15582269e-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,
 -3.74193420e-05,-1.58704318e-05,-4.90522069e+00,-1.82577506e-03,
  3.22184068e-05,-2.24019447e-03]


--- 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, 0.09349527,-0.070145  ,
  0.13070003, 0.50597177, 0.49604328, 0.49325501, 0.50461186]

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,
  7.72808832e-01, 1.81948713e+00,-4.40277966e-01, 1.10892641e+01,
  1.98702054e+00,-2.63454674e+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: -0.0006017572881432676
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.84496814e-13,  1.41255373e-13,  1.00000000e+00, -2.60611663e-26,
        1.00000000e+00, -1.41255373e-13, -1.00000000e+00,  0.00000000e+00,
        1.84496814e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0858989 , -0.08805271,  0.06198281])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.44318577e-05,-1.70201447e-05,-4.90525018e+00,-1.83335841e-03,
  1.92073242e-05,-2.23733650e-03]


--- 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, 0.09357949,-0.07010194,
  0.13069641, 0.5058294 , 0.49619702, 0.49372091, 0.50414758]

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,
  1.99567208e-01, 1.88071795e+00,-1.17828464e-01, 2.48121398e+00,
  8.64460326e-01,-2.73119947e+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: -0.0005916791332982452
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.69098436e-14,  9.38196872e-14,  1.00000000e+00, -4.40106686e-27,
        1.00000000e+00, -9.38196872e-14, -1.00000000e+00,  0.00000000e+00,
        4.69098436e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09136257, -0.08802363,  0.06198309])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -3.14399336e-05,-1.73919527e-05,-4.90528403e+00,-1.84106796e-03,
  5.31249657e-06,-2.23382605e-03]


--- 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, 0.09366453,-0.07005143,
  0.13069186, 0.50571074, 0.4963257 , 0.49421685, 0.5036538 ]

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,   0.20552717,   1.86299562,  -0.23139303,   2.63180481,
    0.74381944, -27.07491971]

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: -0.0005812116696794767
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.16320157e-14,  4.77546771e-14,  1.00000000e+00, -3.42076378e-27,
        1.00000000e+00, -4.77546771e-14, -1.00000000e+00,  0.00000000e+00,
        7.16320157e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09136188, -0.08802666,  0.06198339])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -2.48575819e-05,-1.67050473e-05,-4.90530865e+00,-1.84910952e-03,
 -8.20635051e-06,-2.22998392e-03]


--- 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, 0.09374161,-0.07001636,
  0.13069085, 0.50556221, 0.49647326, 0.49462994, 0.5032518 ]

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,  -1.989986  ,  -3.86057181,   0.88529455, -31.35627091,
    4.44993283,  55.95612047]

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: -0.0005704986277213932
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.16580723e-06,  1.16580743e-06,  1.00000000e+00,  1.35910673e-12,
        1.00000000e+00, -1.16580743e-06, -1.00000000e+00,  0.00000000e+00,
       -1.16580723e-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([ 0.10971512, -0.03560423,  0.06198369])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.83296879e-05,-1.49703638e-05,-4.90533719e+00,-1.85723292e-03,
 -2.20479679e-05,-2.22549656e-03]


--- 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, 0.09381094,-0.06999658,
  0.13069136, 0.50538407, 0.49663968, 0.49496173, 0.50294021]

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, -1.93725213, -3.82090928,  0.37891145,-30.6979589 ,
   4.47381438, 55.14805313]

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([ 6.504642  , -6.43107934,  0.97549276, -6.43107934,  7.08290555,
        3.81228737,  0.97549276,  3.81228737, 31.63770669,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006086449152115786
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11017314, -0.03429042,  0.06198261])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -2.64135197e-05,-1.06798625e-05,-4.90524541e+00,-1.86195958e-03,
 -2.03277713e-06,-2.21949525e-03]


--- 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, 0.09387284,-0.06999151,
  0.13069187, 0.50517748, 0.49682424, 0.49521562, 0.5027155 ]

qacc:
[-1.23477656e+01,-6.47550687e+00, 3.66022976e+01,-8.98050300e+01,
 -3.32899062e+00,-7.44974092e+00, 3.67640285e+01,-7.49426996e+01,
 -9.96889141e+00,-7.54057002e+00, 3.40717719e+01,-6.77745726e+01,
 -1.72154964e+00, 7.87843155e+00, 1.72376764e+01,-6.66803918e+01,
 -1.85639708e+00,-3.67760916e+00,-8.98093920e-04,-2.94411402e+01,
  4.36689424e+00, 5.29424854e+01]

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([ 6.72531357, -6.27829443,  2.41098769, -6.27829443, 11.04739682,
       11.25485268,  2.41098769, 11.25485268, 36.03333504,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006351930729423666
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.73925639e-14,  4.36962820e-14,  1.00000000e+00, -3.81873011e-27,
        1.00000000e+00, -4.36962820e-14, -1.00000000e+00,  0.00000000e+00,
        8.73925639e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11016715, -0.03430393,  0.06198186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.22348055e-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,
 -3.11069246e-05,-4.18951186e-06,-4.90517540e+00,-1.86740884e-03,
  1.46003278e-05,-2.21543391e-03]


--- 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 , 0.0939276 ,-0.07000065,
  0.13069104, 0.50494341, 0.49702633, 0.49539452, 0.50257462]

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, -1.78618353, -3.55365939, -0.33307463,-28.35667953,
   4.28091989, 51.05312508]

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([ 6.86481876, -6.36909938,  2.56131016, -6.36909938, 13.01107424,
       15.28362814,  2.56131016, 15.28362814, 44.86995698,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006521240531080774
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.51236064e-14,  8.51236064e-14,  1.00000000e+00, -7.24602837e-27,
        1.00000000e+00, -8.51236064e-14, -1.00000000e+00,  0.00000000e+00,
        8.51236064e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11016346, -0.03431247,  0.06198138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.33146523e-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,
 -3.25528308e-05, 4.10098884e-06,-4.90512699e+00,-1.87354921e-03,
  2.76735744e-05,-2.21328283e-03]


--- 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, 0.09397546,-0.07002358,
  0.13068773, 0.50468266, 0.49724541, 0.49550088, 0.50251498]

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,
 -1.72563017e+00,-3.44744108e+00,-6.21565231e-01,-2.74272585e+01,
  4.21351797e+00, 4.94474587e+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([ 6.93847534, -6.39648929,  2.68837588, -6.39648929, 15.40379791,
       20.14165713,  2.68837588, 20.14165713, 54.86179409,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006611335324666068
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11016163, -0.03431693,  0.06198112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -3.11409817e-05, 1.39692573e-05,-4.90509775e+00,-1.88027741e-03,
  3.76527362e-05,-2.21293628e-03]


--- 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, 0.09401663,-0.07005995,
  0.13068093, 0.50439587, 0.49748101, 0.49553677, 0.50253434]

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, -1.67367134, -3.35711098, -0.87095936,-26.63533425,
   4.16230575, 48.09293874]

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([ 6.95920175, -6.37640965,  2.78781078, -6.37640965, 18.11431527,
       25.51449114,  2.78781078, 25.51449114, 65.31712498,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006636792929280572
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.67283059e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.67283059e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11016131, -0.03431809,  0.06198105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -2.71687008e-05, 2.52650717e-05,-4.90508571e+00,-1.88751741e-03,
  4.49106285e-05,-2.21430781e-03]


--- 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, 0.09405127,-0.07010943,
  0.13066979, 0.50408354, 0.49773273, 0.49550394, 0.50263084]

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, -1.62925714, -3.28080643, -1.08595345,-25.96427997,
   4.12501036, 46.95889705]

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: -0.0006610066905317208
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.39797116e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.39797116e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1101622 , -0.03431658,  0.06198113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.28418831e-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,
 -2.08585516e-05, 3.78956299e-05,-4.90508936e+00,-1.89521510e-03,
  4.97426403e-05,-2.21732728e-03]


--- 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, 0.09407955,-0.07017178,
  0.13065356, 0.50374608, 0.49800024, 0.49540379, 0.50280288]

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, -1.59140625, -3.21675726, -1.27105064,-25.39893813,
   4.09953027, 46.01745608]

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: -0.0006541739202085006
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.48568699e-14,  8.48568699e-14,  1.00000000e+00, -7.20068837e-27,
        1.00000000e+00, -8.48568699e-14, -1.00000000e+00,  0.00000000e+00,
        8.48568699e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11016405, -0.03431296,  0.06198132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.23729171e-05, 5.18141925e-05,-4.90510750e+00,-1.90333369e-03,
  5.23805793e-05,-2.22193832e-03]


--- 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, 0.09410294,-0.07022384,
  0.13064575, 0.50346253, 0.49822301, 0.49532219, 0.50294657]

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, -1.22296144,  2.57230384,  2.10400825,-13.0060049 ,
  -4.49654792,-36.39037381]

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([ 7.11934947,  0.81360477,  7.07270699,  0.81360477, 63.3757293 ,
       -6.47142019,  7.07270699, -6.47142019,  7.86378556,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006835390104108774
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.06056936e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.06056936e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10199787, -0.08996477,  0.06198048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.82572335e-06, 6.70115181e-05,-4.90513921e+00,-1.91184993e-03,
  5.30044473e-05,-2.22809603e-03]


--- 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, 0.0941217 ,-0.07026606,
  0.13064447, 0.50323109, 0.49840177, 0.49525808, 0.50306419]

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  , -1.15702218,  2.46130124,  1.63163208,-13.20430454,
  -3.92593823,-34.92373899]

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([ 7.31338827, -0.7468356 ,  7.2751553 , -0.7468356 , 45.6612026 ,
        3.93661877,  7.2751553 ,  3.93661877,  7.71750432,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007081846550561766
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  7.8385137e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -7.8385137e-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([ 0.10200166, -0.08995847,  0.06197978])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.05436202e-06, 4.71511072e-05,-4.90509705e+00,-1.90796213e-03,
  4.77537111e-05,-2.23398666e-03]


--- 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, 0.09413606,-0.07029881,
  0.13064807, 0.50305017, 0.49853724, 0.49521061, 0.50315762]

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, -1.10155208,  2.36599281,  1.2218298 ,-13.31022674,
  -3.47010522,-33.6610855 ]

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([ 7.42739407, -0.98563303,  7.36170566, -0.98563303, 59.57454886,
        6.9818002 ,  7.36170566,  6.9818002 ,  8.36216288,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007230660903399105
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.83859456e-14, -1.53543782e-13,  1.00000000e+00,  5.89392328e-27,
        1.00000000e+00,  1.53543782e-13, -1.00000000e+00,  0.00000000e+00,
        3.83859456e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10200522, -0.0899549 ,  0.06197936])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.86054948e-07, 3.12828172e-05,-4.90506349e+00,-1.90496873e-03,
  4.34696329e-05,-2.23875425e-03]


--- 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, 0.09414619,-0.07032242,
  0.13065515, 0.50291842, 0.49863011, 0.49517903, 0.50322838]

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, -1.05515401,  2.28485678,  0.86906791,-13.35434748,
  -3.1056478 ,-32.58246755]

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([ 7.47910969,  1.33285311, -7.3593875 ,  1.33285311, 45.8992276 ,
        6.95823853, -7.3593875 ,  6.95823853,  8.73931102,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007299384989136459
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.802454e-14,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
        3.802454e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10200864, -0.08995357,  0.06197917])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.37428710e-07, 1.90074399e-05,-4.90503770e+00,-1.90262421e-03,
  4.01210436e-05,-2.24246190e-03]


--- 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, 0.09415226,-0.07033717,
  0.1306645 , 0.50283463, 0.49868101, 0.49516275, 0.5032777 ]

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, -1.0165419 ,  2.21628611,  0.56714976,-13.35847346,
  -2.81385245,-31.66726144]

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([ 7.48189731,  1.79196625, -7.26413411,  1.79196625, 61.74412986,
       13.38577842, -7.26413411, 13.38577842, 10.78399263,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007303113360594693
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10201197, -0.08995403,  0.06197916])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.52445582e-07, 9.99291179e-06,-4.90501901e+00,-1.90074627e-03,
  3.76703188e-05,-2.24516263e-03]


--- 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, 0.09415439,-0.07034329,
  0.13067509, 0.50279779, 0.49869048, 0.49516126, 0.50330657]

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, -0.98457221,  2.15872765,  0.30988482,-13.33818685,
  -2.57977944,-30.89577747]

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: -0.0007254745200165891
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.82585120e-14, -7.65170240e-14,  1.00000000e+00,  2.92742748e-27,
        1.00000000e+00,  7.65170240e-14, -1.00000000e+00,  0.00000000e+00,
        3.82585120e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10201522, -0.08995593,  0.0619793 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.49516077e-07, 3.96701631e-06,-4.90500687e+00,-1.89919966e-03,
  3.60793029e-05,-2.24690037e-03]


--- 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, 0.09415269,-0.07034096,
  0.13068605, 0.50280705, 0.49865902, 0.49517415, 0.50331582]

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, -0.9582506 ,  2.11075155,  0.09144517,-13.30462175,
  -2.39151474,-30.25003726]

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: -0.0007165246291839233
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.87363874e-14, -1.54945550e-13,  1.00000000e+00,  6.00203083e-27,
        1.00000000e+00,  1.54945550e-13, -1.00000000e+00,  0.00000000e+00,
        3.87363874e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10201842, -0.08995896,  0.06197956])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.56470345e-07, 7.08902839e-07,-4.90500083e+00,-1.89788408e-03,
  3.53125372e-05,-2.24771116e-03]


--- 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, 0.09414723,-0.07033034,
  0.13069663, 0.50286166, 0.49858705, 0.49520105, 0.50330609]

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, -0.93672509,  2.07107944, -0.09346856,-13.26571152,
  -2.23956246,-29.71406033]

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: -0.000704389575320874
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10202157, -0.08996286,  0.0619799 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.73367894e-07, 4.08311144e-08,-4.90500055e+00,-1.89672508e-03,
  3.53388872e-05,-2.24762421e-03]


--- 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, 0.09413811,-0.07031157,
  0.13070621, 0.50296101, 0.49847491, 0.4952417 , 0.5032779 ]

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, -0.91927261,  2.03858908, -0.24957296,-13.22707148,
  -2.1163548 ,-29.27387685]

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: -0.0006898510393767293
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10202467, -0.08996742,  0.06198031])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.16944307e-06, 1.82075380e-06,-4.90500574e+00,-1.89566740e-03,
  3.61322356e-05,-2.24666308e-03]


--- 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, 0.09412536,-0.07028476,
  0.13071427, 0.5031046 , 0.49832286, 0.49529586, 0.50323166]

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 , -0.9052833 ,  2.01230667, -0.38101003,-13.19262913,
  -2.01585851,-28.91739894]

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: -0.0006735644354645132
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.24140176e-14, -8.24140176e-14,  1.00000000e+00,  6.79207030e-27,
        1.00000000e+00,  8.24140176e-14, -1.00000000e+00,  0.00000000e+00,
        8.24140176e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10202771, -0.08997246,  0.06198078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.34972580e-06, 5.93592893e-06,-4.90501619e+00,-1.89466996e-03,
  3.76716446e-05,-2.24484648e-03]


--- 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, 0.09410903,-0.07024997,
  0.13072036, 0.50329201, 0.49813112, 0.49536332, 0.50316769]

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 , -0.89424456,  1.99139319, -0.49138722,-13.16507822,
  -1.93326008,-28.63422918]

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: -0.0006560764350914822
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.23053994e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.23053994e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10203069, -0.08997782,  0.06198127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -7.12470756e-06, 1.22975476e-05,-4.90503176e+00,-1.89370215e-03,
  3.99412270e-05,-2.24218911e-03]


--- 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, 0.09408917,-0.07020729,
  0.13072412, 0.50352292, 0.49789981, 0.49544393, 0.50308623]

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, -0.8857263 ,  1.97512864, -0.58383148,-13.14620889,
  -1.86471466,-28.41545074]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006378402206066586
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10203359, -0.0899834 ,  0.06198179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.05001525e-05, 2.08362721e-05,-4.90505233e+00,-1.89274109e-03,
  4.29298698e-05,-2.23870227e-03]


--- 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, 0.09406578,-0.07015675,
  0.13072523, 0.50379705, 0.49762903, 0.49553758, 0.50298747]

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 , -0.87936772,  1.96289632, -0.66104695,-13.1371496 ,
  -1.80714611,-28.25342334]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006192286965992222
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10203641, -0.08998907,  0.06198232])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.44789730e-05, 3.14985508e-05,-4.90507784e+00,-1.89176955e-03,
  4.66308912e-05,-2.23439442e-03]


--- 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, 0.09403889,-0.0700984 ,
  0.13072344, 0.50411421, 0.49731879, 0.49564414, 0.50287152]

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, -0.87486586,  1.95416817, -0.72537065,-13.13854583,
  -1.75808819,-28.1415967 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006005459036062949
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.24344849e-14,  5.19943977e-14,  1.00000000e+00, -4.80607537e-27,
        1.00000000e+00, -5.19943977e-14, -1.00000000e+00,  0.00000000e+00,
        9.24344849e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10203913, -0.08999477,  0.06198285])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.90624865e-05, 4.42435756e-05,-4.90510826e+00,-1.89077446e-03,
  5.10416800e-05,-2.22927156e-03]


--- 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, 0.09400472,-0.07005465,
  0.13072125, 0.5044014 , 0.49702665, 0.49567511, 0.50284185]

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, -1.82127554, -3.64946746, -0.10189856,-28.37541332,
   5.27769708, 52.56487029]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006043053403569087
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.18594418e-14,  1.37789163e-13,  1.00000000e+00, -1.26572356e-26,
        1.00000000e+00, -1.37789163e-13, -1.00000000e+00,  0.00000000e+00,
        9.18594418e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1101737 , -0.0342883 ,  0.06198274])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.91831795e-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,
 -2.42512375e-05, 5.90407615e-05,-4.90514358e+00,-1.88974573e-03,
  5.61633427e-05,-2.22333767e-03]


--- 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, 0.09396349,-0.07002501,
  0.1307174 , 0.50466007, 0.49675196, 0.49563276, 0.50289549]

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,
 -1.76491971e+00,-3.52955600e+00,-4.12930878e-01,-2.75903945e+01,
  4.89154271e+00, 5.07281195e+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([ 6.60914402, -6.54991833, -0.88281057, -6.54991833,  7.43955835,
       -6.16117004, -0.88281057, -6.16117004, 52.32128434,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006211915985498001
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.78724733e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.78724733e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11017107, -0.0342971 ,  0.06198226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.87863457e-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,
 -3.18150492e-05, 3.90194068e-05,-4.90511032e+00,-1.88303681e-03,
  5.49471796e-05,-2.22006862e-03]


--- 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, 0.09391539,-0.07000908,
  0.13071082, 0.50489144, 0.49649417, 0.49551903, 0.50302989]

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, -1.71713205, -3.42609619, -0.6841103 ,-26.91669562,
   4.55896574, 49.16014886]

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([ 6.68709645, -6.66765835, -0.50950081, -6.66765835,  7.02468591,
       -4.4179148 , -0.50950081, -4.4179148 , 64.50279708,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006305789378753535
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.80320415e-14,  4.40160208e-14,  1.00000000e+00, -3.87482017e-27,
        1.00000000e+00, -4.40160208e-14, -1.00000000e+00,  0.00000000e+00,
        8.80320415e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11016996, -0.03430196,  0.061982  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.15073616e-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,
 -3.62346417e-05, 2.16079886e-05,-4.90509519e+00,-1.87732833e-03,
  5.13698620e-05,-2.21853382e-03]


--- 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, 0.09386059,-0.0700065 ,
  0.13070055, 0.50509654, 0.49625281, 0.49533552, 0.50324284]

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, -1.67701069, -3.33744076, -0.91946514,-26.34589585,
   4.26943583, 47.83026024]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006338267787656809
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11017011, -0.03430362,  0.0619819 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.50196083e-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,
 -3.78566291e-05, 6.49808231e-06,-4.90509653e+00,-1.87240203e-03,
  4.56583886e-05,-2.21863921e-03]


--- 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, 0.09379921,-0.07001696,
  0.1306858 , 0.50527622, 0.49602745, 0.49508357, 0.5035325 ]

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, -1.64365932, -3.2619037 , -1.12317491,-25.86875897,
   4.01424656, 46.70957115]

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: -0.0006320996887003022
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.78202477e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.78202477e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11017127, -0.0343027 ,  0.06198195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.41634895e-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,
 -3.69415133e-05,-6.54293891e-06,-4.90511305e+00,-1.86808741e-03,
  3.79870535e-05,-2.22030819e-03]


--- 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, 0.09373136,-0.07004022,
  0.13066585, 0.50543119, 0.49581771, 0.49476425, 0.50389725]

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, -1.61623277, -3.1978672 , -1.29928943,-25.47604871,
   3.78623673, 45.77181679]

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: -0.0006263897313749933
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.43103937e-14, -8.86207874e-14,  1.00000000e+00,  3.92682198e-27,
        1.00000000e+00,  8.86207874e-14, -1.00000000e+00,  0.00000000e+00,
        4.43103937e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11017324, -0.03429973,  0.06198211])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.12749321e-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,
 -3.36812698e-05,-1.76844594e-05,-4.90514374e+00,-1.86424997e-03,
  2.84865591e-05,-2.22347815e-03]


--- 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, 0.09365714,-0.07007605,
  0.13064009, 0.50556205, 0.49562329, 0.49437841, 0.50433576]

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, -1.59395878, -3.14383603, -1.45158011,-25.15898074,
   3.5795353 , 44.9936251 ]

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: -0.0006175377022672734
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.34836669e-13, -2.24727782e-14,  1.00000000e+00,  3.03015456e-27,
        1.00000000e+00,  2.24727782e-14, -1.00000000e+00,  0.00000000e+00,
        1.34836669e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11017585, -0.03429514,  0.06198235])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.66504957e-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,
 -2.82132245e-05,-2.70427790e-05,-4.90518785e+00,-1.86078212e-03,
  1.72518737e-05,-2.22809764e-03]


--- 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, 0.09358362,-0.07010247,
  0.1306229 , 0.50571992, 0.49540449, 0.49403146, 0.50473227]

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,  0.17501962,  2.35485725,  2.14304523,  7.33805283,
  -1.10150989,-33.08991967]

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([  6.62267795,   1.94559913,   6.33044289,   1.94559913,
        64.68982506, -17.84636439,   6.33044289, -17.84636439,
        12.10758185,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000622819361382726
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.55975425e-13,  8.91288143e-14,  1.00000000e+00,  1.39019047e-26,
        1.00000000e+00, -8.91288143e-14, -1.00000000e+00,  0.00000000e+00,
       -1.55975425e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09145951, -0.08804782,  0.0619822 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.81455980e-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,
 -2.06308652e-05,-3.46891771e-05,-4.90524481e+00,-1.85759621e-03,
  4.34878906e-06,-2.23412401e-03]


--- 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, 0.09351078,-0.07011983,
  0.13061255, 0.50590429, 0.49516091, 0.49372174, 0.50508946]

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,  0.17113022,  2.26171591,  1.70812189,  6.27142822,
  -0.62395538,-31.97515134]

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([ 6.83954005, -0.32641002, -6.83174682, -0.32641002, 33.19740662,
       -1.25933703, -6.83174682, -1.25933703,  6.89970917,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006490443023390996
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.49673165e-13,  1.28291284e-13,  1.00000000e+00, -1.92017624e-26,
        1.00000000e+00, -1.28291284e-13, -1.00000000e+00,  0.00000000e+00,
        1.49673165e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09146564, -0.08804253,  0.06198145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30705549e-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,
 -2.94078909e-05,-3.16466637e-05,-4.90521688e+00,-1.84762859e-03,
  1.87356020e-05,-2.23518732e-03]


--- 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, 0.09343996,-0.07012837,
  0.13060791, 0.50610928, 0.49489673, 0.49345366, 0.50540489]

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 ,  0.50421448,  2.20773861,  1.42719439, 10.5115748 ,
   0.30986834,-31.16676518]

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([ 6.97418057,  1.14584955, -6.87940574,  1.14584955, 55.78900199,
        8.13070826, -6.87940574,  8.13070826,  8.32844992,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006655222301101295
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.15564271e-13,  1.18538125e-06,  1.00000000e+00,  1.36987721e-19,
        1.00000000e+00, -1.18538125e-06, -1.00000000e+00,  0.00000000e+00,
       -1.15564271e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08886509, -0.08805967,  0.06198098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -3.75511914e-05,-2.76562436e-05,-4.90519650e+00,-1.83825498e-03,
  3.18976855e-05,-2.23570579e-03]


--- 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, 0.09337255,-0.07012826,
  0.13060794, 0.5063287 , 0.49461656, 0.49323202, 0.50567566]

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,  0.85202291,  2.16104047,  1.16920597, 15.13840068,
   1.18204096,-30.38312867]

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([ 7.08806849,  1.76563384, -6.86463779,  1.76563384, 64.99562123,
       14.8942359 , -6.86463779, 14.8942359 , 10.91897227,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006796306655082462
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.78671519e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.78671519e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0860158 , -0.08807965,  0.06198058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -4.33720822e-05,-2.25394815e-05,-4.90517566e+00,-1.82946938e-03,
  4.42250787e-05,-2.23564831e-03]


--- 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, 0.09330843,-0.07011977,
  0.13061136, 0.50656243, 0.49432005, 0.49305541, 0.50590369]

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,
  8.24984516e-01, 2.09459514e+00, 8.48012940e-01, 1.42483200e+01,
  1.43012846e+00,-2.96027073e+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([ 7.1455491 , -0.37529044, -7.135687  , -0.37529044, 61.37390266,
       -2.85205652, -7.135687  , -2.85205652,  7.29554861,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006868248357613793
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.61645731e-13,  2.27314309e-14,  1.00000000e+00, -3.67443876e-27,
        1.00000000e+00, -2.27314309e-14, -1.00000000e+00,  0.00000000e+00,
        1.61645731e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08601916, -0.08807911,  0.06198037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.68289975e-05,-1.65666828e-05,-4.90515428e+00,-1.82117393e-03,
  5.52741437e-05,-2.23497905e-03]


--- 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, 0.09324752,-0.07010313,
  0.13061707, 0.50681037, 0.49400694, 0.49292262, 0.50609059]

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,  0.80087999,  2.03867761,  0.57165484, 13.5099173 ,
   1.63143774,-28.93590544]

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: -0.0006879882509446544
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.06861907e-14,  4.28645388e-14,  1.00000000e+00, -3.45857635e-27,
        1.00000000e+00, -4.28645388e-14, -1.00000000e+00,  0.00000000e+00,
        8.06861907e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08602134, -0.08807993,  0.06198034])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.00541706e-05,-9.95095649e-06,-4.90513983e+00,-1.81320243e-03,
  6.47887615e-05,-2.23367578e-03]


--- 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 , 0.09318973,-0.07007852,
  0.13062413, 0.5070724 , 0.493677  , 0.49283264, 0.50623768]

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,  0.77949731,  1.99204467,  0.33504919, 12.89641981,
   1.79690954,-28.37228852]

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: -0.0006843037574591621
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.62241258e-13,  2.28151769e-14,  1.00000000e+00, -3.70156300e-27,
        1.00000000e+00, -2.28151769e-14, -1.00000000e+00,  0.00000000e+00,
        1.62241258e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08602258, -0.08808183,  0.06198045])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -5.30933964e-05,-2.64386305e-06,-4.90513163e+00,-1.80548334e-03,
  7.29212759e-05,-2.23172063e-03]


--- 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, 0.09313498,-0.07004609,
  0.13063171, 0.50734844, 0.49333007, 0.4927846 , 0.50634608]

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,  0.76059355,  1.95354128,  0.13330106, 12.38582394,
   1.93499603,-27.9014862 ]

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: -0.0006767801018224967
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.46067302e-13, -1.79424074e-14,  1.00000000e+00,  4.41503979e-27,
        1.00000000e+00,  1.79424074e-14, -1.00000000e+00,  0.00000000e+00,
        2.46067302e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0860231 , -0.08808461,  0.06198066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.59816231e-05, 5.38776562e-06,-4.90512919e+00,-1.79796157e-03,
  7.97927585e-05,-2.22910179e-03]


--- 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, 0.09308479,-0.07002925,
  0.13063849, 0.50755919, 0.49306269, 0.4926884 , 0.50648889]

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,
  1.13843987e+00,-3.89447489e+00,-2.01013611e-01, 1.56106399e+01,
 -7.78530771e+00, 5.67395988e+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([ 7.15340241,  0.49558838, -7.13621456,  0.49558838, 62.78762576,
        3.86362747, -7.13621456,  3.86362747,  7.42171958,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00068781204984876
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08273143, -0.03144797,  0.06198035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.87459165e-05, 1.41671546e-05,-4.90513210e+00,-1.79059377e-03,
  8.54993135e-05,-2.22581136e-03]


--- 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, 0.09303894,-0.07002746,
  0.13064319, 0.50770625, 0.49287204, 0.49254661, 0.50666493]

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,  1.0871769 , -3.76559812, -0.5205257 , 15.44749127,
  -7.11416069, 54.71016307]

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([ 7.23346001, -4.23098648,  5.86700069, -4.23098648, 19.74217627,
        9.02065846,  5.86700069,  9.02065846, 13.73870621,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006979407914572688
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.59071233e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.59071233e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08272804, -0.03145419,  0.06198007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.76487296e-05, 3.45423269e-08,-4.90509045e+00,-1.79118112e-03,
  7.32520390e-05,-2.22246590e-03]


--- 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, 0.09299727,-0.0700403 ,
  0.1306447 , 0.50779097, 0.49275574, 0.49236132, 0.5068732 ]

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,  1.04379358, -3.65603832, -0.795543  , 15.27521246,
  -6.58595833, 52.99946647]

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([ 7.25681264, -4.63309962,  5.58531268, -4.63309962, 24.12706544,
       13.99412465,  5.58531268, 13.99412465, 18.86514638,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007009192608124076
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.58395280e-13,  7.91976399e-14,  1.00000000e+00, -1.25445323e-26,
        1.00000000e+00, -7.91976399e-14, -1.00000000e+00,  0.00000000e+00,
        1.58395280e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08272462, -0.03145628,  0.06197998])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.09191434e-05,-7.31659641e-06,-4.90506743e+00,-1.79031646e-03,
  6.36984093e-05,-2.22084663e-03]


--- 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, 0.09295963,-0.0700674 ,
  0.13064209, 0.50781456, 0.49271176, 0.4921342 , 0.50711283]

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,  1.00713484, -3.5634716 , -1.03153432, 15.1039065 ,
  -6.17234556, 51.56630477]

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([ 7.23496015, -5.05899216,  5.17216074, -5.05899216, 27.95866594,
       20.27026428,  5.17216074, 20.27026428, 27.06170436,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006981317823988864
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.59027715e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.59027715e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08272117, -0.03145505,  0.06198006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.99186185e-06,-8.50164500e-06,-4.90506130e+00,-1.78832011e-03,
  5.66314957e-05,-2.22084983e-03]


--- 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, 0.09292589,-0.07010843,
  0.13063455, 0.50777802, 0.4927384 , 0.49186659, 0.50738309]

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 ,  0.97618258, -3.48569891, -1.23371215, 14.94011927,
  -5.8505922 , 50.37366568]

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([ 7.17674438, -5.48266382,  4.63098881, -5.48266382, 30.11460466,
       27.15631192,  4.63098881, 27.15631192, 39.32731414,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006907527684799492
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.03632700e-14,  8.03632700e-14,  1.00000000e+00, -6.45825516e-27,
        1.00000000e+00, -8.03632700e-14, -1.00000000e+00,  0.00000000e+00,
        8.03632700e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08271769, -0.03145119,  0.06198027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.56229806e-06,-3.98389115e-06,-4.90507069e+00,-1.78541884e-03,
  5.18771969e-05,-2.22239303e-03]


--- 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 , 0.09289559,-0.07014058,
  0.13063334, 0.50775888, 0.49274283, 0.49164659, 0.50761112]

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,  0.85956704,  2.22191826,  1.58439773, 12.53659462,
   3.04218976,-32.32419402]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007013551689911274
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.37445250e-13,  1.01408909e-13,  1.00000000e+00, -2.40790638e-26,
        1.00000000e+00, -1.01408909e-13, -1.00000000e+00,  0.00000000e+00,
        2.37445250e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.086027  , -0.08807954,  0.06197997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.06717520e-06, 5.89771870e-06,-4.90509456e+00,-1.78177124e-03,
  4.92912661e-05,-2.22541088e-03]


--- 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, 0.0928686 ,-0.07016416,
  0.13063694, 0.5077565 , 0.49272594, 0.49147251, 0.50779845]

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,  0.82570605,  2.1441758 ,  1.20179671, 12.11900334,
   2.92458557,-31.14596571]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007140584600502375
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.77403453e-14,  1.57910076e-13,  1.00000000e+00, -1.22759839e-26,
        1.00000000e+00, -1.57910076e-13, -1.00000000e+00,  0.00000000e+00,
        7.77403453e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08602759, -0.08807622,  0.06197961])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.46349847e-06, 1.53995066e-06,-4.90506432e+00,-1.77937388e-03,
  5.69864831e-05,-2.22848865e-03]


--- 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, 0.09284479,-0.07017942,
  0.13064403, 0.50777034, 0.49268845, 0.49134293, 0.50794636]

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,  0.79673646,  2.07785498,  0.87219867, 11.75824747,
   2.82779954,-30.1460104 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007193317202919269
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.71704482e-14,  4.09968006e-14,  1.00000000e+00, -3.16374147e-27,
        1.00000000e+00, -4.09968006e-14, -1.00000000e+00,  0.00000000e+00,
        7.71704482e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08602758, -0.08807492,  0.06197946])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.08280615e-06,-1.30057223e-06,-4.90504127e+00,-1.77693668e-03,
  6.32853026e-05,-2.23071847e-03]


--- 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, 0.09282406,-0.07018659,
  0.13065348, 0.50779995, 0.49263098, 0.49125662, 0.50805596]

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 ,  0.77208824,  2.02173988,  0.58989485, 11.4485556 ,
   2.7486583 ,-29.30257897]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000718588524707589
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.72502612e-14,  2.17266360e-14,  1.00000000e+00, -1.67838830e-27,
        1.00000000e+00, -2.17266360e-14, -1.00000000e+00,  0.00000000e+00,
        7.72502612e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0860271 , -0.08807524,  0.06197949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.09316063e-07,-2.77142338e-06,-4.90502465e+00,-1.77448727e-03,
  6.83074588e-05,-2.23213246e-03]


--- 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, 0.09280635,-0.07018587,
  0.13066432, 0.50784495, 0.49255405, 0.49121257, 0.50812816]

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,  0.75122013,  1.97463583,  0.34920101, 11.18425105,
   2.6844021 ,-28.59566784]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000713036561073993
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.19210508e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.19210508e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08602624, -0.08807684,  0.06197965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.07222220e-06,-2.98956072e-06,-4.90501388e+00,-1.77204535e-03,
  7.21499361e-05,-2.23275711e-03]


--- 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, 0.09279157,-0.0701774 ,
  0.13067575, 0.50790502, 0.49245804, 0.49120992, 0.50816373]

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,  0.73363894,  1.93542962,  0.14476717, 10.96004899,
   2.6326639 ,-28.00743598]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007037023647565172
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.69770708e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.69770708e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08602509, -0.08807946,  0.06197991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.87609195e-06,-2.04731014e-06,-4.90500848e+00,-1.76962453e-03,
  7.48907136e-05,-2.23261409e-03]


--- 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, 0.09277966,-0.07016132,
  0.13068706, 0.5079799 , 0.4923433 , 0.49124795, 0.50816331]

qacc:
[-1.55984894e+00,-1.79918187e+00, 1.16172463e+01,-3.12350335e+01,
  4.01405145e-01,-4.45220718e+00, 2.00921511e+01,-3.92192781e+01,
 -3.45603691e+00,-4.76782477e+00, 2.03411169e+01,-3.96660027e+01,
 -1.71227033e+00, 5.96691163e+00, 2.80466677e+00,-1.61711482e+01,
  7.18906539e-01, 1.90311619e+00,-2.82776153e-02, 1.07711853e+01,
  2.59143164e+00,-2.75222756e+01]

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: -0.0006914544573265458
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.40845152e-13,  1.63072238e-13,  1.00000000e+00, -3.92751579e-26,
        1.00000000e+00, -1.63072238e-13, -1.00000000e+00,  0.00000000e+00,
        2.40845152e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08602372, -0.08808286,  0.06198026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.51545500e-06,-1.73826383e-08,-4.90500810e+00,-1.76723380e-03,
  7.65920186e-05,-2.23172103e-03]


--- 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, 0.09277058,-0.07013774,
  0.13069767, 0.50806937, 0.49221007, 0.49132605, 0.50812741]

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,  0.70663993,  1.87680571, -0.1742778 , 10.6134488 ,
   2.55900433,-27.12669797]

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: -0.0006770243195239056
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.63985693e-13,  2.30604881e-14,  1.00000000e+00, -3.78159014e-27,
        1.00000000e+00, -2.30604881e-14, -1.00000000e+00,  0.00000000e+00,
        1.63985693e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08602219, -0.08808685,  0.06198067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -6.00235574e-06, 3.04301146e-06,-4.90501245e+00,-1.76487869e-03,
  7.73030632e-05,-2.23009209e-03]


--- 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 , 0.09276429,-0.07010673,
  0.1307071 , 0.50817326, 0.49205856, 0.49144376, 0.50805643]

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,  0.69650772,  1.85572017, -0.29705836, 10.48316211,
   2.53394794,-26.80913254]

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: -0.0006610250307623328
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.39773816e-14,  4.46129840e-14,  1.00000000e+00,  3.74648158e-27,
        1.00000000e+00, -4.46129840e-14, -1.00000000e+00,  0.00000000e+00,
       -8.39773816e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08602054, -0.08809127,  0.06198113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.39003636e-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,
 -7.34780997e-06, 7.08883027e-06,-4.90502133e+00,-1.76256206e-03,
  7.70622985e-05,-2.22773851e-03]


--- 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, 0.09276074,-0.07006836,
  0.13071492, 0.50829141, 0.4918889 , 0.49160068, 0.50795071]

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 ,  0.68822503,  1.83918455, -0.39996012, 10.37713668,
   2.51505435,-26.55969522]

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: -0.0006439676302145703
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.73451349e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.73451349e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08601882, -0.08809598,  0.06198161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.46143578e-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,
 -8.56193509e-06, 1.20845165e-05,-4.90503458e+00,-1.76028481e-03,
  7.58992534e-05,-2.22466899e-03]


--- 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, 0.09276146,-0.07004512,
  0.13072074, 0.50834709, 0.49179594, 0.49171091, 0.50787829]

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,  1.06346567, -3.78168829, -0.50222133, 14.81615931,
  -7.79544345, 54.66674837]

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([ 6.78968261,  0.62576853, -6.76078425,  0.62576853, 73.04311373,
        6.13232288, -6.76078425,  6.13232288,  7.35728165,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006429862941570441
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.63333352e-14,  8.63333352e-14,  1.00000000e+00, -7.45344476e-27,
        1.00000000e+00, -8.63333352e-14, -1.00000000e+00,  0.00000000e+00,
        8.63333352e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08267038, -0.03142823,  0.06198164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.75157066e-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,
 -9.65409647e-06, 1.80018371e-05,-4.90505210e+00,-1.75804634e-03,
  7.38360220e-05,-2.22089010e-03]


--- 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, 0.09276628,-0.07003658,
  0.13072349, 0.50834138, 0.49177738, 0.49177676, 0.50783823]

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,  1.02619575, -3.67283046, -0.76737661, 14.77817521,
  -7.12608827, 53.01737502]

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([ 6.84559897, -3.91374643,  5.61647702, -3.91374643, 26.729184  ,
       13.85553786,  5.61647702, 13.85553786, 16.50059474,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006497819427620788
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.54304307e-14,  8.54304307e-14,  1.00000000e+00, -7.29835849e-27,
        1.00000000e+00, -8.54304307e-14, -1.00000000e+00,  0.00000000e+00,
        8.54304307e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08266699, -0.03143222,  0.06198145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -3.41323073e-06, 6.40829059e-06,-4.90501943e+00,-1.76278067e-03,
  7.12400564e-05,-2.21844425e-03]


--- 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, 0.09277507,-0.07004235,
  0.13072225, 0.50827523, 0.49183124, 0.49180008, 0.50782969]

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,  0.99515577, -3.58025375, -0.99606806, 14.72119627,
  -6.5849512 , 51.6248179 ]

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([ 6.85349526, -4.3413292 ,  5.30313661, -4.3413292 , 30.99403445,
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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: -0.0006507437676918776
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.53041612e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.53041612e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08266369, -0.03143289,  0.06198143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.86232080e-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,
 -8.03901066e-07, 1.17006253e-06,-4.90500426e+00,-1.76610129e-03,
  7.07445306e-05,-2.21753409e-03]


--- 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, 0.09278775,-0.07006213,
  0.13071624, 0.50814945, 0.49195586, 0.4917824 , 0.50785198]

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,  0.96943739, -3.50197784, -1.19283463, 14.65635774,
  -6.14627429, 50.45706801]

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([ 6.82284036, -4.77883034,  4.86969518, -4.77883034, 33.96135817,
       26.63213354,  4.86969518, 26.63213354, 32.95803838,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006470128711649203
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.5796054e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        8.5796054e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08266043, -0.03143089,  0.06198153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.62966112e-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,
 -1.42103161e-06, 1.78801798e-06,-4.90500516e+00,-1.76831425e-03,
  7.22556729e-05,-2.21809657e-03]


--- 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, 0.09280422,-0.07009566,
  0.13070479, 0.50796472, 0.49214984, 0.49172494, 0.50790448]

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,  0.94824597, -3.43615366, -1.36195705, 14.59134617,
  -5.7894244 , 49.48535341]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006395577263523244
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.67961545e-14,  8.67961545e-14,  1.00000000e+00, -7.53357244e-27,
        1.00000000e+00, -8.67961545e-14, -1.00000000e+00,  0.00000000e+00,
        8.67961545e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08265721, -0.03142679,  0.06198174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.71327716e-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,
 -4.96414735e-06, 7.88908726e-06,-4.90502099e+00,-1.76964404e-03,
  7.56948117e-05,-2.22008064e-03]


--- 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, 0.09282403,-0.07012055,
  0.1306983 , 0.50779731, 0.49232083, 0.49171328, 0.50791747]

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,  0.83430699,  2.1575979 ,  1.24247213, 11.24389061,
   3.49233012,-31.35470208]

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: -0.0006387835979725365
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.69013409e-14, -1.90096683e-14,  1.00000000e+00,  1.65196567e-27,
        1.00000000e+00,  1.90096683e-14, -1.00000000e+00,  0.00000000e+00,
        8.69013409e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08601231, -0.08809734,  0.06198176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.43438340e-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,
 -1.12134406e-05, 1.92046358e-05,-4.90505088e+00,-1.77025540e-03,
  8.09981291e-05,-2.22344508e-03]


--- 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, 0.09284707,-0.07013708,
  0.13069551, 0.50764655, 0.49246993, 0.49174613, 0.50789182]

qacc:
[ -5.11065487,  1.13972525, -4.38137263,  7.39200771, -3.55619984,
  -3.1471283 , 15.68929656,-33.65457544, -0.40583713, -3.82675865,
  10.89516577, -6.44397207, -1.52410515,  4.22292238, -2.06579756,
  -0.28295066,  0.80909268,  2.09343649,  0.92439986, 11.14808932,
   3.25129247,-30.37754011]

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: -0.0006497110354255764
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.54397543e-14,  2.40299309e-14,  1.00000000e+00, -2.05311139e-27,
        1.00000000e+00, -2.40299309e-14, -1.00000000e+00,  0.00000000e+00,
        8.54397543e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08601163, -0.08809442,  0.06198145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.98483567e-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,
 -1.06964348e-05, 1.28162529e-05,-4.90503761e+00,-1.77306395e-03,
  7.97261504e-05,-2.22556343e-03]


--- 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, 0.09287326,-0.07014544,
  0.13069532, 0.50751189, 0.49259808, 0.49182238, 0.50782827]

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,  0.78818738,  2.03847788,  0.64874968, 11.05620571,
   3.04963113,-29.54684001]

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: -0.0006544087025316947
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.69652852e-13,  2.38574322e-14,  1.00000000e+00, -4.04748141e-27,
        1.00000000e+00, -2.38574322e-14, -1.00000000e+00,  0.00000000e+00,
        1.69652852e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08601072, -0.08809321,  0.06198131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.02211049e-05, 7.97555379e-06,-4.90503059e+00,-1.77571745e-03,
  7.74414893e-05,-2.22687000e-03]


--- 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, 0.09290254,-0.07014584,
  0.13069677, 0.50739286, 0.49270605, 0.4919411 , 0.50772747]

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,  0.7710755 ,  1.99181968,  0.41121364, 10.9732687 ,
   2.87987588,-28.84568096]

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: -0.0006540453248355949
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.69747108e-13, -3.97844785e-14,  1.00000000e+00, -6.75330017e-27,
        1.00000000e+00,  3.97844785e-14, -1.00000000e+00,  0.00000000e+00,
       -1.69747108e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0860096 , -0.08809338,  0.06198132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.89156679e-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,
 -9.74275431e-06, 4.52419485e-06,-4.90502929e+00,-1.77828000e-03,
  7.41796979e-05,-2.22739138e-03]


--- 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 , 0.09293485,-0.07013843,
  0.13069905, 0.50728906, 0.49279447, 0.49210149, 0.50758994]

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,  0.75728205,  1.95256072,  0.20744984, 10.90235022,
   2.73592185,-28.25843256]

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: -0.0006496239903587137
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.40331507e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.40331507e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0860083 , -0.08809466,  0.06198145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.61490744e-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,
 -9.23049128e-06, 2.33454374e-06,-4.90503329e+00,-1.78080014e-03,
  6.99694003e-05,-2.22714956e-03]


--- 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, 0.09297015,-0.07012335,
  0.13070147, 0.50720016, 0.49286387, 0.49230287, 0.50741609]

qacc:
[ 5.36960160e+00,-4.98318233e+00, 2.48463224e+01,-5.63857560e+01,
 -4.51291185e+00, 2.50625245e+00,-5.99116817e+00, 5.80784682e-01,
 -4.45398729e+00,-8.47262160e-01, 6.82014854e+00,-2.03774536e+01,
 -2.01083609e+00, 7.83854099e+00, 5.75376461e+00,-2.59598696e+01,
  7.46381016e-01, 1.91984811e+00, 3.33174734e-02, 1.08451940e+01,
  2.61279487e+00,-2.77710500e+01]

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: -0.0006420008390961712
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.72931709e-13,  2.43185216e-14,  1.00000000e+00, -4.20544351e-27,
        1.00000000e+00, -2.43185216e-14, -1.00000000e+00,  0.00000000e+00,
        1.72931709e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08600688, -0.08809681,  0.06198167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.13352002e-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,
 -8.66318205e-06, 1.30341831e-06,-4.90504226e+00,-1.78331489e-03,
  6.48326307e-05,-2.22616262e-03]


--- 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, 0.09300839,-0.07010069,
  0.13070342, 0.50712587, 0.49291469, 0.49254468, 0.50720626]

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,
  7.37996993e-01, 1.89290019e+00,-1.15003909e-01, 1.08026483e+01,
  2.50644923e+00,-2.73711362e+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: -0.0006319028013679617
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.75695221e-13,  1.12554751e-13,  1.00000000e+00,  1.97753319e-26,
        1.00000000e+00, -1.12554751e-13, -1.00000000e+00,  0.00000000e+00,
       -1.75695221e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08600534, -0.08809963,  0.06198195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.95462881e-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,
 -8.02660619e-06, 1.34692966e-06,-4.90505596e+00,-1.78585276e-03,
  5.87853727e-05,-2.22444537e-03]


--- 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, 0.09304957,-0.07007054,
  0.13070441, 0.50706595, 0.49294729, 0.49282648, 0.5069607 ]

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,  0.73180299,  1.87101514, -0.24096608, 10.77496349,
   2.41359675,-27.04787426]

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: -0.0006199439044553556
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.81882627e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.81882627e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08600373, -0.08810297,  0.06198229])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.13215464e-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,
 -7.31146028e-06, 2.39629210e-06,-4.90507420e+00,-1.78843601e-03,
  5.18381586e-05,-2.22200981e-03]


--- 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, 0.09309365,-0.07003298,
  0.13070401, 0.50702021, 0.49296194, 0.49314789, 0.50667957]

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,  0.72751634,  1.8535711 , -0.3476457 , 10.76199708,
   2.33156428,-26.79189474]

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: -0.0006066399616797835
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.83011851e-13, -2.00169212e-14,  1.00000000e+00,  3.66333381e-27,
        1.00000000e+00,  2.00169212e-14, -1.00000000e+00,  0.00000000e+00,
        1.83011851e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08600206, -0.08810668,  0.06198267])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.36507280e-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,
 -6.51196126e-06, 4.39444328e-06,-4.90509686e+00,-1.79108232e-03,
  4.39966593e-05,-2.21886560e-03]


--- 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, 0.09314208,-0.07001046,
  0.13070141, 0.50691019, 0.49305303, 0.49342482, 0.50643136]

qacc:
[-3.23631897e+00,-6.48894571e-01, 5.77852565e+00,-1.71391362e+01,
 -2.56442385e+00, 4.99188997e-02, 5.09617868e-02, 3.47520351e-01,
 -1.53872619e+00,-1.50152822e+00, 1.03824155e+01,-3.00017820e+01,
 -1.19673270e+00, 1.26898748e+00,-5.74990411e+00, 1.29923261e+01,
  1.08738641e+00,-3.75888331e+00,-5.51053990e-01, 1.58363198e+01,
 -6.68225080e+00, 5.44363181e+01]

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: -0.000619077852737307
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.96674804e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.96674804e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08262704, -0.03141766,  0.06198232])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -5.62487441e-06, 7.29332410e-06,-4.90512384e+00,-1.79380607e-03,
  3.52622285e-05,-2.21502040e-03]


--- 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, 0.09319475,-0.07000255,
  0.13069557, 0.50673707, 0.4932183 , 0.49365931, 0.50621511]

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,  1.05753758, -3.6537205 , -0.80788382, 15.72617654,
  -6.08806144, 52.84243856]

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([ 6.65439072, -4.6527949 ,  4.75735383, -4.6527949 , 26.43214962,
       19.3430758 ,  4.75735383, 19.3430758 , 25.57233704,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006266367631171665
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.85858515e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.85858515e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08262499, -0.03142203,  0.0619821 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.39938073e-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,
 -1.32901314e-05, 3.12864544e-07,-4.90510569e+00,-1.80168497e-03,
  4.14311074e-05,-2.21373312e-03]


--- 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, 0.09325154,-0.0700089 ,
  0.13068561, 0.50650184, 0.49345582, 0.49385307, 0.50603002]

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,  1.03307201, -3.56385786, -1.03045214, 15.62081159,
  -5.59212986, 51.49421604]

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([ 6.66954984, -5.03175928,  4.37770414, -5.03175928, 28.40911144,
       24.98758197,  4.37770414, 24.98758197, 35.39042581,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000628463260327769
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.76656790e-13,  8.83283952e-14,  1.00000000e+00, -1.56038108e-26,
        1.00000000e+00, -8.83283952e-14, -1.00000000e+00,  0.00000000e+00,
        1.76656790e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08262276, -0.03142314,  0.06198205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.52015739e-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,
 -2.41621589e-05,-2.25725921e-07,-4.90510489e+00,-1.80849888e-03,
  4.94954220e-05,-2.21383065e-03]


--- 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, 0.09331239,-0.07002919,
  0.13067076, 0.50620533, 0.49376395, 0.4940075 , 0.5058754 ]

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,  1.01326481, -3.48750052, -1.22289   , 15.52670159,
  -5.17454137, 50.36181299]

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([ 6.64627863, -5.37508768,  3.90914979, -5.37508768, 28.6909777 ,
       30.3114991 ,  3.90914979, 30.3114991 , 48.32464199,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006256598253360779
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  8.8724174e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -8.8724174e-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([ 0.08262037, -0.03142163,  0.06198213])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.68535597e-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,
 -3.79424395e-05, 5.19583212e-06,-4.90512005e+00,-1.81450755e-03,
  5.93958727e-05,-2.21526976e-03]


--- 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, 0.09337723,-0.07006318,
  0.13065036, 0.50584818, 0.49414128, 0.49412375, 0.50575066]

qacc:
[-8.44721257e+00,-4.95963638e-01, 5.19795274e+00,-1.61131244e+01,
  8.53711534e-01, 3.31443513e-02, 3.47117555e+00,-1.32448184e+01,
 -4.20449414e+00,-2.93747625e+00, 1.15112144e+01,-2.04580321e+01,
 -2.31388028e+00, 9.85988827e+00,-7.24232141e+00, 1.76488419e+01,
  9.97467577e-01,-3.42295024e+00,-1.38914238e+00, 1.54478320e+01,
 -4.81929067e+00, 4.94182253e+01]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006191642697863792
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79309931e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.79309931e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08261783, -0.03141805,  0.06198231])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.93612330e-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,
 -5.44174925e-05, 1.62234364e-05,-4.90515007e+00,-1.81990821e-03,
  7.10878915e-05,-2.21801423e-03]


--- 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, 0.09344576,-0.07008844,
  0.13063535, 0.50550781, 0.4944962 , 0.4942868 , 0.50558473]

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,  0.92258432,  2.18393956,  1.34999389, 12.20107212,
   3.18941468,-31.76158668]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006231445704125288
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.45411497e-14,  8.90822995e-14,  1.00000000e+00, -3.96782804e-27,
        1.00000000e+00, -8.90822995e-14, -1.00000000e+00,  0.00000000e+00,
        4.45411497e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08599542, -0.08810226,  0.06198219])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.48761779e-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,
 -7.34395159e-05, 3.26089445e-05,-4.90519409e+00,-1.82485242e-03,
  8.45404867e-05,-2.22203350e-03]


--- 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, 0.09351654,-0.0701051 ,
  0.13062514, 0.50518966, 0.49482492, 0.49449016, 0.50538222]

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,  0.56324604,  2.1466177 ,  1.19928308,  7.11010218,
   2.27262218,-31.30417676]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000637090668616136
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.60581535e-07,  1.11638211e-13,  1.00000000e+00,  1.79270353e-20,
        1.00000000e+00, -1.11638211e-13, -1.00000000e+00,  0.00000000e+00,
       -1.60581535e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08876847, -0.08807122,  0.06198179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -7.10838277e-05, 2.29623827e-05,-4.90519227e+00,-1.83235759e-03,
  7.55106617e-05,-2.22386455e-03]


--- 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, 0.09358823,-0.07011332,
  0.13061917, 0.5048989 , 0.49512383, 0.49472766, 0.50514754]

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,  0.22566074,  2.11308364,  1.05798312,  2.27317543,
   1.42484428,-30.86235006]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006494562043552199
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.49578238e-13,  8.54732788e-14,  1.00000000e+00,  1.27849424e-26,
        1.00000000e+00, -8.54732788e-14, -1.00000000e+00,  0.00000000e+00,
       -1.49578238e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09145495, -0.08804158,  0.06198144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.99182523e-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,
 -6.66299006e-05, 1.40239543e-05,-4.90518962e+00,-1.83953927e-03,
  6.51638003e-05,-2.22514584e-03]


--- 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, 0.09366081,-0.07011331,
  0.13061626, 0.50463464, 0.49539418, 0.49499848, 0.50488116]

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,  0.22544582,  2.05628129,  0.76854658,  2.49003562,
   1.22235335,-30.01270536]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006553173198585727
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.11772028e-14,  1.27063217e-13,  1.00000000e+00,  2.69084352e-27,
        1.00000000e+00, -1.27063217e-13, -1.00000000e+00,  0.00000000e+00,
       -2.11772028e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09145382, -0.08804016,  0.06198127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.16927171e-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,
 -6.02141396e-05, 6.00541373e-06,-4.90518560e+00,-1.84648794e-03,
  5.40904798e-05,-2.22590872e-03]


--- 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 , 0.0937343 ,-0.07010526,
  0.13061544, 0.50439613, 0.49563702, 0.49530195, 0.50458346]

qacc:
[ -4.39273906, -0.6768045 ,  6.29531353,-18.70691323, -3.67889338,
  -2.65201205, 12.07339198,-23.46169361, -3.71712208, -0.60313721,
   2.88219342, -7.13433692, -1.25124335,  1.75333571,  7.37744915,
 -30.85197119,  0.22644278,  2.00807825,  0.51873852,  2.67389426,
   1.04765997,-29.29517135]

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.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006558290986024562
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.23213543e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.23213543e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09145283, -0.08804018,  0.06198125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -5.41026126e-05,-3.58184555e-07,-4.90518688e+00,-1.85339356e-03,
  4.28735161e-05,-2.22596204e-03]


--- 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, 0.09380366,-0.07008823,
  0.13061715, 0.50420807, 0.4958324 , 0.49561956, 0.50426749]

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, -1.03392446,  2.24667035,  0.63561825,-16.37707438,
  -1.47411621,-32.59309317]

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: -0.0006582362025566724
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.37187065e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.37187065e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10205883, -0.08995778,  0.06198119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.16048556e-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,
 -4.82108307e-05,-5.22078975e-06,-4.90519304e+00,-1.86030137e-03,
  3.14624734e-05,-2.22531828e-03]


--- 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, 0.09386568,-0.07008592,
  0.13061876, 0.50399166, 0.49604606, 0.49585877, 0.50403848]

qacc:
[ 2.68997163e+00,-3.18122496e+00, 1.79108469e+01,-4.19079984e+01,
  3.09030445e+00, 7.57677180e-01,-5.31968910e+00, 1.55990328e+01,
 -6.44638308e+00,-2.96901796e+00, 1.25142841e+01,-2.19775233e+01,
 -2.06311589e+00, 7.79670660e+00,-1.91871373e-01,-5.34993236e+00,
 -1.83447191e+00,-3.68010010e+00,-2.67742914e-02,-2.96841450e+01,
  4.20217755e+00, 5.30325876e+01]

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: -0.0006682074103969982
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.30747315e-14,  4.15373658e-14,  1.00000000e+00, -3.45070551e-27,
        1.00000000e+00, -4.15373658e-14, -1.00000000e+00,  0.00000000e+00,
        8.30747315e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11003036, -0.03427882,  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:
[ 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,
 -3.44837565e-05,-9.81481770e-06,-4.90517789e+00,-1.86712847e-03,
  2.02423416e-05,-2.22470015e-03]


--- 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 , 0.09392064,-0.07009783,
  0.13061891, 0.50374784, 0.49627736, 0.49602262, 0.5038933 ]

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, -1.76473661, -3.55475534, -0.36352248,-28.53082354,
   4.15603396, 51.10346482]

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([ 7.11242882, -6.14951769,  3.57352429, -6.14951769, 16.26777412,
       15.75502314,  3.57352429, 15.75502314, 34.22454158,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006826729680946692
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.43943237e-13,  1.21971619e-13,  1.00000000e+00, -2.97541515e-26,
        1.00000000e+00, -1.21971619e-13, -1.00000000e+00,  0.00000000e+00,
        2.43943237e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11002684, -0.03428622,  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:
[ 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,
 -3.66441547e-05, 3.14092049e-07,-4.90513213e+00,-1.87245086e-03,
  3.34055190e-05,-2.22251603e-03]


--- 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, 0.09396878,-0.07012353,
  0.13061645, 0.50347733, 0.49652576, 0.49611367, 0.50382931]

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, -1.7047572 , -3.44776937, -0.65479564,-27.54848492,
   4.12113864, 49.4710457 ]

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([ 7.16522472, -6.19670933,  3.59739333, -6.19670933, 19.46288717,
       21.18340494,  3.59739333, 21.18340494, 43.65481342,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006893002469977039
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.61065229e-13,  8.05326147e-14,  1.00000000e+00, -1.29710041e-26,
        1.00000000e+00, -8.05326147e-14, -1.00000000e+00,  0.00000000e+00,
        1.61065229e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11002525, -0.03428956,  0.06198031])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.59656310e-05, 1.20032125e-05,-4.90510563e+00,-1.87835975e-03,
  4.34363674e-05,-2.22213287e-03]


--- 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, 0.09401239,-0.0701406 ,
  0.13061872, 0.50325577, 0.49673052, 0.49621756, 0.50374651]

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, -1.13192904,  2.15862996,  1.1857713 ,-15.23556565,
  -2.58686171,-31.07221756]

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([ 7.17086926,  0.5635788 ,  7.14868834,  0.5635788 , 72.53954238,
       -5.15344869,  7.14868834, -5.15344869,  7.57715001,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006900116692171959
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.44605882e-07, -5.44605651e-07,  1.00000000e+00,  2.96595441e-13,
        1.00000000e+00,  5.44605651e-07, -1.00000000e+00,  0.00000000e+00,
        5.44605882e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10231584, -0.08815947,  0.06198029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.27372989e-05, 2.51065763e-05,-4.90509637e+00,-1.88478792e-03,
  5.07248001e-05,-2.22346610e-03]


--- 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 , 0.09405182,-0.07014856,
  0.13062411, 0.50308411, 0.49689072, 0.49633687, 0.50364244]

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, -1.04745131,  2.2763159 ,  0.77759891,-14.44963162,
  -2.55888178,-32.8100008 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006975397397174649
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.95813458e-14,  4.97383411e-15,  1.00000000e+00,  3.95824412e-28,
        1.00000000e+00, -4.97383411e-15, -1.00000000e+00,  0.00000000e+00,
       -7.95813458e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10206109, -0.08994769,  0.06198007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.49179656e-05, 1.43679106e-05,-4.90507129e+00,-1.88721606e-03,
  4.30845281e-05,-2.22607482e-03]


--- 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, 0.0940872 ,-0.07014767,
  0.13063148, 0.5029611 , 0.49700731, 0.49647111, 0.50351792]

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, -1.01057508,  2.21417462,  0.49400501,-14.21562579,
  -2.41680738,-31.92203798]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006988236842390833
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.58870263e-13,  1.98587829e-14,  1.00000000e+00, -3.15497006e-27,
        1.00000000e+00, -1.98587829e-14, -1.00000000e+00,  0.00000000e+00,
        1.58870263e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1020628 , -0.08994764,  0.06198004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.78075462e-05, 6.10674581e-06,-4.90505271e+00,-1.88973298e-03,
  3.61238173e-05,-2.22769754e-03]


--- 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, 0.09411866,-0.07013812,
  0.13063985, 0.50288566, 0.49708117, 0.4966199 , 0.50337362]

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, -0.97938827,  2.16200925,  0.25156098,-14.00135958,
  -2.30699183,-31.17633318]

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: -0.0006951005519816034
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.48518938e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.48518938e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10206475, -0.08994904,  0.06198015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.14976345e-05, 8.91732574e-07,-4.90504088e+00,-1.89241051e-03,
  3.02155084e-05,-2.22833330e-03]


--- 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, 0.09414343,-0.07014224,
  0.13064524, 0.50278257, 0.49717221, 0.49669784, 0.50330979]

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, -1.67393458, -3.41525691, -0.7450615 ,-26.61727604,
   4.72855757, 49.06887334]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006935343653675097
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.00409526e-14,  4.00204763e-14,  1.00000000e+00, -3.20327704e-27,
        1.00000000e+00, -4.00204763e-14, -1.00000000e+00,  0.00000000e+00,
        8.00409526e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11002624, -0.03429199,  0.06198019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.96656610e-06,-1.51047317e-06,-4.90503531e+00,-1.89520011e-03,
  2.52797557e-05,-2.22801956e-03]


--- 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, 0.09416169,-0.07015967,
  0.13064671, 0.50265266, 0.49727996, 0.49670678, 0.50332426]

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, -1.62707541, -3.32865001, -0.98025396,-25.94301242,
   4.56713836, 47.73460267]

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([ 7.18384095, -7.1386903 ,  0.80415893, -7.1386903 ,  8.02192355,
        7.43983795,  0.80415893,  7.43983795, 73.22886873,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006916487938230798
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11002744, -0.03429112,  0.06198025])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.26006896e-06, 2.49675525e-06,-4.90501920e+00,-1.89762669e-03,
  3.02579381e-05,-2.22764167e-03]


--- 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, 0.09417583,-0.0701681 ,
  0.13065083, 0.50257171, 0.49734489, 0.4967313 , 0.50331675]

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 , -1.02918818,  2.25140068,  0.66382071,-13.548004  ,
  -2.92621571,-32.3554759 ]

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([ 7.17875446,  0.57475879,  7.15570876,  0.57475879, 70.33929268,
       -5.07316265,  7.15570876, -5.07316265,  7.58623958,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000691006469942565
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.00834412e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.00834412e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10207194, -0.08995126,  0.06198027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.05961764e-06, 7.98492193e-06,-4.90501839e+00,-1.90068762e-03,
  3.29679900e-05,-2.22894216e-03]


--- 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, 0.09418599,-0.07016775,
  0.13065655, 0.5025386 , 0.49736764, 0.49677091, 0.50328824]

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, -0.99567889,  2.19297893,  0.39886981,-13.49204653,
  -2.70045647,-31.54125179]

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: -0.0006905747628023207
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.03839848e-14,  4.52159914e-14,  1.00000000e+00, -3.63464157e-27,
        1.00000000e+00, -4.52159914e-14, -1.00000000e+00,  0.00000000e+00,
        8.03839848e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10207459, -0.08995175,  0.06198028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.11378630e-06, 2.75538507e-06,-4.90500739e+00,-1.90062105e-03,
  3.02995770e-05,-2.23014604e-03]


--- 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, 0.09419228,-0.07015883,
  0.13066296, 0.50255241, 0.49734877, 0.49682516, 0.50323955]

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, -0.96779678,  2.1440135 ,  0.17247289,-13.42658756,
  -2.51993987,-30.85794298]

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: -0.0006855962705940161
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.61935394e-13,  6.07257729e-14,  1.00000000e+00, -9.83365198e-27,
        1.00000000e+00, -6.07257729e-14, -1.00000000e+00,  0.00000000e+00,
        1.61935394e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10207726, -0.08995354,  0.06198042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.22650306e-07, 3.92455216e-07,-4.90500268e+00,-1.90078357e-03,
  2.85091231e-05,-2.23039001e-03]


--- 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, 0.09419463,-0.07014216,
  0.13066968, 0.50261028, 0.49729057, 0.4968909 , 0.50317435]

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, -0.98460952,  1.93736363,  0.07743058,-13.84944048,
  -2.26462862,-27.86460732]

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: -0.0006770027500841028
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14934034e-06, -1.14934009e-06,  1.00000000e+00,  1.32098293e-12,
        1.00000000e+00,  1.14934009e-06, -1.00000000e+00,  2.01948392e-28,
        1.14934034e-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([ 0.10233596, -0.08816446,  0.06198067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.56015989e-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,
  8.02619412e-08, 7.02259303e-07,-4.90500389e+00,-1.90110539e-03,
  2.75554848e-05,-2.22970658e-03]


--- 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, 0.09419036,-0.07013901,
  0.13067305, 0.50264028, 0.49724943, 0.49688711, 0.50318878]

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, -1.6530891 , -3.38083878, -0.83742991,-26.05555637,
   4.95880939, 48.5522918 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006785224382556687
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.18118136e-14,  8.18118136e-14,  1.00000000e+00, -6.69317284e-27,
        1.00000000e+00, -8.18118136e-14, -1.00000000e+00,  0.00000000e+00,
        8.18118136e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11003522, -0.03428516,  0.06198063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.08546448e-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,
  2.19451875e-07, 3.28563650e-06,-4.90500994e+00,-1.90149272e-03,
  2.74694037e-05,-2.22818079e-03]


--- 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, 0.09417966,-0.07014906,
  0.13067219, 0.50264334, 0.49722491, 0.49681535, 0.5032808 ]

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 , -1.61184126, -3.29969245, -1.05636857,-25.50633801,
   4.71620749, 47.30225239]

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([ 7.05602472, -7.02996598, -0.60585737, -7.02996598,  7.570069  ,
       -5.96462803, -0.60585737, -5.96462803, 76.26560198,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006756427081703181
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.21605126e-14,  4.10802563e-14,  1.00000000e+00, -3.37517491e-27,
        1.00000000e+00, -4.10802563e-14, -1.00000000e+00,  0.00000000e+00,
        8.21605126e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.110037  , -0.03428385,  0.06198071])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.62930408e-07, 1.04355806e-07,-4.90500170e+00,-1.90063487e-03,
  2.81085380e-05,-2.22797229e-03]


--- 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, 0.09416264,-0.07017204,
  0.13066636, 0.50262025, 0.49721662, 0.4966769 , 0.50344868]

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, -1.57741818, -3.23137463, -1.24414219,-25.0446053 ,
   4.51294207, 46.26009926]

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: -0.0006685120862397892
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.66073740e-13,  4.15184350e-14,  1.00000000e+00, -6.89512179e-27,
        1.00000000e+00, -4.15184350e-14, -1.00000000e+00,  0.00000000e+00,
        1.66073740e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11003957, -0.03428029,  0.06198091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.53422976e-07,-1.42611993e-06,-4.90500821e+00,-1.90047097e-03,
  2.66902341e-05,-2.22940523e-03]


--- 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, 0.09414139,-0.07018586,
  0.13066384, 0.5026466 , 0.49716563, 0.49655441, 0.50359354]

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, -1.05719789,  2.28750938,  0.8285321 ,-13.28721943,
  -3.23983011,-32.79722251]

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([ 7.02916947,  0.61670076,  7.00206424,  0.61670076, 70.16194609,
       -5.56036474,  7.00206424, -5.56036474,  7.51889379,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006723119851316794
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.77280184e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.77280184e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10209164, -0.08995918,  0.0619808 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.27315158e-06,-1.41419025e-06,-4.90502850e+00,-1.90088600e-03,
  2.33654989e-05,-2.23241592e-03]


--- 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, 0.09411604,-0.0701908 ,
  0.13066349, 0.50272125, 0.49707241, 0.49644725, 0.50371668]

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, -1.02379129,  2.22362168,  0.54247072,-13.36648775,
  -2.9086049 ,-31.92388491]

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([ 7.05774472,  2.16044955, -6.71894473,  2.16044955, 63.48592875,
       18.14425475, -6.71894473, 18.14425475, 12.89195658,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000675856381883222
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.46403612e-13,  2.05336343e-14,  1.00000000e+00, -5.05956167e-27,
        1.00000000e+00, -2.05336343e-14, -1.00000000e+00,  0.00000000e+00,
        2.46403612e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10209459, -0.08995856,  0.0619807 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.55582682e-07,-3.66538167e-06,-4.90502376e+00,-1.89694585e-03,
  2.63791118e-05,-2.23339861e-03]


--- 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, 0.09408672,-0.07018705,
  0.13066433, 0.50284325, 0.49693737, 0.49635491, 0.50381913]

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 , -0.99644961,  2.1696787 ,  0.29671116,-13.41278091,
  -2.63734381,-31.185718  ]

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: -0.0006742432160733169
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.2331049e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        8.2331049e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10209747, -0.0899594 ,  0.06198075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.94996342e-06,-3.14656555e-06,-4.90502549e+00,-1.89331871e-03,
  3.01388878e-05,-2.23346169e-03]


--- 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, 0.09405349,-0.0701748 ,
  0.13066552, 0.50301178, 0.49676088, 0.49627695, 0.50390175]

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, -0.97430861,  2.12449633,  0.08639048,-13.43938638,
  -2.41358011,-30.56692809]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006685101420911554
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.30371115e-14,  1.66074223e-13,  1.00000000e+00, -1.37903238e-26,
        1.00000000e+00, -1.66074223e-13, -1.00000000e+00,  0.00000000e+00,
        8.30371115e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10210031, -0.08996141,  0.06198091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.16914784e-05,-3.60123247e-08,-4.90503328e+00,-1.88990147e-03,
  3.46357461e-05,-2.23263122e-03]


--- 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, 0.09401644,-0.07015421,
  0.13066633, 0.50322612, 0.49654322, 0.496213  , 0.50396524]

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, -0.95661879,  2.08698517, -0.09304364,-13.45590259,
  -2.22736993,-30.05318141]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006595403349913265
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.67966244e-14, -1.68332847e-13,  1.00000000e+00,  1.46107229e-26,
        1.00000000e+00,  1.68332847e-13, -1.00000000e+00,  0.00000000e+00,
        8.67966244e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10210311, -0.08996434,  0.06198116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.53782208e-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,
 -1.79363854e-05, 5.52207321e-06,-4.90504684e+00,-1.88661651e-03,
  3.98614380e-05,-2.23092872e-03]


--- 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, 0.09397561,-0.07012539,
  0.13066616, 0.50348571, 0.49628462, 0.49616276, 0.50401015]

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, -0.94273729,  2.05616738, -0.24573395,-13.46922068,
  -2.07078383,-29.63173523]

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: -0.0006480817398557409
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.56545522e-14,  5.35340951e-15,  1.00000000e+00, -4.58543895e-28,
        1.00000000e+00, -5.35340951e-15, -1.00000000e+00,  0.00000000e+00,
        8.56545522e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10210587, -0.08996797,  0.06198149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.87149136e-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,
 -2.47237496e-05, 1.34120668e-05,-4.90506592e+00,-1.88340494e-03,
  4.58099215e-05,-2.22837169e-03]


--- 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, 0.09392806,-0.07011011,
  0.13066268, 0.50371748, 0.49604288, 0.49604251, 0.50413489]

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,
 -1.68257700e+00,-3.38419613e+00,-8.27022161e-01,-2.63029027e+01,
  4.83516203e+00, 4.86579580e+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: -0.0006380499542148477
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74002524e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.74002524e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11005389, -0.03426609,  0.06198177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -3.20810735e-05, 2.35420026e-05,-4.90509036e+00,-1.88022166e-03,
  5.24780782e-05,-2.22497420e-03]


--- 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, 0.09387392,-0.07010804,
  0.13065502, 0.50392255, 0.49581753, 0.49585364, 0.5043374 ]

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, -1.64526759, -3.30280071, -1.04388261,-25.82866553,
   4.4994864 , 47.40453675]

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([  6.74947412,  -6.6084072 ,  -1.37271815,  -6.6084072 ,
         9.50787338, -13.27921948,  -1.37271815, -13.27921948,
        70.6770107 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006381148214404664
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.69924179e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.69924179e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11005522, -0.03426635,  0.06198177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.38564884e-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,
 -3.44604190e-05, 9.35517661e-06,-4.90509207e+00,-1.87445976e-03,
  4.69346692e-05,-2.22489120e-03]


--- 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, 0.09381333,-0.07011891,
  0.13064244, 0.5041018 , 0.49560818, 0.4955973 , 0.50461592]

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, -1.61449168, -3.23368967, -1.2310545 ,-25.43248818,
   4.20913819, 46.35348785]

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: -0.0006337832296218343
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.75869677e-14,  8.75869677e-14,  1.00000000e+00,  7.67147690e-27,
        1.00000000e+00, -8.75869677e-14, -1.00000000e+00,  0.00000000e+00,
       -8.75869677e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11005733, -0.03426428,  0.06198189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.86923262e-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,
 -3.42846323e-05,-2.78694253e-06,-4.90510859e+00,-1.86939479e-03,
  3.94959960e-05,-2.22636548e-03]


--- 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, 0.09374843,-0.07012079,
  0.13063228, 0.50432995, 0.49535566, 0.4953561 , 0.50487266]

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, -1.07684656,  2.24584437,  0.60395791,-13.78150308,
  -2.80522724,-32.27534303]

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([ 6.72866679,  0.54092716,  6.70688859,  0.54092716, 68.20588027,
       -4.95828934,  6.70688859, -4.95828934,  7.12856509,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006355983513429142
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.73368396e-14,  9.27953920e-14,  1.00000000e+00, -8.10445626e-27,
        1.00000000e+00, -9.27953920e-14, -1.00000000e+00,  0.00000000e+00,
        8.73368396e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10211736, -0.08997287,  0.06198183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.31230279e-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,
 -3.17517242e-05,-1.30475318e-05,-4.90513903e+00,-1.86487438e-03,
  3.02728584e-05,-2.22933620e-03]


--- 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, 0.09367932,-0.07011391,
  0.13062353, 0.50460604, 0.49506022, 0.49512946, 0.50510884]

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, -1.05154822,  2.19073566,  0.35235347,-13.92758932,
  -2.46134264,-31.52545345]

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: -0.0006378672647807115
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.44761131e-14, -8.70261797e-14,  1.00000000e+00,  2.13006261e-27,
        1.00000000e+00,  8.70261797e-14, -1.00000000e+00,  0.00000000e+00,
        2.44761131e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10212015, -0.08997256,  0.06198177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -4.43774017e-05,-7.02829730e-06,-4.90515364e+00,-1.85755005e-03,
  4.05292414e-05,-2.22833336e-03]


--- 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, 0.09361099,-0.07009868,
  0.13061833, 0.50490774, 0.49473923, 0.49493734, 0.5053101 ]

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,  0.19328914,  2.08839301,  0.88831117,  4.58063203,
   0.17891471,-30.14554747]

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: -0.0006455489021336552
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.07488277e-13,  4.29953107e-14,  1.00000000e+00, -4.62149185e-27,
        1.00000000e+00, -4.29953107e-14, -1.00000000e+00,  0.00000000e+00,
        1.07488277e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09151158, -0.08805987,  0.06198155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -5.74025538e-05, 1.37238002e-06,-4.90517461e+00,-1.85040159e-03,
  5.14489562e-05,-2.22650526e-03]


--- 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, 0.0935434 ,-0.07007529,
  0.13061562, 0.50523462, 0.49439272, 0.49477877, 0.50547778]

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,  0.18483593,  2.03758652,  0.62370299,  4.11163145,
   0.38110196,-29.45583496]

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: -0.0006487773534012142
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.55627141e-14,  8.55627141e-14,  1.00000000e+00, -7.32097805e-27,
        1.00000000e+00, -8.55627141e-14, -1.00000000e+00,  0.00000000e+00,
        8.55627141e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09151355, -0.08805957,  0.06198145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.31666348e-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,
 -6.27665954e-05, 9.67693861e-06,-4.90517548e+00,-1.84349595e-03,
  6.16099319e-05,-2.22460219e-03]


--- 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, 0.09347651,-0.07004393,
  0.1306145 , 0.50558632, 0.49402069, 0.49465293, 0.505613  ]

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,  0.17646807,  1.99497255,  0.39564717,  3.72053172,
   0.55183192,-28.87544358]

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: -0.0006472627075414239
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.14407344e-14,  4.28814688e-14,  1.00000000e+00,  9.19410184e-28,
        1.00000000e+00, -4.28814688e-14, -1.00000000e+00,  0.00000000e+00,
       -2.14407344e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09151499, -0.08806045,  0.0619815 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.08363178e-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,
 -6.79385589e-05, 1.90360306e-05,-4.90518144e+00,-1.83673187e-03,
  7.10686694e-05,-2.22203787e-03]


--- 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, 0.09341434,-0.07002866,
  0.1306139 , 0.50586433, 0.49373114, 0.49448315, 0.50578381]

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, 1.18135919,-4.02547271,
  0.13104891,19.14036945,-4.94150265,58.87764211]

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: -0.0006576494950369521
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.68816829e-13,  8.44084146e-14,  1.00000000e+00, -1.42495609e-26,
        1.00000000e+00, -8.44084146e-14, -1.00000000e+00,  0.00000000e+00,
        1.68816829e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08263653, -0.03146487,  0.0619812 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.17305029e-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,
 -7.29697764e-05, 2.94367683e-05,-4.90519214e+00,-1.83005971e-03,
  7.99070103e-05,-2.21880969e-03]


--- 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, 0.09335671,-0.07002892,
  0.13061237, 0.50607167, 0.49352087, 0.49427109, 0.50598883]

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,
  1.13090763e+00,-3.87953021e+00,-2.31456838e-01, 1.83517443e+01,
 -4.82578346e+00, 5.65625999e+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([ 7.06683309, -6.89758261, -1.5373627 , -6.89758261,  8.41622729,
       -6.05423689, -1.5373627 , -6.05423689, 34.22997358,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006769861344089745
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08263919, -0.03147582,  0.06198065])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.04348939e-05, 1.09795557e-05,-4.90514245e+00,-1.82554355e-03,
  6.42070500e-05,-2.21655209e-03]


--- 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, 0.09330342,-0.07004419,
  0.13060867, 0.50621092, 0.49338717, 0.49401816, 0.50622688]

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,  1.08722644, -3.75425442, -0.54615076, 17.67396136,
  -4.73578534, 54.59618956]

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([ 7.15151095, -6.95513725, -1.66438418, -6.95513725,  9.3139151 ,
       -9.03626566, -1.66438418, -9.03626566, 44.91230473,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006875741820552839
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.07347813e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.07347813e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08264056, -0.03148183,  0.06198035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.23637105e-05, 5.21503267e-07,-4.90511379e+00,-1.82050173e-03,
  5.18770631e-05,-2.21584989e-03]


--- 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, 0.09325432,-0.07007405,
  0.13060168, 0.50628423, 0.49332774, 0.4937255 , 0.50649695]

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,  1.04955907, -3.64753664, -0.81797938, 17.09403274,
  -4.66845892, 52.93732898]

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([  7.17886156,  -6.95450474,  -1.7807069 ,  -6.95450474,
        10.43696487, -12.72443821,  -1.7807069 , -12.72443821,
        56.87382577,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006910199894600982
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.03321931e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.03321931e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08264089, -0.03148381,  0.06198026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.82272568e-05,-2.83924213e-06,-4.90510388e+00,-1.81499397e-03,
  4.25453347e-05,-2.21664369e-03]


--- 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, 0.0932093 ,-0.07011814,
  0.13059049, 0.50629342, 0.49334059, 0.49339401, 0.50679817]

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, 1.01715675,-3.55720897,
 -1.05207303,16.599672  ,-4.62089985,51.54737184]

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([  7.16041846,  -6.90884428,  -1.88134611,  -6.90884428,
        11.77759993, -16.95561901,  -1.88134611, -16.95561901,
        69.42633062,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006886949322350289
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.06033973e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.06033973e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08264038, -0.03148257,  0.06198032])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.60870561e-06, 2.13557435e-07,-4.90511094e+00,-1.80906143e-03,
  3.59134904e-05,-2.21888394e-03]


--- 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, 0.09316803,-0.07015309,
  0.13058685, 0.50632059, 0.49332982, 0.49311105, 0.50705685]

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,  0.93756494,  2.28539067,  1.88652153, 12.37053998,
   3.34404873,-33.1247244 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007146984265263417
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.6990473e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.6990473e-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([ 0.08605633, -0.08810194,  0.06197958])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.82818064e-07, 9.17262380e-06,-4.90513357e+00,-1.80273031e-03,
  3.17436265e-05,-2.22252962e-03]


--- 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, 0.09313033,-0.07017925,
  0.13058903, 0.50636495, 0.49329666, 0.49287484, 0.50727442]

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  ,  0.89304444,  2.19703372,  1.45488913, 12.07715623,
   3.12909475,-31.81788672]

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([  7.49206323,  -4.35900497,  -6.09344624,  -4.35900497,
        34.33967946, -19.20569872,  -6.09344624, -19.20569872,
        21.23104326,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0007316731607075327
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.58687816e-14,  2.13380948e-14,  1.00000000e+00, -1.61889526e-27,
        1.00000000e+00, -2.13380948e-14, -1.00000000e+00,  0.00000000e+00,
        7.58687816e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08605585, -0.08809756,  0.0619791 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.71703430e-06, 4.29153091e-06,-4.90509816e+00,-1.80071579e-03,
  4.14743468e-05,-2.22619545e-03]


--- 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, 0.09309604,-0.07019693,
  0.13059553, 0.50642587, 0.49324214, 0.49268385, 0.50745213]

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,  0.85509554,  2.12156865,  1.08272336, 11.8067643 ,
   2.95695393,-30.70619077]

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: -0.0007401326227865213
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50003255e-13,  1.14846242e-13,  1.00000000e+00, -1.72273101e-26,
        1.00000000e+00, -1.14846242e-13, -1.00000000e+00,  0.00000000e+00,
        1.50003255e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08605496, -0.08809548,  0.06197886])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.14751665e-06, 1.08269046e-06,-4.90507036e+00,-1.79853831e-03,
  4.97335951e-05,-2.22896123e-03]


--- 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, 0.09306506,-0.07020637,
  0.1306051 , 0.50650277, 0.4931671 , 0.49253678, 0.50759104]

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 ,  0.82288659,  2.0576464 ,  0.7638592 , 11.56175187,
   2.81988721,-29.76650619]

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: -0.0007416691329451691
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.24538741e-13,  5.84736306e-14,  1.00000000e+00, -1.31295954e-26,
        1.00000000e+00, -5.84736306e-14, -1.00000000e+00,  0.00000000e+00,
        2.24538741e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08605374, -0.08809525,  0.06197882])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.45170464e-06,-6.48492373e-07,-4.90504936e+00,-1.79626390e-03,
  5.66419118e-05,-2.23087075e-03]


--- 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  , 0.09303725,-0.0702078 ,
  0.13061663, 0.50659521, 0.49307224, 0.49243254, 0.50769208]

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,  0.79564252,  2.00391356,  0.49198562, 11.34256128,
   2.71151277,-28.97708396]

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: -0.0007376444351773481
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.52546194e-14,  1.15233636e-13,  1.00000000e+00, -8.67186342e-27,
        1.00000000e+00, -1.15233636e-13, -1.00000000e+00,  0.00000000e+00,
        7.52546194e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08605226, -0.0880965 ,  0.06197894])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.61783521e-06,-1.05361841e-06,-4.90503448e+00,-1.79394021e-03,
  6.23004192e-05,-2.23195972e-03]


--- 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, 0.09301253,-0.0702014 ,
  0.1306292 , 0.50670281, 0.4929581 , 0.49237018, 0.50775602]

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,  0.77266775,  1.95909712,  0.26108431, 11.14853375,
   2.62659362,-28.31828771]

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: -0.0007292169362352746
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.52248661e-13,  1.35596464e-13,  1.00000000e+00, -2.06443802e-26,
        1.00000000e+00, -1.35596464e-13, -1.00000000e+00,  0.00000000e+00,
        1.52248661e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08605057, -0.08809893,  0.06197918])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.64114126e-06,-2.50296486e-07,-4.90502522e+00,-1.79160127e-03,
  6.67929411e-05,-2.23225712e-03]


--- 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, 0.09299083,-0.0701873 ,
  0.13064204, 0.50682525, 0.49282512, 0.49234893, 0.50778351]

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 ,  0.75335261,  1.92204349,  0.06564273, 10.97842614,
   2.56084584,-27.77282403]

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: -0.0007173675551963715
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.54763484e-13,  2.17636150e-14,  1.00000000e+00, -3.36821289e-27,
        1.00000000e+00, -2.17636150e-14, -1.00000000e+00,  0.00000000e+00,
        1.54763484e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08604873, -0.08810225,  0.06197952])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.52133793e-06, 1.67050706e-06,-4.90502115e+00,-1.78927085e-03,
  7.01882901e-05,-2.23178634e-03]


--- 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, 0.09297208,-0.07016564,
  0.13065448, 0.50696227, 0.49267364, 0.49236815, 0.5077751 ]

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,  0.73717072,  1.89173078, -0.09926618, 10.83072183,
   2.51077145,-27.32569808]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007029233183247635
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.89718448e-14,  6.16967538e-14,  1.00000000e+00,  4.87230647e-27,
        1.00000000e+00, -6.16967538e-14, -1.00000000e+00,  0.00000000e+00,
       -7.89718448e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08604679, -0.08810627,  0.06197993])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.26097048e-06, 4.63858255e-06,-4.90502198e+00,-1.78696511e-03,
  7.25424374e-05,-2.23056611e-03]


--- 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, 0.09295622,-0.07013651,
  0.13066597, 0.50711367, 0.49250393, 0.49242728, 0.50773121]

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,  0.72367197,  1.86726669, -0.23797949, 10.70381345,
   2.47351588,-26.96403213]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006865783900567024
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.08518765e-14, -1.76863480e-14,  1.00000000e+00,  1.42997442e-27,
        1.00000000e+00,  1.76863480e-14, -1.00000000e+00,  0.00000000e+00,
        8.08518765e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08604478, -0.0881108 ,  0.06198039])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.86433800e-06, 8.59981423e-06,-4.90502744e+00,-1.78469456e-03,
  7.39004479e-05,-2.22861128e-03]


--- 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, 0.09294321,-0.07009998,
  0.13067604, 0.50727927, 0.49231617, 0.4925259 , 0.50765221]

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,  0.7124737 ,  1.84787893, -0.35427911, 10.59610707,
   2.44674865,-26.67682775]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006689125422929404
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.29871586e-14,  8.55805073e-14,  1.00000000e+00,  7.10208313e-27,
        1.00000000e+00, -8.55805073e-14, -1.00000000e+00,  0.00000000e+00,
       -8.29871586e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08604273, -0.08811569,  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:
[-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,
 -9.33680194e-06, 1.35125050e-05,-4.90503738e+00,-1.78246544e-03,
  7.42981457e-05,-2.22593346e-03]


--- 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 , 0.09293301,-0.07005613,
  0.13068431, 0.50745895, 0.4921105 , 0.49266365, 0.50753837]

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,  0.70325174,  1.83290259, -0.45144484, 10.50607865,
   2.42856453,-26.45471678]

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: -0.0006504072257111498
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.53412845e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.53412845e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08604068, -0.08812081,  0.06198142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -9.68435205e-06, 1.93444811e-05,-4.90505165e+00,-1.78028085e-03,
  7.37635200e-05,-2.22254149e-03]


--- 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, 0.09292717,-0.07002771,
  0.13069138, 0.50757179, 0.49198328, 0.49275667, 0.50745857]

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,  1.08806428, -3.8586159 , -0.29739328, 16.6133563 ,
  -6.42014242, 55.93389115]

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: -0.0006647553883073476
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.25259198e-13, -1.04382665e-13,  1.00000000e+00,  1.30748889e-26,
        1.00000000e+00,  1.04382665e-13, -1.00000000e+00,  0.00000000e+00,
        1.25259198e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08262346, -0.03147112,  0.06198102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.91334435e-06, 2.60708046e-05,-4.90507018e+00,-1.77814150e-03,
  7.23178984e-05,-2.21844187e-03]


--- 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, 0.09292553,-0.07001423,
  0.13069607, 0.50761969, 0.49193192, 0.49280686, 0.5074117 ]

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,  1.05008567, -3.73587943, -0.59605099, 16.24706414,
  -6.00952591, 54.058399  ]

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([ 7.04657481, -6.10203795,  3.52410973, -6.10203795, 16.91867671,
       17.09366194,  3.52410973, 17.09366194, 36.64445391,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006744695198294404
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.11517123e-14, -1.23455137e-13,  1.00000000e+00,  5.08039027e-27,
        1.00000000e+00,  1.23455137e-13, -1.00000000e+00,  0.00000000e+00,
        4.11517123e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08262279, -0.03147656,  0.06198075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.24037360e-06, 1.06958322e-05,-4.90502895e+00,-1.78045935e-03,
  6.75485155e-05,-2.21557180e-03]


--- 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, 0.09292795,-0.07001528,
  0.13069735, 0.50760426, 0.4919542 , 0.49281583, 0.50739683]

qacc:
[ 4.02654250e+00,-1.94097907e+00, 1.07287600e+01,-2.51731094e+01,
  3.82917616e-01,-4.87104240e-02,-4.78661681e-01, 4.08528925e+00,
  5.36208603e-01,-2.86674886e+00, 9.57199842e+00,-1.21838940e+01,
 -1.11658603e+00, 1.26199532e+00, 7.33443100e+00,-3.16145001e+01,
  1.01808430e+00,-3.63136151e+00,-8.53594947e-01, 1.59252420e+01,
 -5.67259288e+00, 5.24723811e+01]

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([ 7.07051526, -6.39923387,  3.00699051, -6.39923387, 16.6115934 ,
       20.30455043,  3.00699051, 20.30455043, 50.28101643,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006774442026743904
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.19420271e-14, -2.04855068e-14,  1.00000000e+00,  1.67862395e-27,
        1.00000000e+00,  2.04855068e-14, -1.00000000e+00,  0.00000000e+00,
        8.19420271e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08262158, -0.03147821,  0.06198066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.48599300e-07, 2.19601007e-06,-4.90500634e+00,-1.78178172e-03,
  6.52014933e-05,-2.21424589e-03]


--- 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, 0.09293435,-0.0700305 ,
  0.13069433, 0.50752685, 0.49204824, 0.49278488, 0.50741314]

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,
  9.91271031e-01,-3.54288816e+00,-1.07500073e+00, 1.56465783e+01,
 -5.39534630e+00, 5.11396729e+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([ 7.05069019, -6.61574939,  2.43805091, -6.61574939, 15.08164818,
       21.79232812,  2.43805091, 21.79232812, 66.18505071,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000674980279641052
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.11205726e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.11205726e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08261991, -0.03147682,  0.06198073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.57025697e-07,-6.70650543e-08,-4.90500062e+00,-1.78230362e-03,
  6.50989880e-05,-2.21440049e-03]


--- 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, 0.09294462,-0.07005959,
  0.13068624, 0.50738858, 0.49221245, 0.49271508, 0.50745994]

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,  0.96892871, -3.46840138, -1.26503129, 15.40870295,
  -5.16636252, 50.02752834]

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: -0.0006681823316714158
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.30778496e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.30778496e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08261788, -0.03147301,  0.06198092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -3.27813936e-06, 3.42468456e-06,-4.90501045e+00,-1.78216969e-03,
  6.70993799e-05,-2.21598385e-03]


--- 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 , 0.09295869,-0.07010231,
  0.13067245, 0.50719036, 0.49244549, 0.49260727, 0.50753665]

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,  0.95042101, -3.40602154, -1.42807445, 15.20874625,
  -4.97634009, 49.10695862]

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: -0.0006579837989859894
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.05456911e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.05456911e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08261558, -0.03146731,  0.06198121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -8.99807925e-06, 1.23176177e-05,-4.90503478e+00,-1.78148714e-03,
  7.10916799e-05,-2.21895387e-03]


--- 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, 0.09297633,-0.07013617,
  0.13066469, 0.5070101 , 0.49265395, 0.49254599, 0.50757393]

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,  0.89168979,  2.2144003 ,  1.50909514, 10.85783045,
   3.90309774,-32.06582958]

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: -0.0006515052905100571
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.52044520e-14,  8.52044520e-14,  1.00000000e+00,  7.25979863e-27,
        1.00000000e+00, -8.52044520e-14, -1.00000000e+00,  0.00000000e+00,
       -8.52044520e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0860264 , -0.08812079,  0.06198139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.34341218e-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,
 -1.72611573e-05, 2.63635816e-05,-4.90507282e+00,-1.78033544e-03,
  7.69905638e-05,-2.22327631e-03]


--- 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, 0.0929974 ,-0.07016147,
  0.13066153, 0.506847  , 0.49283932, 0.49252985, 0.50757252]

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,  0.85865066,  2.1402782 ,  1.14880129, 10.90836067,
   3.55324738,-30.96926076]

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([  6.97886102,   3.03248328,   6.28558242,   3.03248328,
        53.18763657, -22.29345347,   6.28558242, -22.29345347,
        17.73435198,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006660986520701517
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.33377324e-14,  4.42731703e-14,  1.00000000e+00, -3.68962562e-27,
        1.00000000e+00, -4.42731703e-14, -1.00000000e+00,  0.00000000e+00,
        8.33377324e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08602467, -0.08811696,  0.06198098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.50615211e-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,
 -1.55475629e-05, 1.79453893e-05,-4.90505287e+00,-1.78427516e-03,
  7.64832848e-05,-2.22633740e-03]


--- 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, 0.0930218 ,-0.07017846,
  0.13066171, 0.50670037, 0.49300284, 0.4925577 , 0.5075331 ]

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,  0.83123835,  2.0766424 ,  0.83635359, 10.92659432,
   3.26545289,-30.03337064]

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: -0.000673514893791527
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.49957072e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.49957072e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08602289, -0.08811509,  0.06198076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.40739505e-05, 1.12462445e-05,-4.90503969e+00,-1.78791478e-03,
  7.49875034e-05,-2.22857144e-03]


--- 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, 0.09304943,-0.07018737,
  0.13066416, 0.50656964, 0.49314553, 0.49262851, 0.50745624]

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,  0.80872955,  2.02247602,  0.56708901, 10.92611593,
   3.0275111 ,-29.24010791]

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: -0.0006750782192256194
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.22292138e-14,  2.56966293e-15,  1.00000000e+00, -2.11301363e-28,
        1.00000000e+00, -2.56966293e-15, -1.00000000e+00,  0.00000000e+00,
        8.22292138e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08602107, -0.0881148 ,  0.06198072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.27391306e-05, 6.06683980e-06,-4.90503264e+00,-1.79136032e-03,
  7.25242617e-05,-2.23000845e-03]


--- 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, 0.09308022,-0.07018836,
  0.13066795, 0.50645433, 0.49326823, 0.49274142, 0.50734245]

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,  0.79046705,  1.97674441,  0.33617608, 10.91651909,
   2.82955546,-28.57243307]

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: -0.0006719264365652178
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.26149236e-14,  8.51966400e-14,  1.00000000e+00, -7.03851390e-27,
        1.00000000e+00, -8.51966400e-14, -1.00000000e+00,  0.00000000e+00,
        8.26149236e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08601919, -0.08811577,  0.06198081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.14711849e-05, 2.24786116e-06,-4.90503123e+00,-1.79469136e-03,
  6.91132929e-05,-2.23067347e-03]


--- 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, 0.09311412,-0.07018161,
  0.1306723 , 0.50635403, 0.49337164, 0.49289571, 0.50719212]

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,  0.77586855,  1.93846026,  0.13894509, 10.90453627,
   2.6636283 ,-28.01484499]

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: -0.000665031593677104
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.6084828e-15,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.6084828e-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([ 0.08601726, -0.08811776,  0.06198101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.73556820e-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,
 -1.02190651e-05,-3.38220607e-07,-4.90503505e+00,-1.79796794e-03,
  6.47714941e-05,-2.23058724e-03]


--- 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, 0.09315108,-0.07016722,
  0.13067654, 0.5062684 , 0.49345631, 0.49309075, 0.50700561]

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,  0.7644267 ,  1.90671606, -0.02893978, 10.89484276,
   2.52332152,-27.55356521]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006552198533197051
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.54164236e-13,  1.50910015e-13,  1.00000000e+00, -3.83559288e-26,
        1.00000000e+00, -1.50910015e-13, -1.00000000e+00,  0.00000000e+00,
        2.54164236e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08601529, -0.08812052,  0.06198129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.90983286e-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,
 -8.94663707e-06,-1.79391446e-06,-4.90504380e+00,-1.80123570e-03,
  5.95122030e-05,-2.22976688e-03]


--- 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, 0.09319106,-0.07014531,
  0.13068009, 0.50619716, 0.49352273, 0.49332604, 0.50678315]

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 ,  0.75570434,  1.88069696, -0.17140568, 10.89063135,
   2.40347862,-27.17652727]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006431898998053992
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.63060058e-14,  6.74265670e-14,  1.00000000e+00, -5.81931769e-27,
        1.00000000e+00, -6.74265670e-14, -1.00000000e+00,  0.00000000e+00,
        8.63060058e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0860133 , -0.08812389,  0.06198163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.80369876e-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,
 -7.62845862e-06,-2.20218365e-06,-4.90505724e+00,-1.80452968e-03,
  5.33449438e-05,-2.22822635e-03]


--- 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 , 0.09323403,-0.07011597,
  0.13068247, 0.50614008, 0.49357127, 0.49360115, 0.50652495]

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,  0.74932748,  1.85968218, -0.29195365, 10.89402484,
   2.29995036,-26.87326352]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000629529574991447
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.76357564e-13,  9.09343691e-14,  1.00000000e+00, -1.60369638e-26,
        1.00000000e+00, -9.09343691e-14, -1.00000000e+00,  0.00000000e+00,
        1.76357564e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08601129, -0.08812769,  0.06198201])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.46365656e-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,
 -6.24678253e-06,-1.63083042e-06,-4.90507520e+00,-1.80787713e-03,
  4.62754372e-05,-2.22597705e-03]


--- 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, 0.09327999,-0.07007925,
  0.13068328, 0.50609694, 0.49360223, 0.49391577, 0.50623111]

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,  0.74497765,  1.84304027, -0.39367326, 10.90637397,
   2.20939578,-26.63474543]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006147306807165742
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.03015792e-14,  7.05481087e-14,  1.00000000e+00, -6.37060563e-27,
        1.00000000e+00, -7.05481087e-14, -1.00000000e+00,  0.00000000e+00,
        9.03015792e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08600929, -0.08813181,  0.06198243])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.28268952e-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,
 -4.78943205e-06,-1.35990864e-07,-4.90509757e+00,-1.81129965e-03,
  3.83057512e-05,-2.22302811e-03]


--- 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, 0.09332891,-0.07003521,
  0.13068217, 0.50606758, 0.49361586, 0.49426961, 0.5059017 ]

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,  0.74238424,  1.83022142, -0.47927371, 10.92847364,
   2.12912125,-26.45321025]

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: -0.0005992020177821161
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0860073 , -0.08813613,  0.06198287])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.37936764e-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,
 -3.24829668e-06, 2.23508125e-06,-4.90512425e+00,-1.81481472e-03,
  2.94345206e-05,-2.21938677e-03]


--- 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, 0.09338231,-0.07000639,
  0.13067934, 0.50597095, 0.49370706, 0.49458039, 0.50560554]

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,
  1.11733837e+00,-3.80542168e+00,-4.28394252e-01, 1.71178778e+01,
 -5.68438562e+00, 5.52292789e+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: -0.0006151778433570038
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.51179702e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.51179702e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0825962 , -0.03144534,  0.06198242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.21905180e-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,
 -1.61827183e-06, 5.44179044e-06,-4.90515522e+00,-1.81843689e-03,
  1.96571920e-05,-2.21505867e-03]


--- 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, 0.09344005,-0.06999234,
  0.13067371, 0.50580869, 0.49387341, 0.49484994, 0.50534163]

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, 1.08797978,-3.69282196,
 -0.70243118,16.81902732,-5.23577015,53.50934485]

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([ 6.64662638, -5.97426744,  2.91303464, -5.97426744, 15.75387657,
       18.67782398,  2.91303464, 18.67782398, 44.95249272,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006257016976980168
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.87182366e-14,  2.21795591e-14,  1.00000000e+00, -1.96773137e-27,
        1.00000000e+00, -2.21795591e-14, -1.00000000e+00,  0.00000000e+00,
        8.87182366e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.082596  , -0.03145125,  0.06198212])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.67575418e-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,
 -1.16283246e-05,-3.68998437e-06,-4.90513260e+00,-1.82574176e-03,
  2.59984721e-05,-2.21316667e-03]


--- 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 , 0.09350205,-0.06999268,
  0.13066431, 0.50558216, 0.49411282, 0.49507981, 0.50510908]

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,  1.06373094, -3.59627267, -0.94042264, 16.5616528 ,
  -4.8522587 , 52.04998677]

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([ 6.6815145 , -6.19283413,  2.5082746 , -6.19283413, 15.07027006,
       20.71151693,  2.5082746 , 20.71151693, 57.81745835,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006299057130956798
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.81261276e-14, -2.20315319e-14,  1.00000000e+00,  1.94155359e-27,
        1.00000000e+00,  2.20315319e-14, -1.00000000e+00,  0.00000000e+00,
        8.81261276e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08259521, -0.03145359,  0.061982  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -2.47113885e-05,-6.08084529e-06,-4.90512792e+00,-1.83226866e-03,
  3.43681690e-05,-2.21267298e-03]


--- 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  , 0.09356823,-0.07000708,
  0.13065033, 0.50529249, 0.49442353, 0.49527128, 0.50490715]

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 ,  1.04397764, -3.51397802, -1.14649093, 16.34530395,
  -4.52093846, 50.82017624]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006289796436763084
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.41279394e-14,  4.41279394e-14,  1.00000000e+00, -1.94727504e-27,
        1.00000000e+00, -4.41279394e-14, -1.00000000e+00,  0.00000000e+00,
        4.41279394e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08259394, -0.03145305,  0.06198203])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.30754359e-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,
 -4.06046296e-05,-2.28358324e-06,-4.90513962e+00,-1.83821428e-03,
  4.46692369e-05,-2.21352960e-03]


--- 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, 0.09362711,-0.07003591,
  0.13063567, 0.50497591, 0.49475207, 0.49538417, 0.50479128]

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 , -1.8252252 , -3.61005369, -0.17023034,-29.99575169,
   3.58705465, 52.38098546]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006321399304128894
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.39073286e-14,  2.19536643e-14,  1.00000000e+00, -9.63926750e-28,
        1.00000000e+00, -2.19536643e-14, -1.00000000e+00,  0.00000000e+00,
        4.39073286e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11002107, -0.03427319,  0.06198193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.67867329e-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,
 -5.91204012e-05, 7.29145657e-06,-4.90516650e+00,-1.84373152e-03,
  5.68301114e-05,-2.21569606e-03]


--- 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, 0.09367894,-0.07007874,
  0.13061908, 0.50463306, 0.49509784, 0.49542143, 0.50475857]

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, -1.76177667, -3.49958771, -0.48131189,-28.8332698 ,
   3.63197249, 50.60194635]

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([ 6.81675896, -5.28264508,  4.30834814, -5.28264508, 20.82694489,
       17.17847244,  4.30834814, 17.17847244, 27.87999945,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000646273692212318
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.28841276e-13,  2.14735459e-14,  1.00000000e+00, -2.76667905e-27,
        1.00000000e+00, -2.14735459e-14, -1.00000000e+00,  0.00000000e+00,
        1.28841276e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11001691, -0.03428081,  0.06198153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.46488556e-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,
 -5.73504768e-05, 2.53641105e-05,-4.90515227e+00,-1.84962918e-03,
  6.67828444e-05,-2.21654395e-03]


--- 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, 0.09372394,-0.0701352 ,
  0.13059949, 0.50426445, 0.49546033, 0.49538554, 0.5048065 ]

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, -1.7067208 , -3.40476356, -0.75235309,-27.84582236,
   3.67219262, 49.09949559]

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([ 6.87254619, -5.37287667,  4.28533399, -5.37287667, 24.73126131,
       22.39094408,  4.28533399, 22.39094408, 34.94591953,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006530666840696558
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.2750111e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.2750111e-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([ 0.11001473, -0.03428458,  0.06198133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -5.30397882e-05, 4.47486866e-05,-4.90515606e+00,-1.85597018e-03,
  7.37911061e-05,-2.21911500e-03]


--- 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, 0.09376407,-0.07018127,
  0.1305889 , 0.50395338, 0.49576968, 0.49536654, 0.50483205]

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, -1.21874953,  2.5958755 ,  2.25241054,-17.84251613,
  -2.13205264,-37.51750836]

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: -0.0006744122038972594
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.5722006e-15,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        2.5722006e-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([ 0.10207132, -0.08997174,  0.06198072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.63956860e-05, 6.53855254e-05,-4.90517610e+00,-1.86272586e-03,
  7.82067592e-05,-2.22334309e-03]


--- 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, 0.09379955,-0.0702174 ,
  0.13058536, 0.50369747, 0.4960282 , 0.49536372, 0.50483628]

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, -1.16196714,  2.48410035,  1.76138479,-17.11669605,
  -2.03370871,-35.8902029 ]

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: -0.0007031469646520683
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.94733633e-14, -7.89467267e-14,  1.00000000e+00,  3.11629283e-27,
        1.00000000e+00,  7.89467267e-14, -1.00000000e+00,  0.00000000e+00,
        3.94733633e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10206862, -0.08996373,  0.06197991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.59604374e-05, 4.46617251e-05,-4.90512583e+00,-1.86455103e-03,
  6.82092321e-05,-2.22853815e-03]


--- 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 , 0.09383057,-0.07024398,
  0.13058715, 0.50349461, 0.49623786, 0.49537645, 0.50482011]

qacc:
[  0.27574109,  2.87848149,-12.46964512, 22.43012136, -0.38296226,
  -6.11996285, 24.98502068,-44.56779333, -1.46162999,  2.52135467,
  -5.73672615, -1.80567955, -1.91586256,  5.70700523,-17.41498609,
  52.51089619, -1.11294785,  2.38757546,  1.3335082 ,-16.48484412,
  -1.95279868,-34.49159095]

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: -0.0007213505170419743
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.69544762e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.69544762e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1020671 , -0.0899588 ,  0.06197939])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.69960564e-05, 2.83658198e-05,-4.90508608e+00,-1.86652160e-03,
  5.99072172e-05,-2.23261806e-03]


--- 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, 0.09385732,-0.07026134,
  0.1305928 , 0.50334302, 0.49640034, 0.49540421, 0.50478428]

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, -1.07097731,  2.30505557,  0.96395295,-15.93951009,
  -1.88666341,-33.29904382]

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: -0.0007308893864002436
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.79750700e-14, -1.51900280e-13,  1.00000000e+00,  5.76842377e-27,
        1.00000000e+00,  1.51900280e-13, -1.00000000e+00,  0.00000000e+00,
        3.79750700e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10206653, -0.08995637,  0.06197912])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.93484392e-05, 1.59838263e-05,-4.90505555e+00,-1.86858172e-03,
  5.30875766e-05,-2.23564384e-03]


--- 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, 0.09387992,-0.07026976,
  0.13060103, 0.50324119, 0.49651709, 0.49544653, 0.50472945]

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 , -1.03527479,  2.2350958 ,  0.64682994,-15.47207451,
  -1.8329209 ,-32.2890776 ]

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: -0.000733371686014575
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.51386131e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.51386131e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10206673, -0.08995598,  0.06197905])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.28864424e-05, 7.09934763e-06,-4.90503323e+00,-1.87068941e-03,
  4.75771237e-05,-2.23766602e-03]


--- 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, 0.0938985 ,-0.07026948,
  0.13061077, 0.50318783, 0.49658931, 0.49550305, 0.50465612]

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, -1.00507333,  2.17623373,  0.37602343,-15.0738421 ,
  -1.78948577,-31.43924835]

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: -0.0007301735274154453
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.80123006e-14, -7.60246012e-14,  1.00000000e+00,  2.88986999e-27,
        1.00000000e+00,  7.60246012e-14, -1.00000000e+00,  0.00000000e+00,
        3.80123006e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10206756, -0.08995722,  0.06197915])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.50010073e-06, 1.37832168e-06,-4.90501829e+00,-1.87281360e-03,
  4.32366917e-05,-2.23872612e-03]


--- 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, 0.09391317,-0.07026069,
  0.1306211 , 0.50318185, 0.49661801, 0.49557344, 0.50456471]

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, -0.97966091,  2.12708637,  0.14565194,-14.73661777,
  -1.75456004,-30.72907162]

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: -0.0007224661026678098
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10206886, -0.08995975,  0.06197937])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.09806943e-06,-1.44537366e-06,-4.90501008e+00,-1.87493170e-03,
  3.99554519e-05,-2.23885805e-03]


--- 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 , 0.093924  ,-0.07024355,
  0.13063122, 0.50322234, 0.49660403, 0.49565743, 0.50445558]

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, -0.95839813,  2.08639583, -0.04970194,-14.45297108,
  -1.72660893,-30.14036523]

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: -0.000711241531411097
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.34144726e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.34144726e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10207055, -0.08996329,  0.06197969])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.95073395e-07,-1.58254794e-06,-4.90500812e+00,-1.87702759e-03,
  3.76458966e-05,-2.23808932e-03]


--- 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, 0.09393106,-0.0702182 ,
  0.13064048, 0.50330855, 0.49654804, 0.49575481, 0.50432898]

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,
 -9.40722602e-01, 2.05304490e+00,-2.14899606e-01,-1.42163208e+01,
 -1.70433031e+00,-2.96572686e+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: -0.0006973365420291922
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.98022675e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.98022675e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10207251, -0.08996759,  0.06198008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.04135878e-06, 8.00665070e-07,-4.90501200e+00,-1.87909009e-03,
  3.62396000e-05,-2.23644203e-03]


--- 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, 0.09393443,-0.07018475,
  0.13064833, 0.50343985, 0.4964506 , 0.49586539, 0.50418513]

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, -0.92614616,  2.02605609, -0.35423298,-14.02092093,
  -1.68662278,-29.26609478]

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: -0.0006814536348938166
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.62919818e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.62919818e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10207468, -0.08997246,  0.06198054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.23930372e-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,
  4.89166867e-06, 5.57405385e-06,-4.90502144e+00,-1.88111177e-03,
  3.56837303e-05,-2.23393374e-03]


--- 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, 0.09393413,-0.07014327,
  0.13065429, 0.50361573, 0.49631213, 0.49598901, 0.50402417]

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, -0.91424848,  2.00458202, -0.47145314,-13.86179811,
  -1.67255531,-28.95510754]

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: -0.0006641797026085139
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.1789256e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        4.1789256e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10207699, -0.08997773,  0.06198103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.91270315e-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,
  5.98765820e-06, 1.26362192e-05,-4.90503622e+00,-1.88308795e-03,
  3.59382226e-05,-2.23057814e-03]


--- 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, 0.09393022,-0.07009385,
  0.13065797, 0.50383578, 0.49613297, 0.49612557, 0.50384621]

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,
 -9.04669397e-01, 1.98789219e+00,-5.69818814e-01,-1.37346679e+01,
 -1.66133979e+00,-2.87142765e+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: -0.0006460022543125082
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57790824e-13, -3.75944952e-14,  1.00000000e+00,  9.69151592e-27,
        1.00000000e+00,  3.75944952e-14, -1.00000000e+00,  0.00000000e+00,
        2.57790824e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10207939, -0.08998328,  0.06198154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.76502093e-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,
  6.36337469e-06, 2.19088356e-05,-4.90505620e+00,-1.88501604e-03,
  3.69735085e-05,-2.22638571e-03]


--- 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, 0.09391894,-0.07005897,
  0.1306611 , 0.50402326, 0.49597205, 0.49618948, 0.50375419]

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, -1.84239114, -3.63551381, -0.13846307,-26.9425775 ,
   6.50419961, 52.40545742]

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: -0.0006627539442973923
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.37583114e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.37583114e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1100429 , -0.03429653,  0.06198107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
  6.04660857e-06, 3.33320266e-05,-4.90508127e+00,-1.88689494e-03,
  3.87687004e-05,-2.22136410e-03]


--- 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, 0.09390055,-0.07003814,
  0.1306624 , 0.50418017, 0.49582872, 0.49618254, 0.5037451 ]

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, -1.77640587, -3.51374105, -0.45712629,-26.40947988,
   5.86131115, 50.53254306]

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([  7.04836562,  -4.80177384,  -5.15969243,  -4.80177384,
        20.82547301, -12.82141422,  -5.15969243, -12.82141422,
        18.98038139,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006746917483552162
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.22763156e-14,  8.22763156e-14,  1.00000000e+00, -6.76939211e-27,
        1.00000000e+00, -8.22763156e-14, -1.00000000e+00,  0.00000000e+00,
        8.22763156e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11004413, -0.03430321,  0.06198073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.62137543e-06, 2.10214993e-05,-4.90504654e+00,-1.88045822e-03,
  4.05397549e-05,-2.21775050e-03]


--- 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, 0.09387528,-0.07003095,
  0.13066077, 0.50430817, 0.49570242, 0.49610628, 0.50381638]

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, -1.72099903, -3.40976066, -0.73226305,-25.93474849,
   5.3349547 , 48.94746506]

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([  7.08652528,  -5.23066234,  -4.78110992,  -5.23066234,
        23.8316933 , -18.31966243,  -4.78110992, -18.31966243,
        27.12872678,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006794382523034742
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.17015395e-14,  4.08507698e-14,  1.00000000e+00, -3.33757078e-27,
        1.00000000e+00, -4.08507698e-14, -1.00000000e+00,  0.00000000e+00,
        8.17015395e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11004624, -0.03430603,  0.0619806 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.81381041e-06, 1.10641170e-05,-4.90502938e+00,-1.87542251e-03,
  4.00001938e-05,-2.21595898e-03]


--- 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, 0.0938433 ,-0.07003705,
  0.13065527, 0.5044086 , 0.49559265, 0.49596202, 0.50396583]

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, -1.67478378, -3.32149647, -0.96902085,-25.52011113,
   4.90117133, 47.61383113]

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([  7.07786706,  -5.65166285,  -4.2608578 ,  -5.65166285,
        25.33660504, -24.21865172,  -4.2608578 , -24.21865172,
        39.20183379,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006783593881398986
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.63662956e-13,  4.09157389e-14,  1.00000000e+00, -6.69639076e-27,
        1.00000000e+00, -4.09157389e-14, -1.00000000e+00,  0.00000000e+00,
        1.63662956e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11004908, -0.03430576,  0.06198063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.06149534e-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,
 -9.99735781e-06, 3.17338490e-06,-4.90502825e+00,-1.87145065e-03,
  3.73481220e-05,-2.21587527e-03]


--- 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, 0.09380479,-0.07005614,
  0.13064507, 0.50448256, 0.49549901, 0.49575085, 0.50419161]

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, -1.63649346, -3.24695831, -1.17238611,-25.16453956,
   4.54074364, 46.49866346]

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([  7.03163349,  -6.02625765,  -3.62327038,  -6.02625765,
        24.53027592, -29.10390798,  -3.62327038, -29.10390798,
        55.43752916,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006726171641939366
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.12650421e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.12650421e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11005251, -0.03430302,  0.06198079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.96415468e-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,
 -9.51628418e-06,-2.85900022e-06,-4.90504195e+00,-1.86829133e-03,
  3.27399398e-05,-2.21740897e-03]


--- 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 , 0.09375985,-0.07008796,
  0.13062949, 0.50453093, 0.49542111, 0.49547365, 0.50449215]

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, -1.60500102, -3.18431528, -1.34698353,-24.86544102,
   4.23827534, 45.57278004]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006631952480521813
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.37025769e-14,  4.18512884e-14,  1.00000000e+00, -3.50306069e-27,
        1.00000000e+00, -4.18512884e-14, -1.00000000e+00,  0.00000000e+00,
        8.37025769e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1100564 , -0.03429834,  0.06198105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -6.62070131e-06,-7.17822451e-06,-4.90506952e+00,-1.86575630e-03,
  2.62962438e-05,-2.22048848e-03]


--- 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, 0.0937086 ,-0.07013231,
  0.13060792, 0.50455443, 0.49535865, 0.49513111, 0.50486614]

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, -1.57932007, -3.13192469, -1.49698979,-24.61940768,
   3.98143725, 44.81074778]

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: -0.0006509224512991074
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.26403722e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.26403722e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11006065, -0.03429215,  0.0619814 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.76143769e-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,
 -1.48802457e-06,-9.87783090e-06,-4.90511026e+00,-1.86370342e-03,
  1.81073553e-05,-2.22505684e-03]


--- 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, 0.09365813,-0.0701673 ,
  0.13059494, 0.50460571, 0.49527024, 0.49482748, 0.50519919]

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,  0.19658017,  2.34122948,  2.14906476,  6.52660224,
  -0.65188092,-33.40359488]

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: -0.0006618441099944666
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.19367268e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.19367268e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09149174, -0.08806532,  0.06198108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.91839866e-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,
  5.76082910e-06,-1.10083928e-05,-4.90516363e+00,-1.86202424e-03,
  8.23819642e-06,-2.23106863e-03]


--- 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, 0.09360843,-0.07019329,
  0.13058878, 0.50468407, 0.49515596, 0.49456106, 0.50549374]

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,  0.19164419,  2.24726733,  1.7034877 ,  5.69598543,
  -0.31151923,-32.16830101]

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([ 7.13509582, -0.41674593,  7.1229148 , -0.41674593, 72.31098604,
        3.81329667,  7.1229148 ,  3.81329667,  7.35820334,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006855124445458854
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.02443995e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.02443995e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09149644, -0.08806015,  0.06198041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.03297417e-06,-1.28666206e-05,-4.90513340e+00,-1.85507944e-03,
  1.91518648e-05,-2.23347547e-03]


--- 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, 0.09355947,-0.07021063,
  0.13058788, 0.50478885, 0.49501595, 0.4943304 , 0.5057518 ]

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,  0.18610469,  2.16641461,  1.31524978,  5.02145624,
  -0.03843044,-31.10031817]

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([ 7.24912657,  0.72610068, -7.21267037,  0.72610068, 50.91239546,
        4.39558827, -7.21267037,  4.39558827,  7.69163115,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000699937687630936
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.98271761e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.98271761e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09150001, -0.08805726,  0.06198   ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.14118100e-06,-1.33411303e-05,-4.90511040e+00,-1.84863471e-03,
  2.89645286e-05,-2.23521430e-03]


--- 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, 0.09351123,-0.07021957,
  0.1305909 , 0.50491948, 0.49485035, 0.49413426, 0.50597508]

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 ,  0.18025979,  2.09749872,  0.97973022,  4.47179846,
   0.18241342,-30.18526139]

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([ 7.30240532,  1.1355055 , -7.21358099,  1.1355055 , 67.42061972,
        9.46333914, -7.21358099,  9.46333914,  8.79205016,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000706768505544686
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.57084394e-13,  1.17813296e-13,  1.00000000e+00, -1.85066302e-26,
        1.00000000e+00, -1.17813296e-13, -1.00000000e+00,  0.00000000e+00,
        1.57084394e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09150271, -0.08805624,  0.0619798 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.27260062e-05,-1.24837755e-05,-4.90509380e+00,-1.84256244e-03,
  3.78437715e-05,-2.23627722e-03]


--- 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, 0.09346369,-0.07022035,
  0.13059668, 0.50507547, 0.49465932, 0.49397159, 0.50616498]

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,  0.17430299,  2.03924687,  0.69155615,  4.02191776,
   0.36274739,-29.40753166]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007074264750757675
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.92345729e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.92345729e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09150471, -0.08805673,  0.06197979])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.79098717e-05,-1.03463248e-05,-4.90508292e+00,-1.83676717e-03,
  4.59210149e-05,-2.23666160e-03]


--- 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, 0.09341943,-0.07021304,
  0.13060467, 0.50524569, 0.49445174, 0.49385269, 0.50631393]

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,  0.81969968,  2.02435094,  0.5490772 , 13.49289104,
   1.5943581 ,-28.85417072]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007049962496121082
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.14958562e-13,  1.40254985e-13,  1.00000000e+00, -4.41745082e-26,
        1.00000000e+00, -1.40254985e-13, -1.00000000e+00,  0.00000000e+00,
        3.14958562e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08605011, -0.08811467,  0.06197986])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.27855119e-05,-6.97612397e-06,-4.90507725e+00,-1.83117686e-03,
  5.32997056e-05,-2.23636788e-03]


--- 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, 0.09337837,-0.07019781,
  0.1306139 , 0.50542997, 0.49422756, 0.49377652, 0.50642315]

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 ,  0.79902321,  1.97776453,  0.31396649, 12.95330659,
   1.7096303 ,-28.26261773]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006998339965820777
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.58640911e-13,  1.21459447e-13,  1.00000000e+00, -1.92684373e-26,
        1.00000000e+00, -1.21459447e-13, -1.00000000e+00,  0.00000000e+00,
        1.58640911e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08605081, -0.08811681,  0.06198001])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -2.48696705e-05,-2.63091988e-06,-4.90506784e+00,-1.82591199e-03,
  5.97286642e-05,-2.23543454e-03]


--- 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, 0.09334043,-0.07017483,
  0.1306236 , 0.50562819, 0.49398671, 0.49374225, 0.50649369]

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,  0.78105114,  1.93924606,  0.11400508, 12.50497475,
   1.80501589,-27.76924451]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006909534401018658
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.51062282e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.51062282e-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([ 0.08605087, -0.08811981,  0.06198026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.67348710e-05, 2.54221399e-06,-4.90506401e+00,-1.82085637e-03,
  6.49059420e-05,-2.23380860e-03]


--- 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, 0.09330555,-0.07014422,
  0.13063307, 0.50584022, 0.49372914, 0.49374915, 0.50652639]

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,  0.76548638,  1.90774787, -0.05548257, 12.13246003,
   1.88528813,-27.3628118 ]

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: -0.0006792042609488486
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.63459373e-13,  2.29864743e-14,  1.00000000e+00, -3.75735467e-27,
        1.00000000e+00, -2.29864743e-14, -1.00000000e+00,  0.00000000e+00,
        1.63459373e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08605044, -0.08812347,  0.06198059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -2.84124031e-05, 8.54113122e-06,-4.90506538e+00,-1.81597709e-03,
  6.89210243e-05,-2.23149035e-03]


--- 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, 0.09327368,-0.07010608,
  0.13064175, 0.50606597, 0.49345481, 0.49379664, 0.50652193]

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,  0.75205359,  1.88234789, -0.19868159, 11.82310467,
   1.95411098,-27.03327786]

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: -0.0006653024986585931
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.50312383e-13,  2.34667859e-14,  1.00000000e+00, -5.87402709e-27,
        1.00000000e+00, -2.34667859e-14, -1.00000000e+00,  0.00000000e+00,
        2.50312383e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08604963, -0.08812765,  0.06198099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -2.99266263e-05, 1.53625138e-05,-4.90507167e+00,-1.81124793e-03,
  7.18442568e-05,-2.22848067e-03]


--- 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, 0.09324477,-0.07006049,
  0.13064915, 0.50630537, 0.49316363, 0.49388424, 0.50648087]

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,  0.74050339,  1.86224351, -0.31928818, 11.5665465 ,
   2.01429157,-26.7717884 ]

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: -0.0006498485813756921
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.27108351e-14, -1.70843341e-13,  1.00000000e+00, -7.29686175e-27,
        1.00000000e+00,  1.70843341e-13, -1.00000000e+00,  0.00000000e+00,
       -4.27108351e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08604855, -0.08813218,  0.06198143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.00896966e-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,
 -3.12968774e-05, 2.30027958e-05,-4.90508266e+00,-1.80664746e-03,
  7.37306531e-05,-2.22478051e-03]


--- 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, 0.0932205 ,-0.07003058,
  0.13065599, 0.50647771, 0.49295246, 0.49392509, 0.50647428]

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, 1.15983307,-3.92047749,
 -0.13981125,16.4376569 ,-7.03490744,56.99217133]

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: -0.0006555155864456375
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.27024786e-13, -2.11707976e-14,  1.00000000e+00,  2.68921603e-27,
        1.00000000e+00,  2.11707976e-14, -1.00000000e+00,  0.00000000e+00,
        1.27024786e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08261578, -0.03147863,  0.06198127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.20735926e-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,
 -3.25388931e-05, 3.14586097e-05,-4.90509819e+00,-1.80215770e-03,
  7.46228844e-05,-2.22039056e-03]


--- 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, 0.09320069,-0.07001583,
  0.13066098, 0.50658478, 0.49281849, 0.4939216 , 0.506501  ]

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,  1.11254931, -3.78887764, -0.46063585, 16.1811932 ,
  -6.44996256, 54.96112994]

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([ 7.00306434, -4.68070057,  5.20902605, -4.68070057, 20.84589881,
       12.43882496,  5.20902605, 12.43882496, 18.18028146,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006690837750941009
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.24448881e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.24448881e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08261397, -0.03148644,  0.06198089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.83855646e-05, 1.37640094e-05,-4.90504892e+00,-1.80456913e-03,
  6.60777278e-05,-2.21675129e-03]


--- 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, 0.09318516,-0.07001578,
  0.13066303, 0.5066281 , 0.4927593 , 0.4938757 , 0.50656001]

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,  1.0725626 , -3.67646764, -0.73791176, 15.93743266,
  -5.98079503, 53.23945467]

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([ 7.05254211, -5.1079988 ,  4.86278711, -5.1079988 , 24.01953906,
       17.82257748,  4.86278711, 17.82257748, 25.77384377,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000675210200108689
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.22131408e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.22131408e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08261185, -0.03149001,  0.06198072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.37172213e-06, 3.18621102e-06,-4.90501904e+00,-1.80572062e-03,
  6.01307506e-05,-2.21474517e-03]


--- 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, 0.09317379,-0.07003006,
  0.13066117, 0.50660899, 0.49277286, 0.49378899, 0.50665044]

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,  1.03888441, -3.58107409, -0.97662368, 15.71262714,
  -5.60461471, 51.78937199]

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([ 7.05324197, -5.52760597,  4.3810723 , -5.52760597, 25.86673373,
       23.73701282,  4.3810723 , 23.73701282, 37.00226924,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006752971018345183
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.23303842e-13, -6.16519208e-14,  1.00000000e+00,  7.60191867e-27,
        1.00000000e+00,  6.16519208e-14, -1.00000000e+00,  0.00000000e+00,
        1.23303842e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08260945, -0.03149016,  0.06198071])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.98668279e-06,-9.58172474e-07,-4.90500668e+00,-1.80589825e-03,
  5.65891651e-05,-2.21428824e-03]


--- 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, 0.09316646,-0.07005834,
  0.13065458, 0.50652858, 0.49285744, 0.49366277, 0.50677156]

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,  1.01061907, -3.50058474, -1.18167293, 15.51013256,
  -5.30305558, 50.57619075]

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([ 7.0148369 , -5.9043964 ,  3.78761664, -5.9043964 , 25.5844308 ,
       28.94755567,  3.78761664, 28.94755567, 52.14027065,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006705384677110487
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.13929654e-14, -1.24178896e-13,  1.00000000e+00,  5.14013276e-27,
        1.00000000e+00,  1.24178896e-13, -1.00000000e+00,  0.00000000e+00,
        4.13929654e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08260684, -0.03148758,  0.06198085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.72177453e-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,
  1.15735638e-06, 8.09501397e-07,-4.90501036e+00,-1.80530935e-03,
  5.52936244e-05,-2.21531313e-03]


--- 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, 0.09316307,-0.07010035,
  0.13064256, 0.50638777, 0.49301158, 0.49349807, 0.50692274]

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,  0.98697482, -3.43303964, -1.35764752, 15.33143392,
  -5.06133488, 49.56892421]

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: -0.0006619458597929839
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.25790842e-13, -8.38605611e-14,  1.00000000e+00,  1.05488906e-26,
        1.00000000e+00,  8.38605611e-14, -1.00000000e+00,  0.00000000e+00,
        1.25790842e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08260405, -0.03148285,  0.06198109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.57527421e-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,
  1.35223158e-06, 8.10130032e-06,-4.90502895e+00,-1.80410351e-03,
  5.61146277e-05,-2.21776582e-03]


--- 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 , 0.09316329,-0.0701335 ,
  0.13063662, 0.50626441, 0.49314283, 0.49338067, 0.50703256]

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,  0.90005794,  2.21618221,  1.51934969, 12.0962268 ,
   3.28496099,-32.20946909]

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: -0.0006583923626611171
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.43131761e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.43131761e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08604334, -0.08813045,  0.06198119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.66537175e-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,
 -1.18532736e-06, 2.06392931e-05,-4.90506154e+00,-1.80238800e-03,
  5.89486843e-05,-2.22160305e-03]


--- 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, 0.09316698,-0.07015808,
  0.13063531, 0.50615779, 0.49325234, 0.49330909, 0.50710212]

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,  0.86726228,  2.1418753 ,  1.15607746, 11.91621279,
   3.05167212,-31.08661149]

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: -0.0006729002488058827
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.24953644e-14,  4.38256623e-14,  1.00000000e+00,  3.61541398e-27,
        1.00000000e+00, -4.38256623e-14, -1.00000000e+00,  0.00000000e+00,
       -8.24953644e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08604291, -0.0881266 ,  0.06198078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.50118307e-06, 1.37406676e-05,-4.90503819e+00,-1.80369706e-03,
  6.15553285e-05,-2.22468914e-03]


--- 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, 0.09317403,-0.07017434,
  0.13063736, 0.5060673 , 0.49334111, 0.49328203, 0.50713241]

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,  0.83964685,  2.07811797,  0.84131532, 11.74812112,
   2.85895877,-30.12969496]

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: -0.0006801638908196656
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.16143756e-14,  4.33576370e-14,  1.00000000e+00, -3.53860647e-27,
        1.00000000e+00, -4.33576370e-14, -1.00000000e+00,  0.00000000e+00,
        8.16143756e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08604213, -0.08812473,  0.06198057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.78975263e-06, 8.47696659e-06,-4.90502174e+00,-1.80487387e-03,
  6.29708587e-05,-2.22692987e-03]


--- 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 , 0.09318434,-0.07018251,
  0.13064169, 0.50599244, 0.49340994, 0.49329838, 0.50712423]

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 ,  0.81659758,  2.02388617,  0.57029181, 11.59623554,
   2.69917208,-29.31965047]

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: -0.0006815254937301285
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.14513202e-14,  8.39966740e-14,  1.00000000e+00,  6.84163999e-27,
        1.00000000e+00, -8.39966740e-14, -1.00000000e+00,  0.00000000e+00,
       -8.14513202e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08604108, -0.08812447,  0.06198053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.01291054e-06, 4.66934226e-06,-4.90501151e+00,-1.80598389e-03,
  6.32608129e-05,-2.22835851e-03]


--- 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, 0.09319784,-0.07018277,
  0.13064737, 0.50593277, 0.49345951, 0.49335722, 0.50707829]

qacc:
[ -2.03370212, -1.73252468,  8.54847714,-19.51796077, -1.32443384,
  -1.37592266,  4.91415477, -6.07784349, -5.2493509 , -0.26724547,
  -0.23692815,  3.16580302, -0.7647012 , -0.23739315,-10.54471022,
  32.15170154,  0.79753888,  1.97813748,  0.33807881, 11.46277235,
   2.56604723,-28.63860525]

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: -0.0006781373392684836
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.63716545e-13,  6.39517755e-14,  1.00000000e+00, -1.04699638e-26,
        1.00000000e+00, -6.39517755e-14, -1.00000000e+00,  0.00000000e+00,
        1.63716545e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08603979, -0.0881255 ,  0.06198063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -2.14566301e-06, 2.17500994e-06,-4.90500699e+00,-1.80707588e-03,
  6.24794179e-05,-2.22900242e-03]


--- 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, 0.09321447,-0.07017527,
  0.13065361, 0.50588794, 0.49349038, 0.49345774, 0.50699517]

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 ,  0.78194975,  1.93987737,  0.13992435, 11.34862274,
   2.45447257,-28.07038408]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006709830768216601
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.27310750e-14, -1.80974226e-14,  1.00000000e+00,  1.49721923e-27,
        1.00000000e+00,  1.80974226e-14, -1.00000000e+00,  0.00000000e+00,
        8.27310750e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08603831, -0.08812754,  0.06198083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -2.17203764e-06, 8.79944384e-07,-4.90500775e+00,-1.80818621e-03,
  6.06705199e-05,-2.22888403e-03]


--- 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, 0.09323418,-0.07016014,
  0.13065974, 0.50585765, 0.49350298, 0.49359929, 0.50687532]

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,  0.76936905,  1.9081921 , -0.02857558, 11.25384325,
   2.36028753,-27.60066746]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006608981436996147
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.51980514e-13,  2.62479702e-15,  1.00000000e+00, -6.61397700e-28,
        1.00000000e+00, -2.62479702e-15, -1.00000000e+00,  0.00000000e+00,
        2.51980514e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08603669, -0.08813037,  0.06198112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14594988e-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,
 -2.08225350e-06, 6.92842065e-07,-4.90501347e+00,-1.80934212e-03,
  5.78687153e-05,-2.22802159e-03]


--- 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, 0.09325692,-0.07013748,
  0.13066518, 0.50584165, 0.49349768, 0.49378131, 0.50671913]

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,  0.75939448,  1.88226161, -0.17140361, 11.17797829,
   2.2801099 ,-27.21695689]

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: -0.0006485886170964766
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56762837e-13,  6.68653223e-14,  1.00000000e+00, -1.71685299e-26,
        1.00000000e+00, -6.68653223e-14, -1.00000000e+00,  0.00000000e+00,
        2.56762837e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08603496, -0.08813381,  0.06198147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.16035296e-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,
 -1.87077782e-06, 1.54021770e-06,-4.90502392e+00,-1.81056415e-03,
  5.41004891e-05,-2.22642993e-03]


--- 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, 0.09328267,-0.07010737,
  0.13066946, 0.50583971, 0.49347479, 0.49400337, 0.50652689]

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,  0.75167843,  1.86136092, -0.29210548, 11.12027118,
   2.21119077,-26.90844067]

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: -0.0006346482100347689
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.62402779e-13, -1.91335359e-14,  1.00000000e+00,  5.02069299e-27,
        1.00000000e+00,  1.91335359e-14, -1.00000000e+00,  0.00000000e+00,
        2.62402779e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08603317, -0.08813769,  0.06198187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.51324855e-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,
 -1.53499706e-06, 3.36246170e-06,-4.90503890e+00,-1.81186792e-03,
  4.93852716e-05,-2.22412092e-03]


--- 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, 0.09331141,-0.07006988,
  0.13067216, 0.50585168, 0.49343453, 0.49426509, 0.50629879]

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,  0.74592232,  1.84485524, -0.39380658, 11.07980143,
   2.1512943 ,-26.66581658]

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: -0.0006195733629771605
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.4797884e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        4.4797884e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08603132, -0.08814188,  0.06198229])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.51257393e-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,
 -1.07431425e-06, 6.11068445e-06,-4.90505830e+00,-1.81326549e-03,
  4.37363750e-05,-2.22110399e-03]


--- 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, 0.09334457,-0.07004733,
  0.13067241, 0.5057988 , 0.49347039, 0.49448352, 0.50610335]

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 ,  1.10588969, -3.7337411 , -0.61185261, 16.2209569 ,
  -6.13894514, 54.17264947]

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: -0.0006125411437899603
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.53121817e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.53121817e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08257282, -0.03145785,  0.06198249])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.69021858e-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,
 -4.89543110e-07, 9.74419093e-06,-4.90508201e+00,-1.81476636e-03,
  3.71618043e-05,-2.21738650e-03]


--- 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, 0.09338203,-0.07003931,
  0.13066923, 0.50568232, 0.49358021, 0.49466051, 0.50593966]

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,  1.0755663 , -3.63296907, -0.8581162 , 16.05961921,
  -5.63070744, 52.63033873]

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([ 6.59531224, -5.04088342,  4.25295638, -5.04088342, 24.91448763,
       21.71309069,  4.25295638, 21.71309069, 32.33109441,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006195287925324783
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.96022137e-14, -4.48011068e-14,  1.00000000e+00,  4.01427835e-27,
        1.00000000e+00,  4.48011068e-14, -1.00000000e+00,  0.00000000e+00,
        8.96022137e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08257111, -0.03146188,  0.0619823 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -4.46874683e-06, 1.39366999e-06,-4.90506004e+00,-1.82075498e-03,
  4.03725793e-05,-2.21573194e-03]


--- 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, 0.09342369,-0.07004548,
  0.13066176, 0.5055033 , 0.49376212, 0.49479763, 0.50580696]

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,  1.05050879, -3.54691281, -1.07146944, 15.91181843,
  -5.20779169, 51.32653133]

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([ 6.60766061, -5.39478822,  3.81542119, -5.39478822, 25.39721342,
       26.56735733,  3.81542119, 26.56735733, 44.17239048,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006210132315076083
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.46940165e-14, -1.34082049e-13,  1.00000000e+00,  5.99266533e-27,
        1.00000000e+00,  1.34082049e-13, -1.00000000e+00,  0.00000000e+00,
        4.46940165e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08256915, -0.03146278,  0.06198225])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.15591064e-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,
 -1.16647472e-05,-5.73104023e-07,-4.90505524e+00,-1.82584543e-03,
  4.56190734e-05,-2.21549158e-03]


--- 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, 0.09346948,-0.07006554,
  0.13064927, 0.50526263, 0.49401455, 0.49489614, 0.50570457]

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,  1.03001347, -3.47384535, -1.25589987, 15.7819603 ,
  -4.85293675, 50.23218942]

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: -0.0006180570998884222
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.34723356e-13, -4.49077854e-14,  1.00000000e+00,  6.05012757e-27,
        1.00000000e+00,  4.49077854e-14, -1.00000000e+00,  0.00000000e+00,
        1.34723356e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08256696, -0.03146117,  0.06198234])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.74925957e-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,
 -2.17867321e-05, 3.37489959e-06,-4.90506627e+00,-1.83025675e-03,
  5.28188238e-05,-2.21661867e-03]


--- 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, 0.09351932,-0.07009925,
  0.13063112, 0.504961  , 0.49433615, 0.49495709, 0.50563192]

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, 1.01344962,-3.41213578,
 -1.41520556,15.67243759,-4.55226009,49.32110498]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006115640408118905
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.0769155e-14, -9.0769155e-14,  1.0000000e+00,  8.2390395e-27,
        1.0000000e+00,  9.0769155e-14, -1.0000000e+00,  0.0000000e+00,
        9.0769155e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08256459, -0.03145757,  0.06198252])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.17529621e-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,
 -3.46236622e-05, 1.28914326e-05,-4.90509209e+00,-1.83415471e-03,
  6.19079838e-05,-2.21907450e-03]


--- 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, 0.09357013,-0.07012405,
  0.13061946, 0.50468856, 0.49462555, 0.49505383, 0.50552619]

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,  0.24362588,  2.22696612,  1.62231671,  1.89155907,
   1.77846705,-32.54644012]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006346394463071087
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.09336001e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.09336001e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09148599, -0.08807638,  0.06198186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.04752870e-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,
 -5.00266905e-05, 2.77324999e-05,-4.90513187e+00,-1.83766607e-03,
  7.28393359e-05,-2.22282687e-03]


--- 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, 0.09362189,-0.07014024,
  0.13061283, 0.50444416, 0.49488438, 0.49518533, 0.505388  ]

qacc:
[  1.04954397,  0.61666629, -0.42351649, -5.10267366,  1.71985038,
  -1.02817897,  2.56216004, -0.99543629,  5.87553526, -1.67936296,
   8.73577644,-18.73185596, -1.25290777,  1.95041248, -2.59328936,
   3.15932995,  0.23764548,  2.15365415,  1.25878272,  2.17330447,
   1.52827715,-31.4448164 ]

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: -0.0006512270602648251
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.49171496e-13,  4.26204274e-14,  1.00000000e+00, -6.35775290e-27,
        1.00000000e+00, -4.26204274e-14, -1.00000000e+00,  0.00000000e+00,
        1.49171496e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09148432, -0.08807209,  0.06198139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.23819782e-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,
 -4.43859305e-05, 1.75069483e-05,-4.90511559e+00,-1.84325419e-03,
  6.51585735e-05,-2.22506972e-03]


--- 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 , 0.09367459,-0.07014807,
  0.13060997, 0.50422683, 0.49511401, 0.4953507 , 0.50521788]

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,  0.23351017,  2.09054716,  0.94223385,  2.40002604,
   1.31936058,-30.50286867]

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: -0.0006604327863503762
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.40526884e-14,  8.40526884e-14,  1.00000000e+00, -7.06485444e-27,
        1.00000000e+00, -8.40526884e-14, -1.00000000e+00,  0.00000000e+00,
        8.40526884e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09148292, -0.0880698 ,  0.06198112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.45568073e-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,
 -3.91523343e-05, 9.27713856e-06,-4.90510553e+00,-1.84869500e-03,
  5.73494920e-05,-2.22655992e-03]


--- 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, 0.09372821,-0.07014775,
  0.13060979, 0.50403574, 0.49531558, 0.49554917, 0.5050163 ]

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,  0.23094819,  2.03674503,  0.66848943,  2.58555866,
   1.14316695,-29.70367973]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006635940853421535
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.27392021e-14,  1.25478404e-13,  1.00000000e+00,  7.87241496e-27,
        1.00000000e+00, -1.25478404e-13, -1.00000000e+00,  0.00000000e+00,
       -6.27392021e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09148171, -0.08806912,  0.06198103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -3.42086290e-05, 2.83119642e-06,-4.90510104e+00,-1.85405513e-03,
  4.93576839e-05,-2.22731469e-03]


--- 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, 0.09377769,-0.07013845,
  0.13061211, 0.50389505, 0.49546963, 0.49576171, 0.50479694]

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, -1.03469021,  2.24351925,  0.62629055,-16.50132742,
  -1.34043154,-32.46485165]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006668955740146559
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.66476292e-13,  5.20238413e-15,  1.00000000e+00, -8.66073621e-28,
        1.00000000e+00, -5.20238413e-15, -1.00000000e+00,  0.00000000e+00,
        1.66476292e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10208879, -0.08997179,  0.06198094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.07995900e-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,
 -2.94659009e-05,-2.00307845e-06,-4.90510164e+00,-1.85938529e-03,
  4.11394678e-05,-2.22734938e-03]


--- 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, 0.09382315,-0.0701204 ,
  0.13061591, 0.50380344, 0.49557763, 0.49598807, 0.50455994]

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 , -1.00554328,  2.18944015,  0.3695702 ,-15.9019594 ,
  -1.43363899,-31.67330463]

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: -0.0006679402245517024
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.49323888e-13,  6.23309720e-14,  1.00000000e+00, -1.55406003e-26,
        1.00000000e+00, -6.23309720e-14, -1.00000000e+00,  0.00000000e+00,
        2.49323888e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10208786, -0.0899718 ,  0.06198091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.90049123e-05,-6.15340134e-06,-4.90508793e+00,-1.86445840e-03,
  3.28631275e-05,-2.22708181e-03]


--- 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, 0.09386147,-0.07011664,
  0.13061846, 0.50368321, 0.49570353, 0.49613938, 0.50440752]

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, -1.78380869, -3.57373068, -0.31162573,-28.30576851,
   4.63417003, 51.56656429]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000670877138571474
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.27441390e-14,  8.27441390e-14,  1.00000000e+00, -6.84659255e-27,
        1.00000000e+00, -8.27441390e-14, -1.00000000e+00,  0.00000000e+00,
        8.27441390e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1099864 , -0.03428665,  0.06198083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.73240681e-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,
 -9.83104152e-06,-7.48827178e-06,-4.90508132e+00,-1.86944573e-03,
  2.57716810e-05,-2.22591087e-03]


--- 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, 0.0938929 ,-0.07012674,
  0.13061859, 0.50353541, 0.49584676, 0.49621806, 0.50433692]

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,
 -1.72311442e+00,-3.46430523e+00,-6.06850773e-01,-2.74174574e+01,
  4.45380493e+00, 4.98546957e+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([ 7.08607178, -7.04596342,  0.75286965, -7.04596342,  7.61559498,
        4.9557067 ,  0.75286965,  4.9557067 , 53.4655854 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006793817143839059
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.17083387e-14,  8.17083387e-14,  1.00000000e+00, -6.67625261e-27,
        1.00000000e+00, -8.17083387e-14, -1.00000000e+00,  0.00000000e+00,
        8.17083387e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10998524, -0.03429126,  0.06198059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.25752853e-05,-1.96811620e-06,-4.90504946e+00,-1.87181310e-03,
  3.43130955e-05,-2.22404767e-03]


--- 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, 0.09391765,-0.07015033,
  0.13061527, 0.50336091, 0.49600682, 0.49622614, 0.50434577]

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, -1.67137277, -3.37125261, -0.86148791,-26.65923519,
   4.30893052, 48.41338389]

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([ 7.10149816, -7.01446151,  1.10842494, -7.01446151,  8.57192926,
        9.30535027,  1.10842494,  9.30535027, 65.98868006,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006813066999768469
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.14774774e-14,  8.14774774e-14,  1.00000000e+00, -6.63857932e-27,
        1.00000000e+00, -8.14774774e-14, -1.00000000e+00,  0.00000000e+00,
        8.14774774e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10998549, -0.03429241,  0.06198053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.24962830e-05, 5.11356946e-06,-4.90503504e+00,-1.87487003e-03,
  4.01488246e-05,-2.22397131e-03]


--- 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, 0.09393806,-0.07016463,
  0.13061587, 0.50323741, 0.49612129, 0.49624987, 0.50433307]

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, -1.08381871,  2.32085629,  0.97941646,-14.82975876,
  -2.56768196,-33.47183683]

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: -0.0006844174703519029
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.62214302e-13,  1.01383939e-13,  1.00000000e+00, -1.64459249e-26,
        1.00000000e+00, -1.01383939e-13, -1.00000000e+00,  0.00000000e+00,
        1.62214302e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10208966, -0.08996822,  0.06198045])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -9.88296305e-06, 1.36313737e-05,-4.90503646e+00,-1.87850381e-03,
  4.35710403e-05,-2.22559310e-03]


--- 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, 0.09395429,-0.07016992,
  0.13061914, 0.50316353, 0.49619122, 0.49628869, 0.50429978]

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, -1.04585208,  2.25219127,  0.66931705,-14.59798218,
  -2.38938952,-32.49172855]

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: -0.0006901107662120737
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.52463925e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.52463925e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10209096, -0.08996688,  0.06198028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.05878556e-06, 5.94072739e-06,-4.90501896e+00,-1.87912718e-03,
  3.94476806e-05,-2.22743591e-03]


--- 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, 0.09396646,-0.07016644,
  0.13062403, 0.50313809, 0.49621751, 0.49634216, 0.50424667]

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, -1.01388423,  2.19413625,  0.40295789,-14.38597917,
  -2.24648651,-31.66355535]

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: -0.0006900435927362225
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.04458614e-14,  8.54737278e-14,  1.00000000e+00, -6.87600766e-27,
        1.00000000e+00, -8.54737278e-14, -1.00000000e+00,  0.00000000e+00,
        8.04458614e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10209258, -0.08996722,  0.06198029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.00117135e-06, 1.39198612e-06,-4.90500850e+00,-1.87992407e-03,
  3.63686717e-05,-2.22828605e-03]


--- 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 , 0.09397468,-0.07015437,
  0.13062962, 0.50316008, 0.49620092, 0.49640991, 0.50417436]

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, -0.9871166 ,  2.14545688,  0.17516735,-14.19623378,
  -2.13189781,-30.96913229]

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: -0.0006853589130295518
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.07468038e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.07468038e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10209444, -0.08996888,  0.06198042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.02031573e-07,-2.67120761e-07,-4.90500455e+00,-1.88083304e-03,
  3.42589824e-05,-2.22818219e-03]


--- 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 , 0.09397905,-0.07013388,
  0.13063513, 0.50322865, 0.49614208, 0.4964916 , 0.50408337]

qacc:
[-2.45074127e-01, 1.67276711e+00,-5.59067454e+00, 8.29306254e+00,
 -7.54547840e-01,-7.44606753e-02, 2.15389092e+00,-7.53162063e+00,
 -9.72050704e-01, 1.03849229e+00,-5.49159088e+00, 1.17763378e+01,
 -1.15087138e+00, 1.49270528e+00,-7.47651064e+00, 2.07131053e+01,
 -9.64836934e-01, 2.10500171e+00,-1.89526033e-02,-1.40296830e+01,
 -2.03992152e+00,-3.03919590e+01]

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: -0.0006770299521453305
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.19921645e-14,  4.61205926e-14,  1.00000000e+00, -3.78152721e-27,
        1.00000000e+00, -4.61205926e-14, -1.00000000e+00,  0.00000000e+00,
        8.19921645e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10209651, -0.08997159,  0.06198066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.53196197e-07, 7.61726804e-07,-4.90500669e+00,-1.88180916e-03,
  3.30572999e-05,-2.22715553e-03]


--- 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, 0.09397659,-0.07012714,
  0.13063787, 0.50326872, 0.49610052, 0.49650265, 0.5040734 ]

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, -1.70497537, -3.43404878, -0.69156923,-26.49751974,
   5.0465613 , 49.38243585]

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: -0.0006803999419541795
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.63172122e-13,  4.07930305e-14,  1.00000000e+00, -6.65628536e-27,
        1.00000000e+00, -4.07930305e-14, -1.00000000e+00,  0.00000000e+00,
        1.63172122e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10999321, -0.0342934 ,  0.06198056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.68199424e-06, 4.31832272e-06,-4.90501460e+00,-1.88281982e-03,
  3.27144772e-05,-2.22523104e-03]


--- 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, 0.0939675 ,-0.07013376,
  0.13063688, 0.50328142, 0.49607574, 0.49644471, 0.50414218]

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, -1.65774478, -3.3441543 , -0.93306711,-25.92907822,
   4.73903878, 47.99551882]

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([  7.09413415,  -6.78129463,  -2.08345447,  -6.78129463,
        12.12136391, -16.36278912,  -2.08345447, -16.36278912,
        60.35226653,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006803873159943324
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.15875751e-14,  4.07937875e-14,  1.00000000e+00, -3.32826620e-27,
        1.00000000e+00, -4.07937875e-14, -1.00000000e+00,  0.00000000e+00,
        8.15875751e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10999487, -0.03429365,  0.06198057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.59612767e-07, 8.77980305e-07,-4.90500231e+00,-1.88136055e-03,
  3.39635667e-05,-2.22446048e-03]


--- 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, 0.09395194,-0.07015346,
  0.13063134, 0.50326767, 0.49606731, 0.49631914, 0.5042878 ]

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, -1.61823019, -3.26823573, -1.1404261 ,-25.44603002,
   4.48434377, 46.83548307]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006754911676070952
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.21789446e-14,  8.21789446e-14,  1.00000000e+00, -6.75337893e-27,
        1.00000000e+00, -8.21789446e-14, -1.00000000e+00,  0.00000000e+00,
        8.21789446e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10999735, -0.03429131,  0.0619807 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.49261934e-07,-8.48883296e-07,-4.90500535e+00,-1.88064945e-03,
  3.30606294e-05,-2.22536676e-03]


--- 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, 0.0939321 ,-0.07016406,
  0.13062885, 0.50330361, 0.49601524, 0.49620913, 0.5044114 ]

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, -1.07154522,  2.27662466,  0.76624522,-13.91659329,
  -2.87422859,-32.75505201]

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([ 7.01780349,  0.55541609,  6.99579008,  0.55541609, 75.2908645 ,
       -5.42039653,  6.99579008, -5.42039653,  7.44814451,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006709053283687205
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.65481325e-13,  1.29282285e-13,  1.00000000e+00, -2.13938038e-26,
        1.00000000e+00, -1.29282285e-13, -1.00000000e+00,  0.00000000e+00,
        1.65481325e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10210605, -0.08997461,  0.06198083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.84908678e-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,
  2.67027443e-06,-9.90453391e-07,-4.90502264e+00,-1.88054067e-03,
  3.01739611e-05,-2.22787533e-03]


--- 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, 0.09390809,-0.07016579,
  0.13062832, 0.50338808, 0.4959201 , 0.49611409, 0.50451412]

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, -1.03950478,  2.21512932,  0.48856492,-13.91940034,
  -2.59143224,-31.89895142]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006736506897674771
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.06008663e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.06008663e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10210855, -0.08997416,  0.06198075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.61572878e-06,-2.59115849e-06,-4.90501948e+00,-1.87726981e-03,
  3.29606723e-05,-2.22857073e-03]


--- 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, 0.09388004,-0.07015887,
  0.13062879, 0.50352013, 0.49578239, 0.49603355, 0.50459688]

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,
 -1.01323439e+00, 2.16325680e+00, 2.50053087e-01,-1.39056399e+01,
 -2.35896968e+00,-3.11768662e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00067142334838452
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.26768258e-14,  5.16730161e-15,  1.00000000e+00,  4.27216096e-28,
        1.00000000e+00, -5.16730161e-15, -1.00000000e+00,  0.00000000e+00,
       -8.26768258e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10211109, -0.08997513,  0.06198082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.76619766e-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,
 -6.38392914e-06,-1.41462706e-06,-4.90502280e+00,-1.87422116e-03,
  3.65505210e-05,-2.22834274e-03]


--- 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, 0.09384801,-0.07014347,
  0.13062945, 0.50369892, 0.49560252, 0.4959671 , 0.50466046]

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,
 -9.91928843e-01, 2.11986233e+00, 4.59474711e-02,-1.38850779e+01,
 -2.16633661e+00,-3.05729408e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006652316230442573
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.50339052e-13, -2.08615876e-14,  1.00000000e+00,  5.22247007e-27,
        1.00000000e+00,  2.08615876e-14, -1.00000000e+00,  0.00000000e+00,
        2.50339052e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10211366, -0.08997724,  0.06198099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.16915188e-05, 2.35829805e-06,-4.90503221e+00,-1.87130890e-03,
  4.09242532e-05,-2.22721843e-03]


--- 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, 0.09381209,-0.07011973,
  0.13062959, 0.50392375, 0.49538083, 0.4959144 , 0.50470546]

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,
 -9.74886699e-01, 2.08389457e+00,-1.28192672e-01,-1.38645564e+01,
 -2.00514804e+00,-3.00728718e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006559331727518242
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.69258557e-13,  4.76039692e-14,  1.00000000e+00, -8.05737915e-27,
        1.00000000e+00, -4.76039692e-14, -1.00000000e+00,  0.00000000e+00,
        1.69258557e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10211627, -0.08998024,  0.06198125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.10716595e-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,
 -1.75769087e-05, 8.58230833e-06,-4.90504740e+00,-1.86846841e-03,
  4.60663710e-05,-2.22521985e-03]


--- 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, 0.0937694 ,-0.07010947,
  0.13062625, 0.50412098, 0.49517589, 0.49579193, 0.50482991]

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, -1.69070628, -3.36668514, -0.87088849,-26.25378373,
   4.72064869, 48.41555268]

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: -0.0006520110312625976
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.27707543e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.27707543e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11001137, -0.03428078,  0.06198137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.47610058e-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,
 -2.40660534e-05, 1.71415248e-05,-4.90506816e+00,-1.86565056e-03,
  5.19657014e-05,-2.22236482e-03]


--- 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, 0.0937201 ,-0.07011234,
  0.13061857, 0.50429172, 0.49498723, 0.49560102, 0.50503181]

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, -1.65265421, -3.28699547, -1.08454685,-25.80686144,
   4.37686831, 47.18920914]

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([  6.85003898,  -6.53835968,  -2.0427645 ,  -6.53835968,
        12.67585599, -18.64693023,  -2.0427645 , -18.64693023,
        66.53402943,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006503226987953914
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.13398484e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.13398484e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11001335, -0.03428017,  0.06198141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.48716467e-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,
 -2.59204165e-05, 5.26317229e-06,-4.90507224e+00,-1.86051073e-03,
  4.68659670e-05,-2.22255342e-03]


--- 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, 0.09366432,-0.0701281 ,
  0.13060581, 0.50443688, 0.49481448, 0.49534276, 0.50530943]

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, -1.62129637, -3.21953457, -1.2685896 ,-25.43281479,
   4.08246213, 46.16388951]

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: -0.0006444310137021653
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11001602, -0.03427733,  0.06198158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.70774009e-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,
 -2.52525157e-05,-4.65763065e-06,-4.90509098e+00,-1.85602163e-03,
  3.98665764e-05,-2.22429171e-03]


--- 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, 0.09360929,-0.0701351 ,
  0.1305986 , 0.50460856, 0.49461612, 0.49512081, 0.50554968]

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,  0.18766009,  2.18939268,  1.38580328,  5.40869684,
  -0.18685591,-31.44882942]

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: -0.0006616400034292064
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.19496637e-14,  4.19496637e-14,  1.00000000e+00,  1.75977428e-27,
        1.00000000e+00, -4.19496637e-14, -1.00000000e+00,  0.00000000e+00,
       -4.19496637e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09151625, -0.08807826,  0.06198109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.70690186e-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,
 -2.22588588e-05,-1.27672669e-05,-4.90512350e+00,-1.85203253e-03,
  3.10748693e-05,-2.22751951e-03]


--- 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, 0.09355499,-0.07013362,
  0.13059558, 0.50480622, 0.4943922 , 0.49493389, 0.50575436]

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,  0.18185233,  2.12106034,  1.04823497,  4.78733805,
   0.07216863,-30.5378869 ]

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([ 7.02908612,  1.09214129, -6.94372228,  1.09214129, 61.77460049,
        8.61063192, -6.94372228,  8.61063192,  8.3834068 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006723016633012613
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.06422036e-14, -8.25688144e-14,  1.00000000e+00,  1.70440228e-27,
        1.00000000e+00,  8.25688144e-14, -1.00000000e+00,  0.00000000e+00,
        2.06422036e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09151941, -0.0880762 ,  0.06198078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.76844818e-05,-9.21515503e-06,-4.90511179e+00,-1.84573922e-03,
  4.06406040e-05,-2.22755864e-03]


--- 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, 0.09350138,-0.07012388,
  0.13059559, 0.5050294 , 0.49414277, 0.49478094, 0.50592496]

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,  0.17574492,  2.06302492,  0.75630636,  4.27859188,
   0.28384508,-29.76060278]

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: -0.000676469054317938
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.15451116e-14, -4.10300744e-14,  1.00000000e+00, -2.52520051e-27,
        1.00000000e+00,  4.10300744e-14, -1.00000000e+00,  0.00000000e+00,
       -6.15451116e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09152179, -0.08807575,  0.06198066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.27427911e-05,-4.46863389e-06,-4.90510590e+00,-1.83972120e-03,
  4.93681609e-05,-2.22692806e-03]


--- 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, 0.09344846,-0.07010609,
  0.13059762, 0.50527766, 0.49386789, 0.49466103, 0.5060627 ]

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,  0.16951323,  2.01418917,  0.50525066,  3.8597667 ,
   0.45880913,-29.10350459]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006753725430291013
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09152356, -0.0880766 ,  0.06198069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.75237437e-05, 1.44238960e-06,-4.90510530e+00,-1.83390156e-03,
  5.73683838e-05,-2.22562396e-03]


--- 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, 0.09339876,-0.07008025,
  0.13060132, 0.50554017, 0.49357608, 0.49458463, 0.50615989]

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 ,  0.80688179,  2.01139188,  0.4180002 , 13.24966377,
   1.73531849,-28.77691293]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006729449135741694
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.23734834e-13,  8.24898890e-14,  1.00000000e+00, -1.02068727e-26,
        1.00000000e+00, -8.24898890e-14, -1.00000000e+00,  0.00000000e+00,
        1.23734834e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08606638, -0.0881408 ,  0.06198076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.20956086e-05, 8.49014290e-06,-4.90510956e+00,-1.82822193e-03,
  6.47292324e-05,-2.22364532e-03]


--- 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, 0.09335363,-0.07006989,
  0.130604  , 0.50573308, 0.4933637 , 0.49446481, 0.50629129]

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,  1.14092135, -3.86926162, -0.25347365, 17.80095796,
  -5.42001551, 56.61288352]

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: -0.0006738732370267786
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.23762515e-14,  8.23762515e-14,  1.00000000e+00, -6.78584681e-27,
        1.00000000e+00, -8.23762515e-14, -1.00000000e+00,  0.00000000e+00,
        8.23762515e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08259327, -0.03150648,  0.06198074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.33128820e-05, 1.57949479e-05,-4.90510899e+00,-1.82262413e-03,
  7.04977042e-05,-2.22114832e-03]


--- 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, 0.09331289,-0.07007451,
  0.13060444, 0.50585872, 0.49322798, 0.49430326, 0.50645572]

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,  1.09718915, -3.74553068, -0.56314457, 17.25137464,
  -5.18000044, 54.63084648]

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([ 7.12564772, -7.02863129,  1.17183514, -7.02863129,  8.12232399,
        5.97803375,  1.17183514,  5.97803375, 42.9817111 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000684327850254407
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.05588865e-14, -2.02794433e-13,  1.00000000e+00,  8.22511638e-27,
        1.00000000e+00,  2.02794433e-13, -1.00000000e+00,  0.00000000e+00,
        4.05588865e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08259362, -0.03151268,  0.06198044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.65351867e-05, 2.94082222e-06,-4.90507329e+00,-1.82031922e-03,
  5.94575859e-05,-2.21930666e-03]


--- 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, 0.09327638,-0.07009369,
  0.13060155, 0.50591906, 0.49316661, 0.49410137, 0.50665218]

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,
  1.05974597e+00,-3.64008255e+00,-8.30462888e-01, 1.67749088e+01,
 -4.99072029e+00, 5.29592989e+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([ 7.1527805 , -7.11106505,  0.77137712, -7.11106505,  7.72968939,
        5.31832816,  0.77137712,  5.31832816, 56.18065072,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006877338317227699
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.03580198e-14, -2.01790099e-14,  1.00000000e+00,  8.14384882e-28,
        1.00000000e+00,  2.01790099e-14, -1.00000000e+00,  0.00000000e+00,
        4.03580198e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08259315, -0.03151485,  0.06198035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.37145863e-05,-2.85268837e-06,-4.90505643e+00,-1.81734174e-03,
  5.12959241e-05,-2.21901844e-03]


--- 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, 0.09324399,-0.07012708,
  0.13059442, 0.50591575, 0.4931776 , 0.49386027, 0.50687981]

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,  1.0277811 , -3.55078972, -1.06050309, 16.36448124,
  -4.84316871, 51.55865645]

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([ 7.13457352, -7.12533454,  0.36296973, -7.12533454,  7.29890675,
        3.2259694 ,  0.36296973,  3.2259694 , 70.46247469,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006854469202346308
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.04926695e-14, -8.09853390e-14,  1.00000000e+00,  3.27931257e-27,
        1.00000000e+00,  8.09853390e-14, -1.00000000e+00,  0.00000000e+00,
        4.04926695e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08259202, -0.03151377,  0.06198041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.41468594e-06,-2.26220125e-06,-4.90505663e+00,-1.81380321e-03,
  4.57456432e-05,-2.22021956e-03]


--- 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, 0.09321518,-0.07015164,
  0.13059315, 0.5059295 , 0.49316673, 0.49366637, 0.50706551]

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,  0.89551614,  2.20600813,  1.46695984, 12.58202795,
   2.93032518,-31.97170005]

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: -0.0007030900313029359
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.94765597e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.94765597e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08606834, -0.08813437,  0.06197991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.70144385e-06, 4.20630329e-06,-4.90507248e+00,-1.80978201e-03,
  4.25927791e-05,-2.22285805e-03]


--- 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, 0.09318981,-0.07016767,
  0.13059629, 0.50595969, 0.49313493, 0.49351813, 0.5072106 ]

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,  0.86015357,  2.13154731,  1.09957391, 12.25470843,
   2.78675603,-30.86785791]

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: -0.0007137359919762443
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.11101874e-13,  6.07620848e-14,  1.00000000e+00, -1.89031985e-26,
        1.00000000e+00, -6.07620848e-14, -1.00000000e+00,  0.00000000e+00,
        3.11101874e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08606816, -0.08813169,  0.06197961])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.16569762e-07, 9.61428184e-07,-4.90504746e+00,-1.80797524e-03,
  4.94158009e-05,-2.22532269e-03]


--- 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, 0.09316776,-0.07017543,
  0.13060256, 0.50600578, 0.49308296, 0.49341424, 0.5073162 ]

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,  0.83006734,  2.06822693,  0.78348369, 11.96564321,
   2.67060306,-29.93229042]

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: -0.0007173656903269043
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.32145830e-13, -1.69273001e-14,  1.00000000e+00,  3.92960214e-27,
        1.00000000e+00,  1.69273001e-14, -1.00000000e+00,  0.00000000e+00,
        2.32145830e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08606753, -0.0881309 ,  0.06197951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.10157421e-06,-8.32367286e-07,-4.90502927e+00,-1.80612984e-03,
  5.48817950e-05,-2.22694152e-03]


--- 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, 0.09314892,-0.07017513,
  0.13061088, 0.50606735, 0.49301146, 0.49335358, 0.50738327]

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,  0.80459856,  2.01481995,  0.5129762 , 11.71293073,
   2.57707107,-29.14457485]

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: -0.0007153293651194631
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.76022262e-14,  1.57629522e-13,  1.00000000e+00, -1.22324018e-26,
        1.00000000e+00, -1.57629522e-13, -1.00000000e+00,  0.00000000e+00,
        7.76022262e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08606654, -0.08813162,  0.06197957])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.25173457e-06,-1.31772022e-06,-4.90501725e+00,-1.80428203e-03,
  5.90932061e-05,-2.22774704e-03]


--- 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, 0.09313322,-0.07016695,
  0.13062033, 0.506144  , 0.49292094, 0.49333519, 0.50741264]

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,
  7.83139794e-01, 1.97014306e+00, 2.82462561e-01, 1.14939963e+01,
  2.50216804e+00,-2.84859942e+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: -0.0007087793675400605
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.56638734e-13,  8.07668470e-14,  1.00000000e+00, -1.26512166e-26,
        1.00000000e+00, -8.07668470e-14, -1.00000000e+00,  0.00000000e+00,
        1.56638734e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08606526, -0.08813354,  0.06197975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.23643683e-06,-6.06700637e-07,-4.90501087e+00,-1.80245767e-03,
  6.21338576e-05,-2.22776576e-03]


--- 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, 0.09312059,-0.07015104,
  0.13063013, 0.50623545, 0.49281181, 0.49335828, 0.50740496]

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,  0.76514812,  1.93310552,  0.08673479, 11.30603055,
   2.44258758,-27.93987991]

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: -0.0006986942852063305
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.94498430e-14,  4.22077291e-14,  1.00000000e+00,  3.35339745e-27,
        1.00000000e+00, -4.22077291e-14, -1.00000000e+00,  0.00000000e+00,
       -7.94498430e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08606376, -0.08813641,  0.06198004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.06041255e-06, 1.21284692e-06,-4.90500972e+00,-1.80067489e-03,
  6.40716480e-05,-2.22701924e-03]


--- 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, 0.09311095,-0.07012752,
  0.13063961, 0.50634143, 0.4926844 , 0.49342219, 0.5073608 ]

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,  0.75014761,  1.90272903, -0.07892048, 11.14623781,
   2.39559981,-27.4916529 ]

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: -0.0006859013210080422
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.61863375e-13,  2.27620371e-14,  1.00000000e+00, -3.68434013e-27,
        1.00000000e+00, -2.27620371e-14, -1.00000000e+00,  0.00000000e+00,
        1.61863375e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0860621 , -0.08814001,  0.06198041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.72961200e-06, 4.07211898e-06,-4.90501350e+00,-1.79894602e-03,
  6.49610104e-05,-2.22552484e-03]


--- 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, 0.09310426,-0.07009648,
  0.13064822, 0.50646174, 0.49253895, 0.49352637, 0.5072806 ]

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,
  7.37726252e-01, 1.87815111e+00,-2.18691798e-01, 1.10119673e+01,
  2.35895422e+00,-2.71287056e+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: -0.0006710964772489725
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24075643e-13, -1.65434191e-13,  1.00000000e+00, -2.05263535e-26,
        1.00000000e+00,  1.65434191e-13, -1.00000000e+00,  0.00000000e+00,
       -1.24075643e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08606032, -0.08814414,  0.06198083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -5.25059879e-06, 7.91717727e-06,-4.90502196e+00,-1.79727910e-03,
  6.48450505e-05,-2.22329640e-03]


--- 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, 0.09310187,-0.07008035,
  0.1306543 , 0.5065173 , 0.49246938, 0.49358753, 0.50723317]

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,  1.07556792, -3.72437834, -0.63209702, 16.16166045,
  -6.09357732, 54.04223779]

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: -0.0006628938104067811
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.67481278e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.67481278e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08257412, -0.03150323,  0.06198106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -5.63019308e-06, 1.27056106e-05,-4.90503493e+00,-1.79567896e-03,
  6.37573553e-05,-2.22034479e-03]


--- 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, 0.09310366,-0.0700787 ,
  0.13065685, 0.50650959, 0.49247349, 0.49360736, 0.50721758]

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,
  1.04247513e+00,-3.62236911e+00,-8.83242097e-01, 1.59002842e+01,
 -5.69992921e+00, 5.24734931e+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([ 6.97894599, -5.83496599,  3.82868895, -5.83496599, 21.17454586,
       21.63425743,  3.82868895, 21.63425743, 39.9498031 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000666109119190253
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.16682114e-14, -1.45838740e-13,  1.00000000e+00,  6.07683945e-27,
        1.00000000e+00,  1.45838740e-13, -1.00000000e+00,  0.00000000e+00,
        4.16682114e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0825724 , -0.03150514,  0.06198097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.19793307e-06, 3.24122520e-06,-4.90500923e+00,-1.79769412e-03,
  6.09862776e-05,-2.21866295e-03]


--- 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, 0.0931095 ,-0.0700912 ,
  0.130655  , 0.50643986, 0.49254943, 0.49358724, 0.50723304]

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,  1.01478339, -3.53595005, -1.09926467, 15.66892549,
  -5.37863935, 51.15503647]

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([ 6.96168781, -6.14593953,  3.26994258, -6.14593953, 20.42475679,
       25.3041776 ,  3.26994258, 25.3041776 , 54.52152764,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006639849832623806
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.25404533e-13, -2.09007555e-13,  1.00000000e+00,  2.62104949e-26,
        1.00000000e+00,  2.09007555e-13, -1.00000000e+00,  0.00000000e+00,
        1.25404533e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08257034, -0.03150403,  0.06198103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.49464657e-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,
 -7.07973274e-08, 4.12752071e-08,-4.90500048e+00,-1.79885985e-03,
  6.04589980e-05,-2.21846543e-03]


--- 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 , 0.09311931,-0.07011754,
  0.13064801, 0.50630915, 0.49269563, 0.49352831, 0.50727889]

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,  0.99173517, -3.46314267, -1.28476229, 15.46798617,
  -5.11547934, 50.05455923]

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: -0.0006576025810756253
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.44144364e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.44144364e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08256801, -0.03150052,  0.06198121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.70076519e-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,
 -1.93953994e-06, 2.62899448e-06,-4.90500736e+00,-1.79934618e-03,
  6.20428336e-05,-2.21969822e-03]


--- 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 , 0.09313255,-0.07013541,
  0.13064513, 0.50619523, 0.49281966, 0.49351451, 0.50728552]

qacc:
[ -4.8161946 , -1.32169836,  4.71879918, -6.88472373, -4.22927412,
   1.26622336, -6.50650098, 14.52631192, -3.56994596, -0.5154686 ,
   5.02694623,-18.01889716, -1.17369902,  1.59683278, 12.38814589,
 -48.36216985,  0.85723623,  2.12108073,  1.02918943, 11.36983633,
   3.24670397,-30.77293182]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006584093894216464
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.43109957e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.43109957e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08605236, -0.08814782,  0.06198119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.82728324e-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,
 -6.57400046e-06, 1.06528938e-05,-4.90502883e+00,-1.79927845e-03,
  6.56326336e-05,-2.22231762e-03]


--- 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, 0.09314912,-0.07014502,
  0.1306452 , 0.50609749, 0.49292257, 0.49354469, 0.50725369]

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,
  8.31297863e-01, 2.06215991e+00, 7.35508856e-01, 1.13149046e+01,
  3.01323057e+00,-2.98874969e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006644298209068922
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.35470496e-14,  4.43843701e-14,  1.00000000e+00, -3.70818317e-27,
        1.00000000e+00, -4.43843701e-14, -1.00000000e+00,  0.00000000e+00,
        8.35470496e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08605097, -0.08814625,  0.06198102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.95474978e-06, 5.89286303e-06,-4.90501862e+00,-1.80151759e-03,
  6.49505237e-05,-2.22390675e-03]


--- 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, 0.09316892,-0.07014659,
  0.1306472 , 0.50601543, 0.49300524, 0.49361786, 0.50718402]

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,  0.809872  ,  2.01210048,  0.4824396 , 11.25629072,
   2.8201618 ,-29.13919896]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006649983177082069
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.66951253e-13,  2.34775200e-14,  1.00000000e+00, -3.91960138e-27,
        1.00000000e+00, -2.34775200e-14, -1.00000000e+00,  0.00000000e+00,
        1.66951253e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08604946, -0.08814617,  0.061981  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20302482e-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,
 -5.35450431e-06, 2.55401377e-06,-4.90501435e+00,-1.80365216e-03,
  6.32343646e-05,-2.22469567e-03]


--- 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, 0.0931919 ,-0.07014028,
  0.13065026, 0.5059486 , 0.49306838, 0.49373318, 0.50707705]

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,  0.79236747,  1.96993926,  0.26539077, 11.20013199,
   2.65958006,-28.51151581]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006611846637176316
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.39571065e-14,  2.62365958e-15,  1.00000000e+00,  2.20274867e-28,
        1.00000000e+00, -2.62365958e-15, -1.00000000e+00,  0.00000000e+00,
       -8.39571065e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08604783, -0.08814729,  0.06198111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.06556448e-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,
 -4.72909855e-06, 4.97106997e-07,-4.90501556e+00,-1.80574137e-03,
  6.05163914e-05,-2.22470926e-03]


--- 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, 0.09321798,-0.07012623,
  0.13065364, 0.50589665, 0.49311259, 0.49388994, 0.50693322]

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,  0.77825824,  1.93476039,  0.07995728, 11.1504961 ,
   2.52508363,-27.98952939]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006539023446471698
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.48921122e-14,  8.75449907e-14,  1.00000000e+00,  7.43187918e-27,
        1.00000000e+00, -8.75449907e-14, -1.00000000e+00,  0.00000000e+00,
       -8.48921122e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08604611, -0.08814935,  0.06198132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.69969085e-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,
 -4.04825176e-06,-3.89111896e-07,-4.90502190e+00,-1.80782959e-03,
  5.68229199e-05,-2.22396794e-03]


--- 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, 0.09324714,-0.07010455,
  0.13065671, 0.50585927, 0.49313834, 0.49408755, 0.50675287]

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,  0.76708403,  1.90572298, -0.07793662, 11.10999945,
   2.41150319,-27.56003769]

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: -0.000643927362933519
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.62071631e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.62071631e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08604432, -0.08815215,  0.0619816 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.81823855e-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,
 -3.29147664e-06,-1.93954398e-07,-4.90503308e+00,-1.80995025e-03,
  5.21744534e-05,-2.22248835e-03]


--- 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, 0.09327933,-0.07007535,
  0.13065893, 0.50583621, 0.49314602, 0.49432554, 0.50653628]

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,  0.75844664,  1.88207171, -0.21197712, 11.08024131,
   2.31466661,-27.21150769]

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: -0.0006319155932312248
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08604247, -0.08815551,  0.06198194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.98360918e-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,
 -2.44521118e-06, 1.01034594e-06,-4.90504891e+00,-1.81212881e-03,
  4.65860272e-05,-2.22028393e-03]


--- 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  , 0.09331584,-0.07006087,
  0.1306582 , 0.50574839, 0.49322874, 0.4945217 , 0.50635192]

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,  1.08119483, -3.68042957, -0.73843841, 16.38544225,
  -5.62949795, 53.41148323]

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: -0.0006346539751356101
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.74667983e-14,  2.18666996e-14,  1.00000000e+00, -1.91261020e-27,
        1.00000000e+00, -2.18666996e-14, -1.00000000e+00,  0.00000000e+00,
        8.74667983e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08255175, -0.03148896,  0.06198186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.18546143e-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,
 -1.50081099e-06, 3.16474509e-06,-4.90506924e+00,-1.81438490e-03,
  4.00676518e-05,-2.21736549e-03]


--- 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, 0.09335657,-0.07006073,
  0.13065358, 0.50559713, 0.49338445, 0.49467763, 0.50619894]

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,  1.05456536, -3.58608988, -0.97122826, 16.16251726,
  -5.22683246, 51.96640891]

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([ 6.74535391, -5.90253694,  3.26494367, -5.90253694, 19.51482773,
       23.08532659,  3.26494367, 23.08532659, 48.48022188,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006376162876790964
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.70604348e-14,  4.35302174e-14,  1.00000000e+00, -3.78975965e-27,
        1.00000000e+00, -4.35302174e-14, -1.00000000e+00,  0.00000000e+00,
        8.70604348e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08255032, -0.03149072,  0.06198178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.89397201e-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,
 -8.05409470e-06,-1.60888140e-06,-4.90505730e+00,-1.81950653e-03,
  4.45491032e-05,-2.21652658e-03]


--- 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 , 0.09340143,-0.07007462,
  0.13064427, 0.50538351, 0.49361141, 0.49479466, 0.5060766 ]

qacc:
[ 6.15685857e+00,-3.86314706e-02,-1.56391235e+00, 8.35143107e+00,
 -1.78955621e+00, 2.01732505e-01,-1.16575429e+00, 2.22933535e+00,
  1.56903499e+00, 3.11433536e-01,-4.07801257e+00, 1.22361686e+01,
 -6.13275159e-01,-7.18653127e-01, 4.42655754e+00,-1.85175157e+01,
  1.03267829e+00,-3.50590901e+00,-1.17225603e+00, 1.59705064e+01,
 -4.88718278e+00, 5.07512257e+01]

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: -0.0006356289478289534
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.73326355e-14, -8.73326355e-14,  1.00000000e+00,  7.62698923e-27,
        1.00000000e+00,  8.73326355e-14, -1.00000000e+00,  0.00000000e+00,
        8.73326355e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08254853, -0.03148968,  0.06198184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.59802199e-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,
 -1.75863417e-05,-2.45921220e-07,-4.90506179e+00,-1.82392586e-03,
  5.10403654e-05,-2.21707936e-03]


--- 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, 0.09345036,-0.07010226,
  0.13062958, 0.50510841, 0.49390816, 0.49487386, 0.50598428]

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,  1.0148961 , -3.4381255 , -1.3456277 , 15.80955085,
  -4.59787684, 49.7368827 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006296875003722752
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.40783335e-14,  8.81566669e-14,  1.00000000e+00, -3.88579896e-27,
        1.00000000e+00, -8.81566669e-14, -1.00000000e+00,  0.00000000e+00,
        4.40783335e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08254645, -0.03148641,  0.061982  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.15910252e-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,
 -2.98686592e-05, 6.83902957e-06,-4.90508149e+00,-1.82780760e-03,
  5.94580123e-05,-2.21898113e-03]


--- 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, 0.09350292,-0.07012133,
  0.13061939, 0.50484982, 0.49418301, 0.49499893, 0.50585163]

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,  0.91046904,  2.14207057,  1.12314129, 11.97599415,
   3.0780782 ,-31.10387752]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006356888587168014
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74648810e-13,  2.72888765e-15,  1.00000000e+00, -4.76596980e-28,
        1.00000000e+00, -2.72888765e-15, -1.00000000e+00,  0.00000000e+00,
        1.74648810e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08603487, -0.08815469,  0.06198183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.30736189e-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,
 -4.47378217e-05, 1.93473228e-05,-4.90511549e+00,-1.83127822e-03,
  6.97398680e-05,-2.22219640e-03]


--- 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, 0.09355639,-0.07013189,
  0.13061364, 0.50461903, 0.49442744, 0.49515819, 0.50568716]

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,  0.22593661,  2.12767521,  1.11262217,  1.97352811,
   1.58487433,-31.03793288]

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: -0.00064918759267861
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.13771612e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.13771612e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0914945 , -0.08808671,  0.06198144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.46885513e-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,
 -4.26843919e-05, 1.18538566e-05,-4.90511370e+00,-1.83726688e-03,
  6.29451920e-05,-2.22363524e-03]


--- 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, 0.09361075,-0.07013417,
  0.13061116, 0.50441512, 0.49464277, 0.49535083, 0.50549133]

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 ,  0.22246295,  2.06917936,  0.81707881,  2.21949247,
   1.37184048,-30.16964714]

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: -0.0006560320994806468
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.11541292e-14,  4.23082584e-14,  1.00000000e+00,  8.94994366e-28,
        1.00000000e+00, -4.23082584e-14, -1.00000000e+00,  0.00000000e+00,
       -2.11541292e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09149298, -0.08808506,  0.06198125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.09348143e-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,
 -3.73254573e-05, 4.75462155e-06,-4.90510704e+00,-1.84281866e-03,
  5.47274765e-05,-2.22458775e-03]


--- 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 , 0.09366599,-0.07012838,
  0.13061093, 0.5042373 , 0.49483009, 0.49557616, 0.50526449]

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,  0.22051237,  2.01948304,  0.56186458,  2.42166744,
   1.19209424,-29.4350408 ]

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: -0.0006573550502970565
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.22231115e-14,  1.26669335e-13,  1.00000000e+00, -5.34837345e-27,
        1.00000000e+00, -1.26669335e-13, -1.00000000e+00,  0.00000000e+00,
        4.22231115e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09149168, -0.08808489,  0.06198121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.80027108e-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,
 -3.22615010e-05,-6.47824579e-07,-4.90510574e+00,-1.84828719e-03,
  4.63313687e-05,-2.22481616e-03]


--- 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 , 0.09372211,-0.07011468,
  0.13061207, 0.50408492, 0.49499032, 0.49583358, 0.50500696]

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,
  2.19851705e-01, 1.97765713e+00, 3.42568937e-01, 2.59105510e+00,
  1.03867648e+00,-2.88187242e+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: -0.0006542284081925004
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.83342392e-14, -1.69699605e-13,  1.00000000e+00, -9.89929736e-27,
        1.00000000e+00,  1.69699605e-13, -1.00000000e+00,  0.00000000e+00,
       -5.83342392e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09149054, -0.08808591,  0.0619813 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.10818959e-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,
 -2.74032506e-05,-4.50867202e-06,-4.90510936e+00,-1.85372275e-03,
  3.77119808e-05,-2.22433355e-03]


--- 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, 0.09377103,-0.0701154 ,
  0.13061233, 0.50390494, 0.49516853, 0.49601382, 0.50483484]

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 , -1.79956636, -3.60725679, -0.22084381,-29.30004453,
   3.98533806, 52.05629802]

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: -0.0006604714639986548
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.20238831e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.20238831e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10996739, -0.03428466,  0.06198112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.26337663e-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,
 -2.26822694e-05,-6.95376486e-06,-4.90511756e+00,-1.85916436e-03,
  2.88324270e-05,-2.22315143e-03]


--- 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, 0.093813  ,-0.0701301 ,
  0.13061047, 0.50369819, 0.49536414, 0.49611967, 0.50474525]

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, -1.73732083, -3.49394177, -0.52774742,-28.23685014,
   3.94118131, 50.28412561]

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([ 7.02397679, -6.04290148,  3.58044574, -6.04290148, 17.58979766,
       17.83247653,  3.58044574, 17.83247653, 37.12075989,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006716691199749186
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.26465734e-14,  1.23969860e-13,  1.00000000e+00,  1.02456841e-26,
        1.00000000e+00, -1.23969860e-13, -1.00000000e+00,  0.00000000e+00,
       -8.26465734e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10996453, -0.03429053,  0.0619808 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.42305235e-05, 1.33114430e-06,-4.90508255e+00,-1.86339520e-03,
  3.91408102e-05,-2.22168714e-03]


--- 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, 0.09384823,-0.07015839,
  0.13060544, 0.50346534, 0.49557662, 0.49615348, 0.50473576]

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,
 -1.68386787e+00,-3.39730237e+00,-7.93189256e-01,-2.73342722e+01,
  3.90625404e+00, 4.87884508e+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([ 7.05756321, -6.08222839,  3.57990172, -6.08222839, 20.66044765,
       23.11120705,  3.57990172, 23.11120705, 46.32334495,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006758338313037071
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.21372779e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.21372779e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10996343, -0.03429272,  0.06198069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.30888994e-05, 1.11758503e-05,-4.90506578e+00,-1.86814129e-03,
  4.65471151e-05,-2.22197008e-03]


--- 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, 0.09387901,-0.07017722,
  0.13060513, 0.50328445, 0.49574255, 0.49620313, 0.50470441]

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, -1.11508242,  2.36417705,  1.17841111,-15.17559024,
  -2.56143208,-34.08880028]

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: -0.0006844368664768591
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.62209705e-13,  8.61739060e-14,  1.00000000e+00, -1.39782439e-26,
        1.00000000e+00, -8.61739060e-14, -1.00000000e+00,  0.00000000e+00,
        1.62209705e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10210142, -0.08997621,  0.06198044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.95073689e-05, 2.24501246e-05,-4.90506547e+00,-1.87334313e-03,
  5.13901257e-05,-2.22392467e-03]


--- 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, 0.0939055 ,-0.0701869 ,
  0.13060817, 0.50315398, 0.4958631 , 0.49626806, 0.50465223]

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  , -1.07229593,  2.28855514,  0.83920445,-14.89267841,
  -2.38433247,-33.01130548]

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: -0.0006936191323444613
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.50331189e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.50331189e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10210239, -0.08997389,  0.06198018])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.37262796e-05, 1.19656803e-05,-4.90504163e+00,-1.87451682e-03,
  4.52606842e-05,-2.22646061e-03]


--- 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, 0.09392784,-0.07018768,
  0.13061341, 0.50307264, 0.49593932, 0.49634777, 0.50458003]

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, -1.03605544,  2.22438819,  0.54725552,-14.6340424 ,
  -2.24371842,-32.09763429]

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: -0.0006962985244414327
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.23529536e-14, -7.97232068e-14,  1.00000000e+00,  3.37651328e-27,
        1.00000000e+00,  7.97232068e-14, -1.00000000e+00,  0.00000000e+00,
        4.23529536e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10210376, -0.08997346,  0.06198011])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.79073493e-06, 4.82498865e-06,-4.90502528e+00,-1.87588436e-03,
  4.02773648e-05,-2.22797347e-03]


--- 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, 0.09394616,-0.07017978,
  0.13061983, 0.5030393 , 0.49597209, 0.49644187, 0.50448848]

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, -1.00550899,  2.17038735,  0.29722379,-14.40190265,
  -2.13238636,-31.32860864]

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: -0.0006937323550687269
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.00181090e-14,  5.00113181e-15,  1.00000000e+00,  4.00181111e-28,
        1.00000000e+00, -5.00113181e-15, -1.00000000e+00,  0.00000000e+00,
       -8.00181090e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10210543, -0.08997453,  0.06198018])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.68210043e-06, 7.35547671e-07,-4.90501579e+00,-1.87737960e-03,
  3.63458666e-05,-2.22850765e-03]


--- 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, 0.09396056,-0.07016338,
  0.13062658, 0.50305302, 0.49596216, 0.49655001, 0.50437812]

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, -0.97988544,  2.12532552,  0.08393124,-14.19679142,
  -2.04451738,-30.68654731]

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: -0.0006869935735484001
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.08030138e-14,  1.01003767e-13,  1.00000000e+00, -8.16140881e-27,
        1.00000000e+00, -1.01003767e-13, -1.00000000e+00,  0.00000000e+00,
        8.08030138e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10210736, -0.0899768 ,  0.06198037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.37579774e-06,-5.37240566e-07,-4.90501267e+00,-1.87895439e-03,
  3.33884024e-05,-2.22809910e-03]


--- 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, 0.09396821,-0.07015968,
  0.13063129, 0.50304224, 0.49596659, 0.49659084, 0.50434431]

qacc:
[ -4.47779951,  1.49105245, -6.92555281, 12.19468189, -5.32198163,
   2.42539934, -9.32626166, 15.3286624 ,  1.45511725, -3.62525997,
  12.98497145,-19.03078919, -2.16964117,  5.53151212, -1.0499214 ,
  -1.25436799, -1.68807835, -3.1769925 , -0.5131372 ,-26.293853  ,
   4.51118663, 45.69320189]

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: -0.0006768444212067982
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.82985946e-07, -1.82985815e-07,  1.00000000e+00, -3.34838325e-14,
        1.00000000e+00,  1.82985815e-07, -1.00000000e+00,  0.00000000e+00,
       -1.82985946e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10950137, -0.03759135,  0.06198066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.15488659e-06, 8.19704821e-07,-4.90501552e+00,-1.88057402e-03,
  3.13418028e-05,-2.22677670e-03]


--- 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, 0.0939693 ,-0.07016929,
  0.13063201, 0.50300475, 0.49598771, 0.49656258, 0.50438875]

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, -1.63963937, -3.32422096, -0.99441838,-26.03008981,
   4.45696102, 47.69690124]

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([  7.05681718,  -5.86595989,  -3.92290495,  -5.86595989,
        17.83302911, -16.11377988,  -3.92290495, -16.11377988,
        31.15191702,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006757411495914994
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.21485435e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.21485435e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10996788, -0.0342938 ,  0.06198069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.17572857e-07, 1.42552366e-07,-4.90500199e+00,-1.88068558e-03,
  3.38901242e-05,-2.22609508e-03]


--- 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, 0.09396627,-0.07017007,
  0.13063451, 0.50301561, 0.49596596, 0.49654928, 0.50441241]

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,
 -1.02995652e+00, 2.20513770e+00, 4.43083794e-01,-1.38430326e+01,
 -2.58614392e+00,-3.17764704e+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([ 7.03970324,  0.48486938,  7.02298536,  0.48486938, 71.74838092,
       -4.46750986,  7.02298536, -4.46750986,  7.34814169,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006736172264849294
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.75580313e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.75580313e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10211435, -0.08998162,  0.06198076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.54753816e-07, 8.73334296e-07,-4.90500259e+00,-1.88137954e-03,
  3.44384665e-05,-2.22705308e-03]


--- 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, 0.09395923,-0.07016223,
  0.13063786, 0.50307387, 0.49590187, 0.49655048, 0.50441614]

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,
 -1.00232181e+00, 2.15510456e+00, 2.12356292e-01,-1.37958893e+01,
 -2.38553709e+00,-3.10750373e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006706311069947651
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.65548990e-13,  5.17340594e-15,  1.00000000e+00, -8.56452128e-28,
        1.00000000e+00, -5.17340594e-15, -1.00000000e+00,  0.00000000e+00,
        1.65548990e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10211688, -0.08998281,  0.06198084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -2.22753895e-07,-2.27996017e-07,-4.90500070e+00,-1.88027519e-03,
  3.46986005e-05,-2.22715074e-03]


--- 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, 0.09394564,-0.07016765,
  0.13063713, 0.50310534, 0.49585441, 0.49648288, 0.50449794]

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, -1.63787837, -3.31529091, -1.01884649,-25.90595935,
   4.50686905, 47.57926736]

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: -0.0006652328013848213
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.34462028e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.34462028e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10997338, -0.03428889,  0.06198099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.79411244e-06, 1.33745158e-06,-4.90500486e+00,-1.87930847e-03,
  3.57930870e-05,-2.22632893e-03]


--- 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, 0.09392795,-0.07016434,
  0.13063778, 0.50318472, 0.49576441, 0.49643005, 0.5045592 ]

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, -1.02355968,  2.18431625,  0.3435759 ,-13.75604585,
  -2.53835792,-31.47199174]

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([ 6.96270852,  0.46173887,  6.94738131,  0.46173887, 70.63834041,
       -4.23202827,  6.94738131, -4.23202827,  7.2439788 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006641105118845442
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.67174439e-13,  2.08968049e-14,  1.00000000e+00, -3.49341164e-27,
        1.00000000e+00, -2.08968049e-14, -1.00000000e+00,  0.00000000e+00,
        1.67174439e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10212211, -0.08998535,  0.06198103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.72247393e-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,
 -1.28271790e-06,-1.57375534e-06,-4.90500878e+00,-1.87833690e-03,
  3.42890081e-05,-2.22729585e-03]


--- 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, 0.09390627,-0.07015247,
  0.13063894, 0.50331114, 0.4956323 , 0.49639156, 0.50460076]

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, -0.99912749,  2.13802295,  0.12823426,-13.75103226,
  -2.32766482,-30.82775467]

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: -0.000660015389868221
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.52317531e-13,  2.10264609e-14,  1.00000000e+00, -5.30534471e-27,
        1.00000000e+00, -2.10264609e-14, -1.00000000e+00,  0.00000000e+00,
        2.52317531e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10212476, -0.08998685,  0.06198114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.21551947e-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,
 -4.92137433e-06, 8.76189922e-08,-4.90501331e+00,-1.87605333e-03,
  3.69784124e-05,-2.22671982e-03]


--- 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, 0.093878  ,-0.07015388,
  0.13063606, 0.50341075, 0.49551679, 0.49628416, 0.50472048]

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, -1.64670083, -3.31805362, -1.00955751,-25.95985627,
   4.49506749, 47.63057128]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000656271853731627
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.69171208e-13,  8.45856041e-14,  1.00000000e+00, -1.43094489e-26,
        1.00000000e+00, -8.45856041e-14, -1.00000000e+00,  0.00000000e+00,
        1.69171208e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1099789 , -0.03428487,  0.06198125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -9.12523998e-06, 4.29111705e-06,-4.90502375e+00,-1.87388546e-03,
  4.04539621e-05,-2.22524986e-03]


--- 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,
  9.38454826e-02,-7.01473052e-02, 1.30634577e-01, 5.03555766e-01,
  4.95360735e-01, 4.96188425e-01, 5.04823117e-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, -1.06345428,  1.99444132,  0.34865818,-14.27533825,
  -2.33328643,-28.71320393]

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([ 6.86307375,  0.42113439,  6.85014066,  0.42113439, 69.4162307 ,
       -3.84565617,  6.85014066, -3.84565617,  7.09949781,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006519112653479452
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.72097423e-07, -4.72097482e-07,  1.00000000e+00,  2.22876005e-13,
        1.00000000e+00,  4.72097482e-07, -1.00000000e+00,  0.00000000e+00,
        4.72097423e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10238347, -0.08819216,  0.06198137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.40796035e-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,
 -9.02503588e-06,-2.23346975e-06,-4.90503110e+00,-1.87127365e-03,
  3.68917652e-05,-2.22624406e-03]


--- 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,
  9.38064487e-02,-7.01538102e-02, 1.30628531e-01, 5.03674615e-01,
  4.95220966e-01, 4.96024535e-01, 5.05002711e-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, -1.62796648, -3.26924438, -1.14044595,-25.71290308,
   4.28251004, 46.90355131]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006485811635981859
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.55885961e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.55885961e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10998295, -0.0342813 ,  0.06198146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.51004268e-05, 1.67003918e-06,-4.90504190e+00,-1.86778815e-03,
  4.16679734e-05,-2.22512577e-03]


--- 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,
  9.37632082e-02,-7.01515107e-02, 1.30624126e-01, 5.03841740e-01,
  4.95038221e-01, 4.95875393e-01, 5.05161613e-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, -1.05163861,  2.20112825,  0.41013995,-13.92097494,
  -2.5306686 ,-31.71096443]

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([ 6.84646427,  0.47539819,  6.82993921,  0.47539819, 70.96706985,
       -4.46311732,  6.82993921, -4.46311732,  7.15711973,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006498873156488422
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.40624342e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.40624342e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10213551, -0.08999106,  0.06198143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.16461944e-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,
 -1.39101965e-05,-5.59730111e-06,-4.90505872e+00,-1.86466987e-03,
  3.60844031e-05,-2.22695687e-03]


--- 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,
  9.37158552e-02,-7.01406007e-02, 1.30620464e-01, 5.04056255e-01,
  4.94812840e-01, 4.95740517e-01, 5.05300788e-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, -1.02815758,  2.15260425,  0.18554958,-13.97612062,
  -2.27018983,-31.04144393]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00064791483683109
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.69348569e-14,  1.71353234e-13,  1.00000000e+00, -1.14695042e-26,
        1.00000000e+00, -1.71353234e-13, -1.00000000e+00,  0.00000000e+00,
        6.69348569e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10213817, -0.08999195,  0.06198148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -2.23114172e-05,-1.23564511e-06,-4.90506984e+00,-1.85984165e-03,
  4.28283752e-05,-2.22600966e-03]


--- 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,
  9.36692800e-02,-7.01215944e-02, 1.30619058e-01, 5.04295832e-01,
  4.94562389e-01, 4.95639202e-01, 5.05406311e-01]

qacc:
[ -3.73723554, -1.56206963,  8.46524705,-19.18917109, -4.09417193,
  -0.49145157,  5.59995362,-18.76139597,  1.42409278, -0.21420533,
  -1.90065925, 10.43160454, -0.45771254, -0.87304099,-13.59497605,
  41.35366436,  0.19448008,  2.02409219,  0.56417699,  4.30154963,
   0.25482814,-29.33093284]

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: -0.0006446279252030757
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.14955680e-14, -8.61134758e-14,  1.00000000e+00,  7.87900138e-27,
        1.00000000e+00,  8.61134758e-14, -1.00000000e+00,  0.00000000e+00,
        9.14955680e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0915273 , -0.08809938,  0.06198157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.18810214e-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,
 -3.12252864e-05, 5.57881884e-06,-4.90508700e+00,-1.85512530e-03,
  5.03103362e-05,-2.22420046e-03]


--- 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,
  9.36234595e-02,-7.00946539e-02, 1.30619042e-01, 5.04560112e-01,
  4.94286913e-01, 4.95570658e-01, 5.05479242e-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,  0.18866566,  1.9835597 ,  0.34764598,  3.93968044,
   0.40539769,-28.7651523 ]

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: -0.0006424290039798164
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.94056561e-14, -8.64082270e-14,  1.00000000e+00, -5.13313742e-27,
        1.00000000e+00,  8.64082270e-14, -1.00000000e+00,  0.00000000e+00,
       -5.94056561e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09152874, -0.08810037,  0.06198163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.30536594e-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,
 -3.47001125e-05, 1.24413989e-05,-4.90509180e+00,-1.85052792e-03,
  5.67823027e-05,-2.22213086e-03]


--- 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,
  9.35708982e-02,-7.00810774e-02, 1.30615282e-01, 5.04798580e-01,
  4.94027883e-01, 4.95431250e-01, 5.05631012e-01]

qacc:
[ 4.81884685e+00, 1.21844951e+00,-5.49520579e+00, 1.16837609e+01,
  2.35651260e+00, 2.52703690e-01,-1.38278652e+00, 3.50107147e+00,
 -1.52977263e+00,-3.06034544e-02, 2.13451624e-01,-2.36834417e+00,
 -1.51356042e+00, 2.85469802e+00, 1.26611912e+00,-8.29459106e+00,
 -1.68522003e+00,-3.34102386e+00,-9.36164186e-01,-2.69173948e+01,
  3.84634527e+00, 4.80011241e+01]

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: -0.0006380995883318169
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.69944947e-14,  8.69944947e-14,  1.00000000e+00, -7.56804210e-27,
        1.00000000e+00, -8.69944947e-14, -1.00000000e+00,  0.00000000e+00,
        8.69944947e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10998996, -0.03427682,  0.06198176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.82456579e-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,
 -3.79979124e-05, 2.04299749e-05,-4.90510119e+00,-1.84605308e-03,
  6.26627884e-05,-2.21937856e-03]


--- 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,
  9.35228049e-02,-7.00818966e-02, 1.30611346e-01, 5.04969498e-01,
  4.93843728e-01, 4.95253700e-01, 5.05814146e-01]

qacc:
[ 6.08801014e+00,-3.03655581e-01, 3.68878243e-01, 2.55127732e+00,
  1.38113037e+00, 4.79467211e-01,-1.75766562e+00, 2.72858993e+00,
  2.09786143e+00,-2.83738099e+00, 9.03900872e+00,-1.11614024e+01,
 -1.45141453e+00, 2.64807220e+00,-2.16511709e+00, 3.39551323e+00,
  1.11703302e+00,-3.59892264e+00,-4.39644292e-02, 1.81723372e+01,
 -4.07592355e+00, 5.29634912e+01]

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: -0.0006390341606829382
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.56539835e-07,  8.56540008e-07,  1.00000000e+00,  7.33660637e-13,
        1.00000000e+00, -8.56540008e-07, -1.00000000e+00,  1.00974196e-28,
       -8.56539835e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0830929 , -0.03486645,  0.06198173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.55917930e-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,
 -3.95349427e-05, 6.10034715e-06,-4.90510720e+00,-1.84069508e-03,
  5.64091746e-05,-2.21951659e-03]


--- 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,
  9.34791136e-02,-7.00976007e-02, 1.30604946e-01, 5.05071721e-01,
  4.93736062e-01, 4.95036126e-01, 5.06030130e-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,
  1.10046780e+00,-3.72122275e+00,-6.15991501e-01, 1.80179478e+01,
 -4.32825083e+00, 5.44915873e+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([ 6.85318627, -6.66086708, -1.61214512, -6.66086708,  7.81132423,
       -3.95871903, -1.61214512, -3.95871903, 23.2093448 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006507061208714943
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.53090965e-14,  2.13272741e-14,  1.00000000e+00, -1.81941048e-27,
        1.00000000e+00, -2.13272741e-14, -1.00000000e+00,  0.00000000e+00,
        8.53090965e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08256258, -0.03151496,  0.0619814 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.41171102e-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,
 -2.37975808e-05,-2.41236124e-06,-4.90508270e+00,-1.83703911e-03,
  4.65088893e-05,-2.21896532e-03]


--- 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,
  9.34397881e-02,-7.01175564e-02, 1.30603370e-01, 5.05143124e-01,
  4.93661924e-01, 4.94818156e-01, 5.06244330e-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, 1.09148069,-1.06288967,
  1.20584825,16.41668344,-1.39463309,15.74302052]

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: -0.0006556315121284554
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.51032712e-07, -1.42832912e-07,  1.00000000e+00, -3.58557332e-14,
        1.00000000e+00,  1.42832912e-07, -1.00000000e+00,  0.00000000e+00,
       -2.51032712e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08449868, -0.0605178 ,  0.06198126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.09962536e-05,-4.59233051e-06,-4.90507531e+00,-1.83310333e-03,
  3.87771994e-05,-2.21984318e-03]


--- 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,
  9.34039022e-02,-7.01290609e-02, 1.30605647e-01, 5.05230142e-01,
  4.93568778e-01, 4.94645977e-01, 5.06416551e-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,  0.85988689,  2.11280377,  0.96334959, 13.32131634,
   2.15138973,-30.55976871]

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: -0.0006669107398367263
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.32362532e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.32362532e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08607593, -0.08816263,  0.06198094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.23647874e-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,
 -6.10485576e-06,-3.30344835e-06,-4.90506767e+00,-1.82928806e-03,
  3.91828567e-05,-2.22144760e-03]


--- 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,
  9.33713501e-02,-7.01323437e-02, 1.30610631e-01, 5.05332399e-01,
  4.93457018e-01, 4.94518301e-01, 5.06548110e-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,  0.8334459 ,  2.05541607,  0.67675275, 12.86200076,
   2.15229253,-29.7170649 ]

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: -0.0006715225464593855
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.26646127e-14, -8.26646127e-14,  1.00000000e+00,  6.83343820e-27,
        1.00000000e+00,  8.26646127e-14, -1.00000000e+00,  0.00000000e+00,
        8.26646127e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08607663, -0.08816167,  0.06198081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.73317479e-06,-3.18258386e-06,-4.90504894e+00,-1.82604210e-03,
  4.61639185e-05,-2.22257198e-03]


--- 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,
  9.33420406e-02,-7.01275988e-02, 1.30617336e-01, 5.05449577e-01,
  4.93326968e-01, 4.94434038e-01, 5.06640119e-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,  0.81065648,  2.00690963,  0.43041467, 12.4726483 ,
   2.15367624,-29.0058648 ]

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: -0.0006708605212003144
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.27461886e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.27461886e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08607674, -0.08816212,  0.06198083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.84075960e-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,
 -9.11785472e-06,-1.94846555e-06,-4.90503644e+00,-1.82291945e-03,
  5.17927208e-05,-2.22291991e-03]


--- 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,
  9.33158956e-02,-7.01149888e-02, 1.30624921e-01, 5.05581406e-01,
  4.93178892e-01, 4.94392269e-01, 5.06693503e-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,  0.79111146,  1.96628742,  0.21966915, 12.14349032,
   2.1561682 ,-28.41052986]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006659793157927085
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.66705331e-13,  8.33526656e-14,  1.00000000e+00, -1.38953337e-26,
        1.00000000e+00, -8.33526656e-14, -1.00000000e+00,  0.00000000e+00,
        1.66705331e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08607637, -0.08816368,  0.06198097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.02860314e-05, 3.34914631e-07,-4.90502966e+00,-1.81991352e-03,
  5.61725906e-05,-2.22250826e-03]


--- 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,
  9.32928483e-02,-7.00946484e-02, 1.30632665e-01, 5.05727662e-01,
  4.93013000e-01, 4.94392223e-01, 5.06709033e-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,  0.77442739,  1.93261457,  0.04008723, 11.86606451,
   2.16012166,-27.91692101]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006577774971472244
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.43919889e-14, -8.43919889e-14,  1.00000000e+00,  7.12200779e-27,
        1.00000000e+00,  8.43919889e-14, -1.00000000e+00,  0.00000000e+00,
        8.43919889e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08607563, -0.08816611,  0.0619812 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08781004e-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,
 -1.12597117e-05, 3.61607649e-06,-4.90502820e+00,-1.81701836e-03,
  5.93862050e-05,-2.22135114e-03]


--- 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,
  9.32741069e-02,-7.00890068e-02, 1.30637423e-01, 5.05808691e-01,
  4.92922150e-01, 4.94350855e-01, 5.06756899e-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, 1.07648913,-3.67470879,
 -0.74675788,16.59202286,-5.36642853,53.43812242]

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: -0.0006593831033780417
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.10466233e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.10466233e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08255932, -0.03152184,  0.06198116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.53069518e-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,
 -1.20569590e-05, 7.85386049e-06,-4.90503175e+00,-1.81422828e-03,
  6.14993128e-05,-2.21946021e-03]


--- 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,
  9.32595438e-02,-7.00976888e-02, 1.30638255e-01, 5.05826066e-01,
  4.92904293e-01, 4.94269550e-01, 5.06836226e-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, 1.04456134,-3.58091124,
 -0.98128023,16.25329594,-5.10701545,51.97063724]

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([ 6.93466664, -6.61470146,  2.08214458, -6.61470146, 12.14090949,
       16.53955375,  2.08214458, 16.53955375, 59.47866936,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006606662539234004
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.40229857e-14, -4.20114929e-14,  1.00000000e+00,  3.52993107e-27,
        1.00000000e+00,  4.20114929e-14, -1.00000000e+00,  0.00000000e+00,
        8.40229857e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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 , -0.03152271,  0.06198112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.49423723e-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,
 -4.59792194e-06, 7.43901205e-07,-4.90501207e+00,-1.81376851e-03,
  5.66584787e-05,-2.21853400e-03]


--- 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,
  9.32490511e-02,-7.01203772e-02, 1.30634356e-01, 5.05781103e-01,
  4.92957696e-01, 4.94149436e-01, 5.06946269e-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,  1.01760067, -3.50159179, -1.18300013, 15.9597062 ,
  -4.89814629, 50.7413452 ]

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: -0.0006570575127881756
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08255644, -0.03152079,  0.06198122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -3.83572174e-07,-2.52562890e-07,-4.90500882e+00,-1.81269295e-03,
  5.41666587e-05,-2.21907054e-03]


--- 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,
  9.32419809e-02,-7.01346512e-02, 1.30634173e-01, 5.05752515e-01,
  4.92989963e-01, 4.94074358e-01, 5.07016587e-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,  0.85564661,  2.10360492,  0.92928164, 11.84932418,
   2.90917199,-30.51942528]

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: -0.0006563820653468777
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08607214, -0.08816695,  0.06198124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  8.66554023e-07, 4.42940300e-06,-4.90502078e+00,-1.81110775e-03,
  5.38702090e-05,-2.22102145e-03]


--- 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,
  9.32382291e-02,-7.01407333e-02, 1.30636593e-01, 5.05739778e-01,
  4.93001934e-01, 4.94043175e-01, 5.07048037e-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,  0.82958622,  2.04797296,  0.65064359, 11.69028941,
   2.74892732,-29.68099509]

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.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006609349799597264
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.19944116e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.19944116e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0860712 , -0.08816581,  0.06198111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.65858317e-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,
  4.58509391e-07, 1.68579391e-06,-4.90500819e+00,-1.81111528e-03,
  5.62259259e-05,-2.22240603e-03]


--- 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,
  9.32377083e-02,-7.01388120e-02, 1.30640657e-01, 5.05742451e-01,
  4.92994299e-01, 4.94054917e-01, 5.07041352e-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,  0.80773475,  2.00084274,  0.41086548, 11.54582655,
   2.6178187 ,-28.97387499]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006603788931545396
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.40595479e-14,  1.68119096e-13,  1.00000000e+00, -1.41320152e-26,
        1.00000000e+00, -1.68119096e-13, -1.00000000e+00,  0.00000000e+00,
        8.40595479e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08607003, -0.08816606,  0.06198113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.32005450e-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,
  1.51141755e-07, 2.65731534e-07,-4.90500146e+00,-1.81109306e-03,
  5.74440369e-05,-2.22298607e-03]


--- 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,
  9.32403456e-02,-7.01290456e-02, 1.30645542e-01, 5.05760167e-01,
  4.92967622e-01, 4.94108759e-01, 5.06997151e-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,  0.78955168,  1.961278  ,  0.20547205, 11.41786633,
   2.51031616,-28.38218012]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006557313166830475
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.69310661e-13,  1.69310661e-13,  1.00000000e+00, -2.86660998e-26,
        1.00000000e+00, -1.69310661e-13, -1.00000000e+00,  0.00000000e+00,
        1.69310661e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08606867, -0.08816743,  0.06198126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.37081389e-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,
 -3.95572591e-08, 5.43197407e-08,-4.90500016e+00,-1.81107873e-03,
  5.75781685e-05,-2.22278622e-03]


--- 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,
  9.32460812e-02,-7.01115656e-02, 1.30650549e-01, 5.05792617e-01,
  4.92922357e-01, 4.94204010e-01, 5.06915945e-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,  0.77455341,  1.92839653,  0.03021058, 11.30721298,
   2.42191763,-27.89164246]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006478600278187058
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.28419326e-14,  8.56838651e-14,  1.00000000e+00,  3.67086237e-27,
        1.00000000e+00, -8.56838651e-14, -1.00000000e+00,  0.00000000e+00,
       -4.28419326e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08606717, -0.08816967,  0.06198149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.50503225e-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,
 -1.04335453e-07, 9.60398652e-07,-4.90500395e+00,-1.81109983e-03,
  5.66719507e-05,-2.22182650e-03]


--- 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,
  9.32559402e-02,-7.00980831e-02, 1.30657595e-01, 5.05797705e-01,
  4.92907652e-01, 4.94297670e-01, 5.06833840e-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,
  1.03086910e+00,-9.99371059e-01, 5.10085073e-01, 1.42903283e+01,
 -1.60844555e+00, 1.46515321e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00063780399630908
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.70348125e-14,  7.23546594e-07,  1.00000000e+00, -6.29737421e-20,
        1.00000000e+00, -7.23546594e-07, -1.00000000e+00, -1.20370622e-35,
        8.70348125e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08434755, -0.0605194 ,  0.06198177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -3.85101800e-08, 2.91143069e-06,-4.90501256e+00,-1.81117645e-03,
  5.47601145e-05,-2.22012305e-03]


--- 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,
  9.32699063e-02,-7.00986765e-02, 1.30660089e-01, 5.05740444e-01,
  4.92964651e-01, 4.94351926e-01, 5.06782625e-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,  1.02675953, -3.5189789 , -1.138241  , 15.88074428,
  -5.11353719, 51.04471908]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006370256394933327
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.71411569e-14,  1.30711735e-13,  1.00000000e+00,  1.13903719e-26,
        1.00000000e+00, -1.30711735e-13, -1.00000000e+00,  0.00000000e+00,
       -8.71411569e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08254362, -0.03151069,  0.0619818 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.57032700e-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,
 -1.30968976e-08, 1.24759014e-06,-4.90501055e+00,-1.81253501e-03,
  5.36310214e-05,-2.21885121e-03]


--- 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,
  9.32878954e-02,-7.01130691e-02, 1.30657332e-01, 5.05621864e-01,
  4.93091830e-01, 4.94367887e-01, 5.06761650e-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,  1.00574222, -3.44979774, -1.31280068, 15.6821118 ,
  -4.85629175, 49.97103781]

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: -0.0006318250664135161
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.78584187e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.78584187e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08254159, -0.03150789,  0.06198194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.24218819e-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,
 -2.34089130e-06, 2.11987610e-07,-4.90500793e+00,-1.81450859e-03,
  5.53726419e-05,-2.21904846e-03]


--- 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,
  9.33092036e-02,-7.01193503e-02, 1.30656724e-01, 5.05518997e-01,
  4.93198716e-01, 4.94427342e-01, 5.06702254e-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,  0.82979767,  2.0278512 ,  0.53741575, 11.51318572,
   2.78068906,-29.43472834]

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: -0.0006263191377184757
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.4315388e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -4.4315388e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08606125, -0.0881757 ,  0.0619821 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.22159073e-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,
 -7.43332432e-06, 4.69771009e-06,-4.90502008e+00,-1.81596522e-03,
  5.91158540e-05,-2.22061439e-03]


--- 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,
  9.33337599e-02,-7.01176902e-02, 1.30657398e-01, 5.05431398e-01,
  4.93286061e-01, 4.94529433e-01, 5.06604979e-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,  0.81202205,  1.98533103,  0.32054673, 11.46188376,
   2.61164211,-28.78675301]

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: -0.000626177553906565
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.43254081e-14,  8.86508162e-14,  1.00000000e+00, -3.92948361e-27,
        1.00000000e+00, -8.86508162e-14, -1.00000000e+00,  0.00000000e+00,
        4.43254081e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08605992, -0.08817578,  0.0619821 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.51351430e-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,
 -6.74724938e-06, 1.69419855e-06,-4.90501891e+00,-1.81837647e-03,
  5.65148477e-05,-2.22107951e-03]


--- 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,
  9.33615068e-02,-7.01082319e-02, 1.30658609e-01, 5.05358691e-01,
  4.93354487e-01, 4.94673430e-01, 5.06470277e-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,  0.79762966,  1.94954608,  0.13412403, 11.41498184,
   2.46976067,-28.24465091]

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: -0.0006223072665424573
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.46010791e-14,  8.92021582e-14,  1.00000000e+00, -3.97851251e-27,
        1.00000000e+00, -8.92021582e-14, -1.00000000e+00,  0.00000000e+00,
        4.46010791e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08605848, -0.08817689,  0.06198221])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.92239459e-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,
 -6.01340192e-06,-1.07882245e-07,-4.90502305e+00,-1.82078854e-03,
  5.29151291e-05,-2.22078473e-03]


--- 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,
  9.33923983e-02,-7.00910946e-02, 1.30659718e-01, 5.05300560e-01,
  4.93404502e-01, 4.94858722e-01, 5.06298516e-01]

qacc:
[-4.60307562e-01, 1.18746647e+00,-6.01835585e+00, 1.31806079e+01,
 -1.59479269e+00, 2.08738638e+00,-8.46556204e+00, 1.58482830e+01,
  1.73097947e+00,-1.48495360e+00, 6.67867055e+00,-1.36626508e+01,
 -1.15875877e+00, 1.61635016e+00, 5.46079942e+00,-2.19008231e+01,
  7.86181380e-01, 1.91974596e+00,-2.55142937e-02, 1.13757903e+01,
  2.34963512e+00,-2.77956061e+01]

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: -0.0006154910544476366
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.50950106e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.50950106e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08605694, -0.08817882,  0.06198241])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.67574964e-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,
 -5.20751778e-06,-8.03416805e-07,-4.90503218e+00,-1.82323821e-03,
  4.83376837e-05,-2.21974739e-03]


--- 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,
  9.34275236e-02,-7.00882384e-02, 1.30656781e-01, 5.05178943e-01,
  4.93527332e-01, 4.95004127e-01, 5.06158001e-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,  1.0584313 , -3.57026604, -1.01132887, 16.23071426,
  -5.09352777, 51.82323009]

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: -0.0006162564948081622
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.50389989e-14, -4.50389989e-14,  1.00000000e+00, -2.02851143e-27,
        1.00000000e+00,  4.50389989e-14, -1.00000000e+00,  0.00000000e+00,
       -4.50389989e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08253248, -0.03149985,  0.06198239])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.03990208e-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,
 -4.31325333e-06,-4.69524709e-07,-4.90504610e+00,-1.82575362e-03,
  4.27982148e-05,-2.21798164e-03]


--- 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,
  9.34667974e-02,-7.00993588e-02, 1.30649036e-01, 5.04994910e-01,
  4.93721304e-01, 4.95110906e-01, 5.06048027e-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,
  1.03711228e+00,-3.49415429e+00,-1.20219002e+00, 1.60371775e+01,
 -4.77664327e+00, 5.06493474e+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: -0.0006150154761217913
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.51298816e-14, -9.02597632e-14,  1.00000000e+00,  4.07341243e-27,
        1.00000000e+00,  9.02597632e-14, -1.00000000e+00,  0.00000000e+00,
        4.51298816e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08253089, -0.03149926,  0.06198242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.62473819e-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,
 -1.19151870e-05,-6.80049847e-07,-4.90504623e+00,-1.82983938e-03,
  4.79662416e-05,-2.21815920e-03]


--- 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,
  9.35069088e-02,-7.01022014e-02, 1.30644472e-01, 5.04837996e-01,
  4.93885786e-01, 4.95251015e-01, 5.05906967e-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,  0.20941069,  2.06944933,  0.79538086,  1.98772547,
   1.49000082,-30.23939478]

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: -0.000611322970112127
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.64802585e-14,  9.08049492e-14,  1.00000000e+00, -8.76088497e-27,
        1.00000000e+00, -9.08049492e-14, -1.00000000e+00,  0.00000000e+00,
        9.64802585e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09151614, -0.0881123 ,  0.06198252])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.36349569e-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,
 -2.22945445e-05, 4.83485346e-06,-4.90506159e+00,-1.83341079e-03,
  5.50995547e-05,-2.21969045e-03]


--- 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,
  9.35478447e-02,-7.00969529e-02, 1.30642129e-01, 5.04707449e-01,
  4.94021847e-01, 4.95423792e-01, 5.05735179e-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,  0.20612367,  2.02277931,  0.55507231,  2.18758118,
   1.31808993,-29.53048914]

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: -0.0006154095817595823
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.07386032e-14,  9.02019612e-14,  1.00000000e+00, -4.57672152e-27,
        1.00000000e+00, -9.02019612e-14, -1.00000000e+00,  0.00000000e+00,
        5.07386032e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09151482, -0.08811131,  0.06198241])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.89466442e-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,
 -1.84598217e-05, 4.09432570e-07,-4.90505915e+00,-1.83747307e-03,
  4.88732035e-05,-2.21994944e-03]


--- 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,
  9.35895971e-02,-7.00837713e-02, 1.30641174e-01, 5.04602630e-01,
  4.94130377e-01, 4.95628670e-01, 5.05532963e-01]

qacc:
[ -5.06956117,  0.73419077, -3.56201392,  8.69840804, -1.73458288,
  -2.12526131, 10.58191889,-25.14379166, -3.54889716, -0.67911771,
   2.21834539, -3.58329054,  0.56387031, -4.32863487,-16.34703276,
  52.54270417,  0.20413419,  1.98326114,  0.34729981,  2.35199879,
   1.17326818,-28.93369718]

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: -0.0006150844944855516
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.69218066e-14, -1.80499270e-13,  1.00000000e+00, -3.05437374e-27,
        1.00000000e+00,  1.80499270e-13, -1.00000000e+00,  0.00000000e+00,
       -1.69218066e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09151369, -0.08811154,  0.06198241])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.96556779e-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,
 -1.47947366e-05,-2.45509397e-06,-4.90506163e+00,-1.84148157e-03,
  4.23942458e-05,-2.21948333e-03]


--- 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,
  9.36242353e-02,-7.00847562e-02, 1.30638648e-01, 5.04471494e-01,
  4.94256484e-01, 4.95757166e-01, 5.05414555e-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, -1.7785436 , -3.54160885, -0.39290471,-29.13904745,
   3.51355052, 51.02447644]

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: -0.0006201689397614396
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.95097250e-14, -1.79019450e-13,  1.00000000e+00,  1.60239817e-26,
        1.00000000e+00,  1.79019450e-13, -1.00000000e+00,  0.00000000e+00,
        8.95097250e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1099658 , -0.03426721,  0.06198227])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.57369841e-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,
 -1.12376530e-05,-3.87859270e-06,-4.90506867e+00,-1.84547382e-03,
  3.56330312e-05,-2.21830412e-03]


--- 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,
  9.36519755e-02,-7.00995040e-02, 1.30633457e-01, 5.04314697e-01,
  4.94399641e-01, 4.95811829e-01, 5.05377395e-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, -1.72451922, -3.44073212, -0.66649379,-28.15531828,
   3.50752234, 49.45041395]

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([ 6.68786928, -5.33363961,  4.03483383, -5.33363961, 24.03763807,
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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.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006306721604325966
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10996277, -0.03427261,  0.06198197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.12745086e-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,
 -1.22703414e-05, 1.48348196e-06,-4.90504183e+00,-1.84863030e-03,
  4.32128799e-05,-2.21742288e-03]


--- 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,
  9.36730036e-02,-7.01276695e-02, 1.30624648e-01, 5.04132780e-01,
  4.94559392e-01, 4.95794798e-01, 5.05419297e-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, -1.67802407, -3.35443245, -0.9041209 ,-27.32239074,
   3.50011541, 48.11984045]

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([ 6.72231317, -5.43405065,  3.95734606, -5.43405065, 27.1899603 ,
       28.10525776,  3.95734606, 28.10525776, 45.3151963 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006348304979099939
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.37212385e-14, -4.37212385e-14,  1.00000000e+00,  1.91154670e-27,
        1.00000000e+00,  4.37212385e-14, -1.00000000e+00,  0.00000000e+00,
        4.37212385e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1099614 , -0.03427471,  0.06198185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.66675133e-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,
 -1.07962550e-05, 8.44700757e-06,-4.90503243e+00,-1.85216452e-03,
  4.80831693e-05,-2.21821265e-03]


--- 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,
  9.36948171e-02,-7.01472462e-02, 1.30620468e-01, 5.03977175e-01,
  4.94693171e-01, 4.95813218e-01, 5.05425491e-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,  0.19637256,  2.14721862,  1.15701364,  4.75749088,
   0.14733916,-30.8538777 ]

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: -0.0006364347775468931
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.99651650e-14, -8.72220582e-14,  1.00000000e+00, -5.23028512e-27,
        1.00000000e+00,  8.72220582e-14, -1.00000000e+00,  0.00000000e+00,
       -5.99651650e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09151756, -0.0881078 ,  0.06198181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.23695656e-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,
 -7.01132130e-06, 1.68877490e-05,-4.90503892e+00,-1.85603946e-03,
  5.05332277e-05,-2.22061294e-03]


--- 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,
  9.37174244e-02,-7.01584805e-02, 1.30619730e-01, 5.03847296e-01,
  4.94801346e-01, 4.95866045e-01, 5.05397265e-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,  0.19841599,  2.08557469,  0.8605544 ,  4.41302796,
   0.24883167,-30.03345566]

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: -0.000644968655367964
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.84132404e-14, -8.60679829e-14,  1.00000000e+00,  4.16682995e-27,
        1.00000000e+00,  8.60679829e-14, -1.00000000e+00,  0.00000000e+00,
        4.84132404e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09151974, -0.08810626,  0.06198156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.06154082e-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,
 -6.94910382e-06, 1.08241911e-05,-4.90502746e+00,-1.85690474e-03,
  4.83125819e-05,-2.22240267e-03]


--- 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,
  9.37357778e-02,-7.01607913e-02, 1.30621271e-01, 5.03767109e-01,
  4.94864375e-01, 4.95933573e-01, 5.05349227e-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, -1.06345332,  2.23089424,  0.56968209,-15.04008406,
  -2.11013914,-32.37780771]

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.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006481568375691082
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.83210226e-14, -8.56446280e-14,  1.00000000e+00,  7.56422113e-27,
        1.00000000e+00,  8.56446280e-14, -1.00000000e+00,  0.00000000e+00,
        8.83210226e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1021349 , -0.08999507,  0.06198147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -6.55446279e-06, 6.36109307e-06,-4.90502107e+00,-1.85799943e-03,
  4.55680593e-05,-2.22343618e-03]


--- 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,
  9.37499971e-02,-7.01543876e-02, 1.30624115e-01, 5.03735483e-01,
  4.94883156e-01, 4.96015392e-01, 5.05282055e-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, -1.03352463,  2.17862302,  0.32598765,-14.80556847,
  -1.99542053,-31.59801938]

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.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006493539508295315
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.67146057e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.67146057e-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([ 0.10213607, -0.08999488,  0.06198144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -3.48053527e-06, 2.00658269e-06,-4.90501151e+00,-1.85867305e-03,
  4.21051403e-05,-2.22415801e-03]


--- 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,
  9.37601831e-02,-7.01394452e-02, 1.30627427e-01, 5.03751459e-01,
  4.94858449e-01, 4.96111162e-01, 5.05196297e-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 , -1.00833481,  2.13466568,  0.11670757,-14.59766516,
  -1.90411822,-30.94458246]

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.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006462136742149543
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.41599828e-14, -1.71804322e-13,  1.00000000e+00,  4.15078948e-27,
        1.00000000e+00,  1.71804322e-13, -1.00000000e+00,  0.00000000e+00,
        2.41599828e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10213754, -0.08999597,  0.06198153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.78955198e-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,
 -1.23417167e-06, 5.20302308e-07,-4.90500848e+00,-1.85941288e-03,
  3.96469617e-05,-2.22393103e-03]


--- 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,
  9.37635871e-02,-7.01381492e-02, 1.30627698e-01, 5.03741370e-01,
  4.94850748e-01, 4.96134539e-01, 5.05190942e-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 , -1.69549694, -3.4116045 , -0.76004251,-27.49823718,
   3.83021866, 48.96577964]

qfrc_actuator:
[-3.72207580e-05,-1.17268064e-04,-3.88117358e-05, 1.48838489e-05,
 -5.24196007e-05,-3.32566317e-04,-2.89518754e-04,-3.61172074e-05,
  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: -0.000646079696352414
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.29599874e-14, -4.29599874e-14,  1.00000000e+00,  1.84556052e-27,
        1.00000000e+00,  4.29599874e-14, -1.00000000e+00,  0.00000000e+00,
        4.29599874e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10995557, -0.03427976,  0.06198153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.09690411e-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,
  2.08454328e-07, 1.71109331e-06,-4.90501158e+00,-1.86018153e-03,
  3.81300907e-05,-2.22278447e-03]


--- 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,
  9.37603773e-02,-7.01501644e-02, 1.30624025e-01, 5.03705890e-01,
  4.94859607e-01, 4.96087435e-01, 5.05263895e-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,
 -1.65344409e+00,-3.32779234e+00,-9.85965762e-01,-2.67751970e+01,
  3.73879821e+00, 4.76838474e+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([ 6.82506276, -6.0927904 ,  3.0756116 , -6.0927904 , 20.39054853,
       26.87324421,  3.0756116 , 26.87324421, 60.06099298,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000647283076159702
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.57602389e-14, -4.28801194e-14,  1.00000000e+00,  3.67740929e-27,
        1.00000000e+00,  4.28801194e-14, -1.00000000e+00,  0.00000000e+00,
        8.57602389e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10995528, -0.03428033,  0.0619815 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14653524e-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,
 -2.13861178e-07, 2.52285285e-07,-4.90500038e+00,-1.86075919e-03,
  4.00999420e-05,-2.22265976e-03]


--- 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,
  9.37528758e-02,-7.01532463e-02, 1.30622588e-01, 5.03719546e-01,
  4.94824727e-01, 4.96055313e-01, 5.05315975e-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, -1.07293433,  2.23334341,  0.55882516,-14.21150153,
  -2.52971309,-32.22606682]

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([ 6.80964561,  0.51300056,  6.79029482,  0.51300056, 65.61206413,
       -4.44246893,  6.79029482, -4.44246893,  7.14527008,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00064540947262752
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.56923865e-14,  8.60091982e-14,  1.00000000e+00, -3.92996553e-27,
        1.00000000e+00, -8.60091982e-14, -1.00000000e+00,  0.00000000e+00,
        4.56923865e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10214353, -0.08999694,  0.06198155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.34206064e-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,
  1.73009561e-06, 4.34197767e-07,-4.90500465e+00,-1.86175080e-03,
  3.98165957e-05,-2.22414066e-03]


--- 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,
  9.37412009e-02,-7.01476062e-02, 1.30622416e-01, 5.03781334e-01,
  4.94746655e-01, 4.96037689e-01, 5.05348124e-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, -1.04332219,  2.18046582,  0.31633907,-14.18037662,
  -2.30455305,-31.48041456]

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: -0.0006464336288691946
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.41517622e-14, -1.71745865e-13,  1.00000000e+00,  4.14796528e-27,
        1.00000000e+00,  1.71745865e-13, -1.00000000e+00,  0.00000000e+00,
        2.41517622e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10214583, -0.08999694,  0.06198152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -4.13452262e-07,-9.50966074e-07,-4.90500269e+00,-1.85978777e-03,
  4.06971548e-05,-2.22445028e-03]


--- 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,
  9.37254505e-02,-7.01334222e-02, 1.30622676e-01, 5.03890391e-01,
  4.94625861e-01, 4.96034157e-01, 5.05361106e-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, -1.01890666,  2.13600207,  0.1079626 ,-14.13977657,
  -2.1209097 ,-30.85416369]

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: -0.0006431908688204618
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.69705862e-15, -1.72611752e-13,  1.00000000e+00,  4.65544012e-28,
        1.00000000e+00,  1.72611752e-13, -1.00000000e+00,  0.00000000e+00,
        2.69705862e-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([ 0.10214818, -0.08999817,  0.06198161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.58040982e-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,
 -3.15987468e-06, 3.97030067e-07,-4.90500699e+00,-1.85796387e-03,
  4.24388926e-05,-2.22383351e-03]


--- 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,
  9.37029916e-02,-7.01326670e-02, 1.30619324e-01, 5.03973397e-01,
  4.94521770e-01, 4.95959747e-01, 5.05453225e-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 , -1.67710749, -3.35721773, -0.90303375,-26.88578295,
   3.95524495, 48.19292411]

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: -0.0006455103505744741
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.59957570e-14, -6.44968177e-14,  1.00000000e+00,  5.54645266e-27,
        1.00000000e+00,  6.44968177e-14, -1.00000000e+00,  0.00000000e+00,
        8.59957570e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10995661, -0.03427951,  0.06198155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -6.54400596e-06, 4.31448201e-06,-4.90501722e+00,-1.85621397e-03,
  4.50148260e-05,-2.22231650e-03]


--- 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,
  9.36739709e-02,-7.01450351e-02, 1.30611532e-01, 5.04031105e-01,
  4.94433961e-01, 4.95816030e-01, 5.05622554e-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, -1.64047263, -3.28079494, -1.10983648,-26.30431627,
   3.784749  , 47.02369769]

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: -0.000643802067399793
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.50891896e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.50891896e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10995745, -0.03427868,  0.0619816 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.39912444e-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,
 -6.53916115e-06,-1.77149214e-06,-4.90501969e+00,-1.85441394e-03,
  4.26026408e-05,-2.22296200e-03]


--- 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,
  9.36456750e-02,-7.01489014e-02, 1.30607905e-01, 5.04114555e-01,
  4.94321352e-01, 4.95707499e-01, 5.05755862e-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,  0.18122571,  2.12540994,  1.0412081 ,  5.21138266,
  -0.14972109,-30.43211186]

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([  6.87030171,   1.81565874,   6.62604172,   1.81565874,
        70.07326335, -17.3187877 ,   6.62604172, -17.3187877 ,
        11.61597185,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006527928323015464
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.65738744e-14, -1.70072796e-13,  1.00000000e+00,  4.51949314e-27,
        1.00000000e+00,  1.70072796e-13, -1.00000000e+00,  0.00000000e+00,
        2.65738744e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09154119, -0.08811122,  0.06198134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.97395407e-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,
 -4.19669235e-06,-6.13907110e-06,-4.90503683e+00,-1.85303942e-03,
  3.81540971e-05,-2.22516615e-03]


--- 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,
  9.36180972e-02,-7.01444980e-02, 1.30607305e-01, 5.04223319e-01,
  4.94183932e-01, 4.95633098e-01, 5.05854641e-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,  0.17950454,  2.067454  ,  0.7565134 ,  4.67908291,
   0.06871456,-29.69013232]

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([ 6.9144326 ,  0.96156032, -6.84724616,  0.96156032, 73.20898466,
        9.30975886, -6.84724616,  9.30975886,  8.22180413,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006581864713786773
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.3254663e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        6.3254663e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09154406, -0.08811062,  0.06198118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -7.66314024e-06,-4.53750155e-06,-4.90503009e+00,-1.84917341e-03,
  4.31219608e-05,-2.22512226e-03]


--- 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,
  9.35912284e-02,-7.01320204e-02, 1.30608748e-01, 5.04357018e-01,
  4.94021719e-01, 4.95591939e-01, 5.05920121e-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,  0.17725611,  2.01855048,  0.51109193,  4.24767403,
   0.24429448,-29.05957071]

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: -0.0006583471649049405
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.21594823e-14,  8.43189645e-14,  1.00000000e+00, -3.55484389e-27,
        1.00000000e+00, -8.43189645e-14, -1.00000000e+00,  0.00000000e+00,
        4.21594823e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09154621, -0.08811128,  0.06198118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.07872125e-05,-1.67078173e-06,-4.90502846e+00,-1.84556171e-03,
  4.74070234e-05,-2.22438583e-03]


--- 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,
  9.35650583e-02,-7.01116320e-02, 1.30611394e-01, 5.04515323e-01,
  4.93834741e-01, 4.95583274e-01, 5.05953314e-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,  0.17468048,  1.97767393,  0.30053184,  3.89698477,
   0.3864785 ,-28.52920883]

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: -0.0006543055919846913
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06049742e-13,  8.48397934e-14,  1.00000000e+00, -8.99723818e-27,
        1.00000000e+00, -8.48397934e-14, -1.00000000e+00,  0.00000000e+00,
        1.06049742e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09154781, -0.08811296,  0.06198129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.36479694e-05, 2.42340744e-06,-4.90503155e+00,-1.84214200e-03,
  5.10876172e-05,-2.22295804e-03]


--- 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,
  9.35395759e-02,-7.00834682e-02, 1.30614522e-01, 5.04697950e-01,
  4.93623023e-01, 4.95606477e-01, 5.05955047e-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,  0.17191955,  1.94386719,  0.12060162,  3.61091289,
   0.50267   ,-28.08838222]

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: -0.0006469420910596851
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.97169206e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.97169206e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09154897, -0.08811544,  0.0619815 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.00121043e-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,
 -1.63042777e-05, 7.71077668e-06,-4.90503908e+00,-1.83886748e-03,
  5.42242775e-05,-2.22084130e-03]


--- 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,
  9.35186909e-02,-7.00705388e-02, 1.30616091e-01, 5.04811865e-01,
  4.93489798e-01, 4.95587013e-01, 5.05990427e-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 ,  1.14935805, -3.80860953, -0.38983067, 17.63490082,
  -5.29264517, 55.85510593]

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: -0.0006513095283476183
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.49152608e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.49152608e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08252346, -0.03153946,  0.06198138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.88001708e-05, 1.41614901e-05,-4.90505082e+00,-1.83570261e-03,
  5.68639604e-05,-2.21803847e-03]


--- 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,
  9.35022471e-02,-7.00723903e-02, 1.30614962e-01, 5.04859114e-01,
  4.93432497e-01, 4.95526565e-01, 5.06058365e-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,  1.11030929, -3.69520912, -0.67463391, 17.17686943,
  -5.00000626, 54.00997492]

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([ 6.93390394, -6.73483205,  1.64956392, -6.73483205,  9.21393244,
        9.30888996,  1.64956392,  9.30888996, 44.94019742,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006605726996683214
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.40348856e-14, -1.26052328e-13,  1.00000000e+00,  1.05927930e-26,
        1.00000000e+00,  1.26052328e-13, -1.00000000e+00,  0.00000000e+00,
        8.40348856e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08252345, -0.03154512,  0.06198112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -8.66063595e-06, 3.23321252e-06,-4.90502064e+00,-1.83584360e-03,
  5.03946726e-05,-2.21630598e-03]


--- 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,
  9.34901117e-02,-7.00886354e-02, 1.30610148e-01, 5.04841427e-01,
  4.93448936e-01, 4.95426516e-01, 5.06157929e-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, 1.07708628,-3.59839765,
 -0.92093074,16.77916886,-4.76318966,52.45429702]

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([ 6.95652842, -6.8425429 ,  1.25415088, -6.8425429 ,  8.6611617 ,
        9.30033739,  1.25415088,  9.30033739, 57.69839566,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006633506571073616
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.36829671e-14, -4.18414836e-14,  1.00000000e+00,  3.50141949e-27,
        1.00000000e+00,  4.18414836e-14, -1.00000000e+00,  0.00000000e+00,
        8.36829671e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08252272, -0.03154704,  0.06198104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -2.17684836e-06,-8.91894648e-07,-4.90500868e+00,-1.83534680e-03,
  4.65524093e-05,-2.21609306e-03]


--- 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,
  9.34821721e-02,-7.01189455e-02, 1.30600802e-01, 5.04760248e-01,
  4.93537265e-01, 4.95287992e-01, 5.06288323e-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,  1.04894724, -3.51627473, -1.13331562, 16.43711497,
  -4.57166767, 51.15124491]

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([ 6.93649913, -6.88481529,  0.84518554, -6.88481529,  7.9112079 ,
        7.93990136,  0.84518554,  7.93990136, 71.6143143 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006608910560263331
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.19972027e-14, -1.46990209e-13,  1.00000000e+00,  6.17317761e-27,
        1.00000000e+00,  1.46990209e-13, -1.00000000e+00,  0.00000000e+00,
        4.19972027e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08252142, -0.03154595,  0.06198111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.48330365e-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,
  1.02752491e-06, 1.18188109e-06,-4.90501329e+00,-1.83434169e-03,
  4.51260542e-05,-2.21733972e-03]


--- 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,
  9.34750831e-02,-7.01405573e-02, 1.30596787e-01, 5.04707435e-01,
  4.93595146e-01, 4.95184544e-01, 5.06385727e-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,  0.21265592,  2.1745971 ,  1.33302398,  2.36510992,
   1.39518729,-31.70239221]

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: -0.0006614814508784095
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.24496484e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.24496484e-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([ 0.09154857, -0.08811298,  0.06198109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  1.23863770e-06, 9.00482565e-06,-4.90503322e+00,-1.83292220e-03,
  4.59478707e-05,-2.21999724e-03]


--- 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,
  9.34701380e-02,-7.01537264e-02, 1.30596731e-01, 5.04676426e-01,
  4.93628234e-01, 4.95120850e-01, 5.06446657e-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,  0.53597217,  2.1106654 ,  0.98959946,  7.45799793,
   1.90861667,-30.67458771]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000671400784928788
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.72387223e-07,  6.45934409e-14,  1.00000000e+00,  1.11350839e-20,
        1.00000000e+00, -6.45934409e-14, -1.00000000e+00,  0.00000000e+00,
       -1.72387223e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08886074, -0.08814615,  0.06198081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.11429432e-07, 4.29539493e-06,-4.90501730e+00,-1.83265766e-03,
  4.77891181e-05,-2.22197564e-03]


--- 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,
  9.34672704e-02,-7.01586804e-02, 1.30599495e-01, 5.04666583e-01,
  4.93637365e-01, 4.95095882e-01, 5.06471973e-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,  0.51938054,  2.05377739,  0.70512469,  7.35338007,
   1.80886008,-29.8355731 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006751702885734187
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.01549975e-07,  2.56931252e-15,  1.00000000e+00,  1.54556988e-21,
        1.00000000e+00, -2.56931252e-15, -1.00000000e+00,  0.00000000e+00,
       -6.01549975e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08886011, -0.08814535,  0.0619807 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.88121139e-07, 1.50994903e-06,-4.90500644e+00,-1.83254102e-03,
  4.94206026e-05,-2.22318727e-03]


--- 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,
  9.34677180e-02,-7.01556214e-02, 1.30603920e-01, 5.04671788e-01,
  4.93627759e-01, 4.95114134e-01, 5.06458306e-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,  0.82877004,  2.00325239,  0.41499446, 12.15325302,
   2.30419644,-28.95326562]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006741458942577244
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.23429345e-14,  2.05857336e-14,  1.00000000e+00, -1.69508972e-27,
        1.00000000e+00, -2.05857336e-14, -1.00000000e+00,  0.00000000e+00,
        8.23429345e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08608788, -0.08818254,  0.06198073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.70838435e-08, 1.60949696e-07,-4.90500093e+00,-1.83243356e-03,
  5.02525784e-05,-2.22362863e-03]


--- 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,
  9.34701430e-02,-7.01446980e-02, 1.30609371e-01, 5.04697188e-01,
  4.93595428e-01, 4.95169531e-01, 5.06410345e-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,  0.49438969,  1.96610255,  0.25669642,  7.17692286,
   1.66386904,-28.56107838]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006684551806575271
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.00525618e-07, -8.04488159e-14,  1.00000000e+00, -5.63564564e-20,
        1.00000000e+00,  8.04488159e-14, -1.00000000e+00,  0.00000000e+00,
       -7.00525618e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08885844, -0.08814754,  0.06198089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.64737890e-08, 1.14212351e-07,-4.90500043e+00,-1.83246533e-03,
  5.02149038e-05,-2.22331365e-03]


--- 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,
  9.34745079e-02,-7.01260441e-02, 1.30615133e-01, 5.04742400e-01,
  4.93540841e-01, 4.95261448e-01, 5.06328595e-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,  0.4849456 ,  1.93261448,  0.07783522,  7.10714188,
   1.60653475,-28.06648346]

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: -0.0006598610873823805
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.75509530e-07, -1.84024556e-14,  1.00000000e+00, -6.91029743e-21,
        1.00000000e+00,  1.84024556e-14, -1.00000000e+00,  0.00000000e+00,
       -3.75509530e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08885746, -0.08815003,  0.06198114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.05933335e-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,
 -2.08225114e-08, 1.22875487e-06,-4.90500470e+00,-1.83251788e-03,
  4.93520272e-05,-2.22226755e-03]


--- 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,
  9.34795827e-02,-7.00997647e-02, 1.30620741e-01, 5.04812269e-01,
  4.93460220e-01, 4.95384341e-01, 5.06217285e-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,
  1.77496998e-01, 1.90637808e+00,-3.86056111e-02, 2.50708391e+00,
  1.00808170e+00,-2.77929946e+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.,
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       0., 0.])
  dim: 3
  dist: -0.0006488365958905729
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.67359068e-14, -1.71109804e-13,  1.00000000e+00,  4.57477576e-27,
        1.00000000e+00,  1.71109804e-13, -1.00000000e+00,  0.00000000e+00,
        2.67359068e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09154425, -0.08811747,  0.06198145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.28360550e-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,
  1.33613513e-07, 3.50105198e-06,-4.90501337e+00,-1.83262677e-03,
  4.77800876e-05,-2.22050124e-03]


--- 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,
  9.34890503e-02,-7.00881795e-02, 1.30623367e-01, 5.04816058e-01,
  4.93454794e-01, 4.95466672e-01, 5.06138213e-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 ,  1.09820465, -3.67354104, -0.74566369, 17.03168889,
  -4.94869332, 53.49481267]

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: -0.0006454587550507318
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.60026311e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.60026311e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0825113 , -0.0315393 ,  0.06198155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.54075369e-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,
  3.32646768e-07, 7.12158680e-06,-4.90502569e+00,-1.83281054e-03,
  4.60384751e-05,-2.21805541e-03]


--- 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,
  9.35027963e-02,-7.00909140e-02, 1.30622078e-01, 5.04755352e-01,
  4.93522505e-01, 4.95509807e-01, 5.06090508e-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,  1.069573  , -3.57993785, -0.97846903, 16.68332695,
  -4.68586351, 52.02905602]

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([ 6.82932677, -6.70938968,  1.27428183, -6.70938968,  8.91497246,
       10.9814088 ,  1.27428183, 10.9814088 , 64.64899375,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006478016236406148
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.56915901e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.56915901e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08251058, -0.03154074,  0.06198148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.53338288e-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,
  2.96981256e-07, 5.01202194e-07,-4.90500857e+00,-1.83472978e-03,
  4.57305577e-05,-2.21705842e-03]


--- 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,
  9.35207248e-02,-7.01076506e-02, 1.30616073e-01, 5.04631467e-01,
  4.93661610e-01, 4.95514868e-01, 5.06073426e-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,  1.04563454, -3.50053401, -1.17916736, 16.38694441,
  -4.46527691, 50.79875169]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006452062111490797
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.30181470e-14, -1.29054441e-13,  1.00000000e+00,  5.55168291e-27,
        1.00000000e+00,  1.29054441e-13, -1.00000000e+00,  0.00000000e+00,
        4.30181470e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08250931, -0.03153938,  0.06198156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -2.79596072e-06, 6.87581955e-08,-4.90500795e+00,-1.83614730e-03,
  4.76613404e-05,-2.21748287e-03]


--- 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,
  9.35395289e-02,-7.01160137e-02, 1.30613698e-01, 5.04535026e-01,
  4.93770839e-01, 4.95553541e-01, 5.06025151e-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,  0.21890803,  2.09340818,  0.90761054,  1.92106835,
   1.54183154,-30.51307591]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006413871862702564
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.1957868e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        9.1957868e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09153925, -0.08812009,  0.06198166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.36994597e-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,
 -8.70769337e-06, 5.38320795e-06,-4.90502260e+00,-1.83716832e-03,
  5.17000640e-05,-2.21928493e-03]


--- 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,
  9.35591806e-02,-7.01162111e-02, 1.30613904e-01, 5.04465223e-01,
  4.93851322e-01, 4.95625102e-01, 5.05946112e-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,  0.21189684,  2.04140977,  0.64500511,  2.11539677,
   1.37436874,-29.7428387 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006453280779577242
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.13962993e-14, -8.60200464e-14,  1.00000000e+00,  7.86191391e-27,
        1.00000000e+00,  8.60200464e-14, -1.00000000e+00,  0.00000000e+00,
        9.13962993e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09153766, -0.08811923,  0.06198155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.44372895e-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,
 -6.42362408e-06, 1.44036677e-06,-4.90501602e+00,-1.83953325e-03,
  4.89185823e-05,-2.22005008e-03]


--- 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,
  9.35796583e-02,-7.01084187e-02, 1.30615784e-01, 5.04421379e-01,
  4.93903991e-01, 4.95728931e-01, 5.05836680e-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,  0.20649906,  1.99742357,  0.41871152,  2.26948111,
   1.23701382,-29.09338496]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006445015308126634
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.15135114e-14, -1.72260727e-13,  1.00000000e+00,  1.57641840e-26,
        1.00000000e+00,  1.72260727e-13, -1.00000000e+00,  0.00000000e+00,
        9.15135114e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09153632, -0.08811966,  0.06198157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.35479931e-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,
 -4.26974259e-06,-8.82316207e-07,-4.90501444e+00,-1.84182198e-03,
  4.58355766e-05,-2.22007109e-03]


--- 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,
  9.36009458e-02,-7.00927841e-02, 1.30618562e-01, 5.04402924e-01,
  4.93929615e-01, 4.95864501e-01, 5.05697165e-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,  0.20245414,  1.96058071,  0.22460728,  2.39311536,
   1.12359974,-28.55068424]

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: -0.0006398583444802569
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.87998990e-14, -8.67553760e-14,  1.00000000e+00,  4.23365358e-27,
        1.00000000e+00,  8.67553760e-14, -1.00000000e+00,  0.00000000e+00,
        4.87998990e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09153515, -0.0881211 ,  0.06198171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.70665016e-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,
 -2.18872855e-06,-1.71439152e-06,-4.90501748e+00,-1.84407327e-03,
  4.24307344e-05,-2.21936303e-03]


--- 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,
  9.36152833e-02,-7.00909730e-02, 1.30618881e-01, 5.04358157e-01,
  4.93972495e-01, 4.95925989e-01, 5.05639631e-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, -1.73748956, -3.45587727, -0.61488337,-28.20716806,
   3.72328626, 49.90281902]

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: -0.0006468725672911235
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.29073314e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.29073314e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10993722, -0.0342823 ,  0.06198151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.53993940e-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,
 -1.38462250e-07,-1.15928186e-06,-4.90502488e+00,-1.84631618e-03,
  3.86888067e-05,-2.21793861e-03]


--- 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,
  9.36228607e-02,-7.01026234e-02, 1.30615754e-01, 5.04287832e-01,
  4.94032139e-01, 4.95915565e-01, 5.05661726e-01]

qacc:
[ -0.22124908,  0.68102961, -1.85789687,  0.96160001, -3.14194353,
   1.47233921, -4.01355347,  3.82348689, -2.39761233, -0.468626  ,
   2.62316373, -5.91366815, -1.74481016,  3.55849782, -3.49763578,
   6.80495133, -1.69005982, -3.36537281, -0.86166283,-27.3858341 ,
   3.63199146, 48.46008243]

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([ 6.85648246, -6.20296095,  2.92140842, -6.20296095, 16.65507893,
       20.80514006,  2.92140842, 20.80514006, 51.03156961,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006511077789650294
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.26282353e-14,  8.52564706e-14,  1.00000000e+00, -3.63433289e-27,
        1.00000000e+00, -8.52564706e-14, -1.00000000e+00,  0.00000000e+00,
        4.26282353e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10993617, -0.03428472,  0.06198139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.23383163e-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,
 -1.67727519e-06,-6.81512224e-08,-4.90500719e+00,-1.84713578e-03,
  4.27971980e-05,-2.21720032e-03]


--- 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,
  9.36238390e-02,-7.01274275e-02, 1.30608327e-01, 5.04192564e-01,
  4.94108118e-01, 4.95835032e-01, 5.05761452e-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, -1.64974369, -3.2884447 , -1.07479521,-26.69432022,
   3.55304424, 47.2493121 ]

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([ 6.8472782 , -6.18736866,  2.93286341, -6.18736866, 18.9600971 ,
       25.5540288 ,  2.93286341, 25.5540288 , 60.75780004,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006499864376382086
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.27017765e-14,  4.27017765e-14,  1.00000000e+00, -1.82344172e-27,
        1.00000000e+00, -4.27017765e-14, -1.00000000e+00,  0.00000000e+00,
        4.27017765e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10993644, -0.0342843 ,  0.06198142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.47885223e-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,
 -7.39658899e-07, 2.64396466e-06,-4.90500578e+00,-1.84837584e-03,
  4.44684785e-05,-2.21810704e-03]


--- 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,
  9.36255739e-02,-7.01436623e-02, 1.30605404e-01, 5.04123728e-01,
  4.94157889e-01, 4.95789764e-01, 5.05825817e-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,
  1.89149817e-01, 2.14234400e+00, 1.12588181e+00, 4.54712687e+00,
  2.28882858e-01,-3.08089098e+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: -0.0006505803154627926
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.66642478e-14,  1.70651186e-13,  1.00000000e+00, -4.55028552e-27,
        1.00000000e+00, -1.70651186e-13, -1.00000000e+00,  0.00000000e+00,
        2.66642478e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09153845, -0.08812022,  0.0619814 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.14983160e-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,
  2.48122653e-06, 6.86073523e-06,-4.90501937e+00,-1.84997178e-03,
  4.39330192e-05,-2.22059610e-03]


--- 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,
  9.36280632e-02,-7.01515717e-02, 1.30605802e-01, 5.04080748e-01,
  4.94181797e-01, 4.95778723e-01, 5.05856115e-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,
  1.88575688e-01, 2.08134170e+00, 8.30484678e-01, 4.19380126e+00,
  3.41533425e-01,-2.99935742e+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: -0.0006576208698160363
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.85848221e-14, -8.44120888e-14,  1.00000000e+00,  5.78938809e-27,
        1.00000000e+00,  8.44120888e-14, -1.00000000e+00,  0.00000000e+00,
        6.85848221e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09154044, -0.08811904,  0.0619812 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.80238557e-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,
  1.29828821e-06, 3.18637743e-06,-4.90500805e+00,-1.84917197e-03,
  4.46860903e-05,-2.22197138e-03]


--- 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,
  9.36313038e-02,-7.01513627e-02, 1.30608503e-01, 5.04063120e-01,
  4.94180162e-01, 4.95801027e-01, 5.05853419e-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,  0.18784124,  2.02959618,  0.57557609,  3.91060302,
   0.42793013,-29.29927561]

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: -0.000659124251314161
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.21097776e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.21097776e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09154191, -0.08811924,  0.06198116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
  4.30183354e-07, 1.04044221e-06,-4.90500186e+00,-1.84857679e-03,
  4.48698524e-05,-2.22260155e-03]


--- 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,
  9.36352927e-02,-7.01432094e-02, 1.30612631e-01, 5.04070408e-01,
  4.94153267e-01, 4.95855933e-01, 5.05818610e-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,
  1.87070941e-01, 1.98608958e+00, 3.56729966e-01, 3.68413605e+00,
  4.93913846e-01,-2.87132766e+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: -0.0006561653829267877
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.75871227e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.75871227e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09154296, -0.08812055,  0.06198124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.74771990e-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,
 -1.88379644e-07, 3.30395041e-07,-4.90500040e+00,-1.84814636e-03,
  4.45357008e-05,-2.22250002e-03]


--- 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,
  9.36400270e-02,-7.01272566e-02, 1.30617438e-01, 5.04102241e-01,
  4.94101360e-01, 4.95942821e-01, 5.05752405e-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,  0.18634842,  1.9498579 ,  0.16964614,  3.50362564,
   0.54402782,-28.22357203]

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: -0.0006496636828990099
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.80633648e-14, -8.54459818e-14,  1.00000000e+00,  4.10682139e-27,
        1.00000000e+00,  8.54459818e-14, -1.00000000e+00,  0.00000000e+00,
        4.80633648e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09154369, -0.08812274,  0.06198143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00332226e-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,
 -6.05219640e-07, 9.78200276e-07,-4.90500336e+00,-1.84785153e-03,
  4.37219774e-05,-2.22167871e-03]


--- 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,
  9.36453045e-02,-7.01041219e-02, 1.30622618e-01, 5.04157374e-01,
  4.94025747e-01, 4.96058471e-01, 5.05657885e-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,  0.13580652,  1.79548595,  0.09346396,  2.56364295,
   0.47081598,-26.01297587]

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: -0.000640392665242227
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.02089117e-07, -4.02089125e-07,  1.00000000e+00, -1.61675661e-13,
        1.00000000e+00,  4.02089125e-07, -1.00000000e+00,  0.00000000e+00,
       -4.02089117e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09200302, -0.08678201,  0.06198169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.21716868e-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,
 -8.55244394e-07, 2.91883101e-06,-4.90501053e+00,-1.84767106e-03,
  4.24570783e-05,-2.22014787e-03]


--- 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,
  9.36437619e-02,-7.00947162e-02, 1.30624985e-01, 5.04187920e-01,
  4.93967116e-01, 4.96099906e-01, 5.05644058e-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, -1.70502997, -3.43224545, -0.70329966,-28.42392338,
   3.02913295, 49.10124362]

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: -0.000648514785892576
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.55973564e-14, -1.28396035e-13,  1.00000000e+00,  1.09903611e-26,
        1.00000000e+00,  1.28396035e-13, -1.00000000e+00,  0.00000000e+00,
        8.55973564e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10993079, -0.03428231,  0.06198146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -9.70860266e-07, 5.87117388e-06,-4.90502078e+00,-1.84762378e-03,
  4.08973475e-05,-2.21797091e-03]


--- 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,
  9.36355633e-02,-7.00986867e-02, 1.30623603e-01, 5.04194312e-01,
  4.93925018e-01, 4.96069357e-01, 5.05708776e-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,
 -1.66398277e+00,-3.34405517e+00,-9.37319902e-01,-2.75488104e+01,
  3.06412089e+00, 4.77874517e+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([ 6.85415934, -4.28452021,  5.34998943, -4.28452021, 38.97470955,
       25.7236296 ,  5.34998943, 25.7236296 , 27.4548376 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006508246842867604
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.26467777e-14, -2.13233888e-14,  1.00000000e+00,  9.09373823e-28,
        1.00000000e+00,  2.13233888e-14, -1.00000000e+00,  0.00000000e+00,
        4.26467777e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1099291 , -0.03428312,  0.0619814 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.75438124e-06, 1.28179240e-06,-4.90500388e+00,-1.84813898e-03,
  4.28624191e-05,-2.21738337e-03]


--- 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,
  9.36208479e-02,-7.01157343e-02, 1.30617664e-01, 5.04176920e-01,
  4.93899064e-01, 4.95968660e-01, 5.05850212e-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, -1.62922248, -3.2692967 , -1.1391239 ,-26.8219741 ,
   3.07956609, 46.68252166]

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([ 6.83234889, -4.57556498,  5.07397245, -4.57556498, 42.81772931,
       32.45059928,  5.07397245, 32.45059928, 36.0953824 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006481692388246446
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.28214947e-14, -2.14107473e-14,  1.00000000e+00,  9.16840204e-28,
        1.00000000e+00,  2.14107473e-14, -1.00000000e+00,  0.00000000e+00,
        4.28214947e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10992888, -0.03428143,  0.06198147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.95209571e-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,
 -3.04460647e-07,-1.56131829e-06,-4.90500299e+00,-1.84886421e-03,
  4.24754792e-05,-2.21835556e-03]


--- 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,
  9.35997325e-02,-7.01456071e-02, 1.30606474e-01, 5.04136052e-01,
  4.93888918e-01, 4.95799311e-01, 5.06066816e-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, -1.60000611, -3.20628006, -1.31290507,-26.2225289 ,
   3.07983886, 45.76021096]

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: -0.0006415585928833539
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.32627291e-14,  4.32627291e-14,  1.00000000e+00, -1.87166373e-27,
        1.00000000e+00, -4.32627291e-14, -1.00000000e+00,  0.00000000e+00,
        4.32627291e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1099298 , -0.03427775,  0.06198166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.83594429e-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,
  3.26003163e-06,-2.79564549e-06,-4.90501688e+00,-1.84978938e-03,
  3.99531290e-05,-2.22084352e-03]


--- 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,
  9.35792578e-02,-7.01666496e-02, 1.30600944e-01, 5.04121322e-01,
  4.93854370e-01, 4.95666386e-01, 5.06245382e-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,  0.16020817,  2.20758475,  1.4150576 ,  6.04091652,
  -0.51706475,-31.24605828]

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([  6.90175782,   1.91535769,   6.63066105,   1.91535769,
        64.14888902, -16.53662161,   6.63066105, -16.53662161,
        11.67858853,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006566353446914724
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.34040853e-14,  8.45387804e-14,  1.00000000e+00, -5.36010405e-27,
        1.00000000e+00, -8.45387804e-14, -1.00000000e+00,  0.00000000e+00,
        6.34040853e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09155888, -0.088126  ,  0.06198123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.89214128e-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,
  8.85176612e-06,-2.50950152e-06,-4.90504461e+00,-1.85090194e-03,
  3.54586363e-05,-2.22480971e-03]


--- 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,
  9.35594313e-02,-7.01791502e-02, 1.30599720e-01, 5.04132282e-01,
  4.93795280e-01, 4.95568617e-01, 5.06387806e-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,  0.16202483,  2.13547542,  1.07655744,  5.32644245,
  -0.21771747,-30.37574384]

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([ 6.99531775e+00,  4.20489698e-02, -6.99519137e+00,  4.20489698e-02,
        4.98424741e+01,  2.57559613e-01, -6.99519137e+00,  2.57559613e-01,
        6.99686597e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.0006681275394166408
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.2313497e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        6.2313497e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09156314, -0.08812421,  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:
[-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,
  4.47425382e-06,-4.48340085e-06,-4.90502846e+00,-1.84664516e-03,
  4.02684415e-05,-2.22621758e-03]


--- 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,
  9.35402555e-02,-7.01833541e-02, 1.30601631e-01, 5.04168519e-01,
  4.93711584e-01, 4.95504926e-01, 5.06495652e-01]

qacc:
[-1.13927027e+00,-3.93514286e-01, 3.02182954e+00,-8.05151234e+00,
  2.15832693e+00, 2.87406943e-01, 1.68218383e+00,-1.02019332e+01,
 -3.63381765e+00,-4.75966901e-01, 1.42156225e+00,-1.57297753e+00,
 -1.09045339e+00, 1.75615629e+00,-3.91818894e+00, 9.72637295e+00,
  1.62665355e-01, 2.07414827e+00, 7.83717670e-01, 4.75257314e+00,
  1.92368068e-02,-2.96267142e+01]

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([ 7.03517106,  0.3907314 , -7.02431213,  0.3907314 , 65.12892143,
        3.23149825, -7.02431213,  3.23149825,  7.21492501,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006730554551275664
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.12381705e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.12381705e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09156639, -0.08812396,  0.06198076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.38267432e-07,-5.11619863e-06,-4.90501792e+00,-1.84278799e-03,
  4.42876223e-05,-2.22693918e-03]


--- 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,
  9.35217295e-02,-7.01794684e-02, 1.30605670e-01, 5.04229667e-01,
  4.93603266e-01, 4.95474402e-01, 5.06570208e-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,  0.16247898,  2.02242681,  0.53185143,  4.29101051,
   0.20748162,-28.98818747]

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.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006726547475037481
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.12627365e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.12627365e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09156885, -0.08812494,  0.06198077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.78618625e-06,-4.44535902e-06,-4.90501252e+00,-1.83923254e-03,
  4.76241797e-05,-2.22697173e-03]


--- 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,
  9.35038505e-02,-7.01676659e-02, 1.30610973e-01, 5.04315402e-01,
  4.93470333e-01, 4.95476283e-01, 5.06612533e-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,  0.16172215,  1.97917911,  0.3162427 ,  3.91917971,
   0.35772237,-28.44918217]

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: -0.0006679850365925166
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.07755968e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.07755968e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0915707 , -0.08812691,  0.06198091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.89571606e-06,-2.50969329e-06,-4.90501185e+00,-1.83590594e-03,
  5.03601588e-05,-2.22631564e-03]


--- 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,
  9.34866137e-02,-7.01480900e-02, 1.30616806e-01, 5.04425444e-01,
  4.93312805e-01, 4.95509931e-01, 5.06623485e-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,  0.16058301,  1.94336079,  0.13240601,  3.61909056,
   0.47833552,-27.99919338]

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: -0.0006599500208866876
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.68228349e-13,  4.20570873e-14,  1.00000000e+00,  7.07519436e-27,
        1.00000000e+00, -4.20570873e-14, -1.00000000e+00,  0.00000000e+00,
       -1.68228349e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09157205, -0.08812967,  0.06198114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.24837771e-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,
 -8.76214295e-06, 6.54078338e-07,-4.90501561e+00,-1.83275373e-03,
  5.25579791e-05,-2.22497299e-03]


--- 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,
  9.34700138e-02,-7.01208580e-02, 1.30622544e-01, 5.04559556e-01,
  4.93130696e-01, 4.95574817e-01, 5.06603763e-01]

qacc:
[ 6.97837962e+00,-9.72016164e-01, 1.81120394e+00, 2.72445512e+00,
 -7.86579109e-01, 5.82102562e-01,-9.82484891e-01,-2.03826438e+00,
  2.49754264e+00,-2.14770178e-01, 1.13315322e+00,-2.84918637e+00,
 -2.88444372e+00, 7.30664728e+00, 1.74740480e+01,-6.27800990e+01,
  1.59199200e-01, 1.91403304e+00,-2.37840880e-02, 3.37641615e+00,
  5.75875434e-01,-2.76285309e+01]

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: -0.0006493165298638859
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.94619778e-14,  8.54916650e-14,  1.00000000e+00, -5.93842013e-27,
        1.00000000e+00, -8.54916650e-14, -1.00000000e+00,  0.00000000e+00,
        6.94619778e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09157303, -0.08813303,  0.06198144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.07311034e-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,
 -1.14389674e-05, 5.01300998e-06,-4.90502357e+00,-1.82973484e-03,
  5.42652040e-05,-2.22294655e-03]


--- 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,
  9.34579693e-02,-7.01085196e-02, 1.30625895e-01, 5.04628490e-01,
  4.93025570e-01, 4.95595759e-01, 5.06616934e-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 ,  1.13884669, -3.72341036, -0.59692988, 16.21017539,
  -6.32601973, 54.71835301]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006425182846041544
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.31981101e-14, -1.72792440e-13,  1.00000000e+00,  7.46430687e-27,
        1.00000000e+00,  1.72792440e-13, -1.00000000e+00,  0.00000000e+00,
        4.31981101e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08247523, -0.0315642 ,  0.06198163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.36292514e-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,
 -1.39661979e-05, 1.05385795e-05,-4.90503556e+00,-1.82681808e-03,
  5.55181243e-05,-2.22023918e-03]


--- 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,
  9.34503295e-02,-7.01106749e-02, 1.30625844e-01, 5.04633628e-01,
  4.92995088e-01, 4.95574752e-01, 5.06662027e-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,  1.10120145, -3.62341641, -0.85011483, 16.02396008,
  -5.8142134 , 53.05175367]

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([ 6.83182947, -5.31912582,  4.28728287, -5.31912582, 20.08838838,
       16.44708479,  4.28728287, 16.44708479, 27.2373208 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006481060502917801
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.56513393e-14, -2.14128348e-14,  1.00000000e+00,  1.83403798e-27,
        1.00000000e+00,  2.14128348e-14, -1.00000000e+00,  0.00000000e+00,
        8.56513393e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08247284, -0.03156815,  0.06198147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.62603420e-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,
 -5.26157334e-06, 1.70289653e-06,-4.90500988e+00,-1.82918233e-03,
  5.11365480e-05,-2.21846062e-03]


--- 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,
  9.34469680e-02,-7.01269831e-02, 1.30621519e-01, 5.04576152e-01,
  4.93037265e-01, 4.95513418e-01, 5.06738211e-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,  1.06955204, -3.5382484 , -1.06873053, 15.847227  ,
  -5.40348458, 51.65199819]

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([ 6.83186156, -5.62402083,  3.87875264, -5.62402083, 21.28260308,
       20.95293996,  3.87875264, 20.95293996, 37.21270344,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006481099540575769
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.28254117e-14,  2.14127059e-14,  1.00000000e+00, -9.17007944e-28,
        1.00000000e+00, -2.14127059e-14, -1.00000000e+00,  0.00000000e+00,
        4.28254117e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08247026, -0.03156878,  0.06198147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.52947771e-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,
 -1.83656451e-07,-7.77851182e-07,-4.90500148e+00,-1.83059921e-03,
  4.90983665e-05,-2.21820994e-03]


--- 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,
  9.34477787e-02,-7.01571560e-02, 1.30612166e-01, 5.04457057e-01,
  4.93150429e-01, 4.95413063e-01, 5.06844778e-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,
  1.04305508e+00,-3.46615389e+00,-1.25709898e+00, 1.56850789e+01,
 -5.07345216e+00, 5.04841753e+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([ 6.79500137, -5.89281669,  3.38330536, -5.89281669, 21.1011076 ,
       24.9174262 ,  3.38330536, 24.9174262 , 50.19452036,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006436315965169942
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.31233889e-14, -1.72493555e-13,  1.00000000e+00,  7.43850667e-27,
        1.00000000e+00,  1.72493555e-13, -1.00000000e+00,  0.00000000e+00,
        4.31233889e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08246752, -0.03156677,  0.0619816 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
  1.65048675e-06, 2.60922870e-06,-4.90500894e+00,-1.83129046e-03,
  4.92646578e-05,-2.21942168e-03]


--- 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,
  9.34521419e-02,-7.01786690e-02, 1.30607723e-01, 5.04354265e-01,
  4.93243235e-01, 4.95359400e-01, 5.06909214e-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,  0.88812578,  2.1649721 ,  1.22776509, 13.11447888,
   2.50906732,-31.31407553]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006596394760252505
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.41537738e-14,  2.10384434e-14,  1.00000000e+00, -1.77046441e-27,
        1.00000000e+00, -2.10384434e-14, -1.00000000e+00,  0.00000000e+00,
        8.41537738e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611479, -0.08821131,  0.06198114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.75852464e-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,
  5.26422520e-07, 1.15049917e-05,-4.90503118e+00,-1.83141637e-03,
  5.15226177e-05,-2.22204345e-03]


--- 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,
  9.34599516e-02,-7.01917844e-02, 1.30606901e-01, 5.04267241e-01,
  4.93316443e-01, 4.95351048e-01, 5.06932713e-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,  0.86163006,  2.09938925,  0.90496488, 12.79228055,
   2.39258901,-30.34909616]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006692103629402091
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.29502266e-14,  8.29502266e-14,  1.00000000e+00, -6.88074009e-27,
        1.00000000e+00, -8.29502266e-14, -1.00000000e+00,  0.00000000e+00,
        8.29502266e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611518, -0.08820896,  0.06198087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -4.57498235e-07, 7.03534906e-06,-4.90501673e+00,-1.83191875e-03,
  5.28331338e-05,-2.22390231e-03]


--- 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,
  9.34711186e-02,-7.01967260e-02, 1.30608582e-01, 5.04195530e-01,
  4.93370688e-01, 4.95386829e-01, 5.06916286e-01]

qacc:
[ -4.7006839 , -0.51453642,  1.23620771, -0.67095773,  2.03485896,
   0.99189599, -1.91155017, -2.79117473,  3.54333554, -2.93819638,
   8.91740046, -9.7433058 , -1.36621125,  2.48451517, -7.43864907,
  21.01433299,  0.83931892,  2.04346821,  0.62608241, 12.51672284,
   2.29287107,-29.52956926]

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: -0.0006725632160334699
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.65073408e-13,  2.06341761e-14,  1.00000000e+00, -3.40615377e-27,
        1.00000000e+00, -2.06341761e-14, -1.00000000e+00,  0.00000000e+00,
        1.65073408e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611505, -0.08820828,  0.06198078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.24648400e-06, 3.93747773e-06,-4.90500862e+00,-1.83248692e-03,
  5.29144013e-05,-2.22495744e-03]


--- 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,
  9.34842842e-02,-7.01936594e-02, 1.30612101e-01, 5.04144398e-01,
  4.93401873e-01, 4.95460550e-01, 5.06864737e-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,  0.49966099,  2.00203244,  0.45928654,  7.42593126,
   1.64804371,-29.14144769]

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: -0.0006706793899871566
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.02893679e-07, -8.01820192e-14,  1.00000000e+00, -4.03230306e-20,
        1.00000000e+00,  8.01820192e-14, -1.00000000e+00,  0.00000000e+00,
       -5.02893679e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08888584, -0.0881682 ,  0.06198083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.87092167e-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,
 -1.84783227e-06, 2.08662279e-06,-4.90500630e+00,-1.83314356e-03,
  5.18411743e-05,-2.22523380e-03]


--- 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,
  9.34994118e-02,-7.01827438e-02, 1.30616624e-01, 5.04113389e-01,
  4.93410556e-01, 4.95571453e-01, 5.06778699e-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,  0.49048902,  1.96226793,  0.25102595,  7.33070377,
   1.58140334,-28.54102904]

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: -0.0006654022093497222
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.21131332e-07, -5.99616884e-14,  1.00000000e+00,  5.52325899e-20,
        1.00000000e+00,  5.99616884e-14, -1.00000000e+00, -1.20370622e-35,
        9.21131332e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08888519, -0.08816974,  0.06198098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18238028e-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,
 -1.88895484e-06, 1.18823689e-06,-4.90500790e+00,-1.83378932e-03,
  4.97603046e-05,-2.22484903e-03]


--- 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,
  9.35152564e-02,-7.01640949e-02, 1.30621677e-01, 5.04107453e-01,
  4.93392880e-01, 4.95713919e-01, 5.06662464e-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,  0.17925055,  1.93331864,  0.1324333 ,  2.6503412 ,
   0.97309256,-28.28274801]

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: -0.0006579188941684827
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.43738517e-14,  1.26560778e-13,  1.00000000e+00,  1.06784203e-26,
        1.00000000e+00, -1.26560778e-13, -1.00000000e+00,  0.00000000e+00,
       -8.43738517e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09157209, -0.08813208,  0.06198119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.10563512e-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,
 -1.78489858e-06, 1.52426840e-06,-4.90501412e+00,-1.83450741e-03,
  4.69684840e-05,-2.22373601e-03]


--- 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,
  9.35318122e-02,-7.01378227e-02, 1.30626637e-01, 5.04126168e-01,
  4.93349315e-01, 4.95887475e-01, 5.06516408e-01]

qacc:
[-1.23067490e+00,-6.07748279e-01, 2.71993766e+00,-4.95250002e+00,
  5.45145250e+00, 1.81858970e+00,-1.01692363e+01, 2.66541159e+01,
 -2.49515633e+00, 1.96565024e-01,-2.29165503e+00, 8.30121872e+00,
 -4.56447685e-01,-5.55701915e-01,-7.44685668e+00, 2.21604177e+01,
  1.77799044e-01, 1.90580891e+00,-2.31412389e-02, 2.66056345e+00,
  9.27594913e-01,-2.78477058e+01]

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: -0.0006474614205021212
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.14341540e-14, -4.28683080e-14,  1.00000000e+00, -9.18845917e-28,
        1.00000000e+00,  4.28683080e-14, -1.00000000e+00,  0.00000000e+00,
       -2.14341540e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09157164, -0.08813493,  0.06198149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.26220129e-06, 3.01888064e-06,-4.90502315e+00,-1.83527310e-03,
  4.38590884e-05,-2.22201044e-03]


--- 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,
  9.35490756e-02,-7.01040164e-02, 1.30630977e-01, 5.04169187e-01,
  4.93280242e-01, 4.96091732e-01, 5.06340821e-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,  0.17690962,  1.88354031, -0.1549902 ,  2.67234013,
   0.88787631,-27.49657853]

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: -0.00063504205379393
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.91700075e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.91700075e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09157118, -0.08813833,  0.06198185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.21633464e-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,
 -6.81959323e-07, 5.78674358e-06,-4.90503618e+00,-1.83608362e-03,
  4.03848618e-05,-2.21958067e-03]


--- 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,
  9.35708829e-02,-7.00850422e-02, 1.30632711e-01, 5.04146548e-01,
  4.93287285e-01, 4.96253801e-01, 5.06197666e-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,  1.13595934, -3.708028  , -0.6516239 , 16.65654099,
  -5.61969618, 54.08365863]

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: -0.0006290404552255213
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0824427 , -0.03156246,  0.06198202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.35130083e-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,
 -3.99228205e-08, 9.76943506e-06,-4.90505308e+00,-1.83694345e-03,
  3.65444048e-05,-2.21645547e-03]


--- 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,
  9.35915351e-02,-7.00805925e-02, 1.30632511e-01, 5.04077379e-01,
  4.93341921e-01, 4.96355924e-01, 5.06113171e-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,-0.28877976,-3.63111089,
 -0.48339506,-6.2541978 ,-1.14294506,53.15771179]

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: -0.0006347026884568569
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.36494124e-07,  8.74600852e-14,  1.00000000e+00, -8.19058559e-20,
        1.00000000e+00, -8.74600852e-14, -1.00000000e+00,  0.00000000e+00,
        9.36494124e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0961219 , -0.03290876,  0.06198186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.54206318e-06, 1.70672897e-06,-4.90503168e+00,-1.84138002e-03,
  3.78958052e-05,-2.21487761e-03]


--- 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,
  9.36054058e-02,-7.00898144e-02, 1.30629318e-01, 5.03984224e-01,
  4.93413416e-01, 4.96383982e-01, 5.06108730e-01]

qacc:
[ 4.12322740e+00,-3.90628585e-01, 3.21455450e+00,-9.60615381e+00,
  4.96022781e+00,-8.44038781e-01, 3.22769488e+00,-6.04744430e+00,
  4.79349424e-02, 2.22339856e+00,-1.07182630e+01, 2.27532517e+01,
 -1.47001432e+00, 2.72242107e+00, 6.77523793e+00,-2.60462965e+01,
 -1.69534593e+00,-3.41792490e+00,-7.48247272e-01,-2.84445362e+01,
  2.76613855e+00, 4.87002992e+01]

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([ 6.78737596, -5.80779067,  3.51255463, -5.80779067, 23.59775337,
       27.79491379,  3.51255463, 27.79491379, 52.74453765,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006427065076849703
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.31854591e-14, -2.15927296e-14,  1.00000000e+00,  9.32491940e-28,
        1.00000000e+00,  2.15927296e-14, -1.00000000e+00,  0.00000000e+00,
        4.31854591e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10987657, -0.03426272,  0.06198163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.41666115e-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,
 -3.81133270e-06, 9.31832134e-07,-4.90501699e+00,-1.84435676e-03,
  4.20840312e-05,-2.21444025e-03]


--- 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,
  9.36126596e-02,-7.01123701e-02, 1.30622221e-01, 5.03867340e-01,
  4.93501350e-01, 4.96340184e-01, 5.06182323e-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, -1.65423821, -3.33343206, -0.97588487,-27.55427708,
   2.87378642, 47.47625337]

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([ 6.80135368, -3.56389061,  5.79284866, -3.56389061, 45.23781865,
       23.64697659,  5.79284866, 23.64697659, 21.34950481,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006444025837262918
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.72287178e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.72287178e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10987481, -0.03426305,  0.06198158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.23571618e-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,
 -2.41205541e-06, 3.81272280e-06,-4.90500938e+00,-1.84683764e-03,
  4.50846677e-05,-2.21526871e-03]


--- 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,
  9.36134367e-02,-7.01479735e-02, 1.30610435e-01, 5.03726942e-01,
  4.93605359e-01, 4.96226347e-01, 5.06332232e-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, -1.61918223, -3.26192565, -1.17248447,-26.81376276,
   2.95301799, 46.44900381]

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([ 6.77598428, -3.91328206,  5.53174353, -3.91328206, 50.62124952,
       31.01714472,  5.53174353, 31.01714472, 28.71822277,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006413253364580679
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.32784642e-14, -4.32784642e-14,  1.00000000e+00,  1.87302546e-27,
        1.00000000e+00,  4.32784642e-14, -1.00000000e+00,  0.00000000e+00,
        4.32784642e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1098745 , -0.03426101,  0.06198167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.91562259e-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,
  1.09550023e-06, 8.26444808e-06,-4.90501745e+00,-1.84948163e-03,
  4.57360983e-05,-2.21762836e-03]


--- 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,
  9.36149257e-02,-7.01747364e-02, 1.30604516e-01, 5.03613507e-01,
  4.93683174e-01, 4.96149017e-01, 5.06444974e-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 ,  0.17796851,  2.21010741,  1.46681945,  5.21211769,
  -0.03709045,-31.69588912]

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: -0.0006511619452033574
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.72966032e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.72966032e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09157766, -0.08813613,  0.06198138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.07192726e-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,
  6.62616322e-06, 1.41951106e-05,-4.90504004e+00,-1.85230180e-03,
  4.42517567e-05,-2.22148626e-03]


--- 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,
  9.36171305e-02,-7.01929475e-02, 1.30603088e-01, 5.03526396e-01,
  4.93735094e-01, 4.96106936e-01, 5.06522195e-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,  0.1789538 ,  2.13796295,  1.12291592,  4.71924388,
   0.13542195,-30.73551329]

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([ 6.96167569,  1.22771029, -6.85256564,  1.22771029, 66.64506793,
       10.69291686, -6.85256564, 10.69291686,  8.87742589,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006639834920745824
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.18016049e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.18016049e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09158065, -0.08813354,  0.06198102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.32727601e-06, 8.55576588e-06,-4.90502224e+00,-1.85063851e-03,
  4.56588531e-05,-2.22374965e-03]


--- 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,
  9.36200527e-02,-7.02028533e-02, 1.30604961e-01, 5.03465044e-01,
  4.93761411e-01, 4.96099038e-01, 5.06565261e-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,  0.17937151,  2.07633137,  0.82495154,  4.32481996,
   0.26843655,-29.91191055]

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: -0.0006700376413376341
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.14239050e-14, -4.14239050e-14,  1.00000000e+00, -1.71593991e-27,
        1.00000000e+00,  4.14239050e-14, -1.00000000e+00,  0.00000000e+00,
       -4.14239050e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09158291, -0.08813263,  0.06198085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.64606091e-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,
  2.48988880e-06, 4.53742203e-06,-4.90501006e+00,-1.84928224e-03,
  4.64078809e-05,-2.22526291e-03]


--- 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,
  9.36236928e-02,-7.02046625e-02, 1.30609107e-01, 5.03428957e-01,
  4.93762405e-01, 4.96124420e-01, 5.06575299e-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,
  1.79446164e-01, 2.02413189e+00, 5.68370683e-01, 4.00971965e+00,
  3.70682088e-01,-2.92114537e+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: -0.0006705855637638147
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.13900584e-14,  1.24170175e-13,  1.00000000e+00,  5.13941079e-27,
        1.00000000e+00, -1.24170175e-13, -1.00000000e+00,  0.00000000e+00,
       -4.13900584e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09158458, -0.08813309,  0.06198083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.69048839e-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,
  1.01001996e-06, 2.03647457e-06,-4.90500300e+00,-1.84816720e-03,
  4.65744540e-05,-2.22603894e-03]


--- 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,
  9.36280501e-02,-7.01985506e-02, 1.30614647e-01, 5.03417708e-01,
  4.93738328e-01, 4.96182324e-01, 5.06553231e-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,
  1.79336541e-01, 1.98029782e+00, 3.48513373e-01, 3.75858472e+00,
  4.48955345e-01,-2.86207960e+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: -0.0006667101406138687
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04076622e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.04076622e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0915858 , -0.08813463,  0.06198094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.88966886e-07, 9.63358472e-07,-4.90500066e+00,-1.84724503e-03,
  4.62149080e-05,-2.22608987e-03]


--- 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,
  9.36331242e-02,-7.01846633e-02, 1.30620830e-01, 5.03430932e-01,
  4.93689401e-01, 4.96272117e-01, 5.06499810e-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,
  1.79154249e-01, 1.94382905e+00, 1.60904487e-01, 3.55909821e+00,
  5.08552015e-01,-2.81274829e+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: -0.0006593359552908296
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.31443850e-14,  8.41925134e-14,  1.00000000e+00, -5.31628448e-27,
        1.00000000e+00, -8.41925134e-14, -1.00000000e+00,  0.00000000e+00,
        6.31443850e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09158665, -0.08813705,  0.06198115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.04864753e-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,
 -1.16343496e-06, 1.24207149e-06,-4.90500273e+00,-1.84648009e-03,
  4.53710171e-05,-2.22542668e-03]


--- 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,
  9.36389141e-02,-7.01631208e-02, 1.30627019e-01, 5.03468318e-01,
  4.93615815e-01, 4.96393273e-01, 5.06415638e-01]

qacc:
[-2.99406938e+00,-4.26822552e-01, 9.50468133e-02, 5.30911321e+00,
 -1.20027485e+00, 1.23994385e+00,-6.40056086e+00, 1.44677882e+01,
  6.08278048e-01, 2.13431436e+00,-6.55808496e+00, 5.45223484e+00,
 -1.12149269e+00, 1.63174629e+00,-7.95582689e-02,-3.36212273e+00,
  1.78976909e-01, 1.91381655e+00, 1.40246546e-03, 3.40138972e+00,
  5.53599784e-01,-2.77202287e+01]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006492483935818388
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.27503185e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.27503185e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09158722, -0.08814013,  0.06198144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.75964711e-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,
 -1.95474461e-06, 2.80896901e-06,-4.90500899e+00,-1.84584620e-03,
  4.40735327e-05,-2.22405897e-03]


--- 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,
  9.36454194e-02,-7.01340204e-02, 1.30632673e-01, 5.03529606e-01,
  4.93517724e-01, 4.96545360e-01, 5.06301193e-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,  0.17885761,  1.88945028, -0.13373804,  3.27755198,
   0.5873162 ,-27.38899321]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006371112543479551
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.25750374e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.25750374e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09158756, -0.08814372,  0.06198179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.10382845e-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,
 -2.59316551e-06, 5.61127673e-06,-4.90501923e+00,-1.84532409e-03,
  4.23448315e-05,-2.22199491e-03]


--- 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,
  9.36451411e-02,-7.01187918e-02, 1.30635770e-01, 5.03567747e-01,
  4.93436716e-01, 4.96621327e-01, 5.06267704e-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,
 -1.69591069e+00,-3.46793807e+00,-6.39359636e-01,-2.93560425e+01,
  2.23405376e+00, 4.92660995e+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: -0.0006286903385127607
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.41482458e-14,  1.32444737e-13,  1.00000000e+00, -5.84720283e-27,
        1.00000000e+00, -1.32444737e-13, -1.00000000e+00,  0.00000000e+00,
        4.41482458e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10985675, -0.03424784,  0.06198203])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -3.10077387e-06, 9.60556047e-06,-4.90503334e+00,-1.84489965e-03,
  4.02008951e-05,-2.21924127e-03]


--- 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,
  9.36382359e-02,-7.01170673e-02, 1.30635354e-01, 5.03582837e-01,
  4.93372355e-01, 4.96623758e-01, 5.06313034e-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, -1.65672611, -3.37600306, -0.87831512,-28.30756797,
   2.44133079, 47.95669241]

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([ 6.71319464, -2.30242363,  6.3060152 , -2.30242363, 40.53800543,
       12.3499613 ,  6.3060152 , 12.3499613 , 11.22235642,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006337289427734011
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.37972353e-14, -1.53290324e-13,  1.00000000e+00,  6.71369237e-27,
        1.00000000e+00,  1.53290324e-13, -1.00000000e+00,  0.00000000e+00,
        4.37972353e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10985301, -0.03424955,  0.06198188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.92911024e-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,
 -3.56967318e-06, 3.32215914e-06,-4.90500944e+00,-1.84640787e-03,
  4.30462958e-05,-2.21837073e-03]


--- 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,
  9.36248377e-02,-7.01285340e-02, 1.30630597e-01, 5.03574982e-01,
  4.93324257e-01, 4.96554778e-01, 5.06435354e-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,
 -1.62325038e+00,-3.29783297e+00,-1.08497012e+00,-2.74406876e+01,
  2.59186225e+00, 4.68484594e+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([ 6.71118809, -2.74055127,  6.12612636, -2.74055127, 47.98480653,
       18.46394619,  6.12612636, 18.46394619, 14.97112074,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006334866115852295
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.75255957e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.75255957e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1098511 , -0.03424869,  0.06198189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.54144448e-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,
 -1.99576145e-06,-1.10852998e-06,-4.90500217e+00,-1.84790030e-03,
  4.34038321e-05,-2.21901147e-03]


--- 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,
  9.36050599e-02,-7.01529278e-02, 1.30620787e-01, 5.03544289e-01,
  4.93292088e-01, 4.96416118e-01, 5.06633105e-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, -1.59489795, -3.23175146, -1.26333157,-26.72804502,
   2.69796651, 45.9177328 ]

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([ 6.67405926, -3.18606078,  5.86447642, -3.18606078, 54.61167762,
       26.04361499,  5.86447642, 26.04361499, 20.8230701 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006290068233786028
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.82520653e-14,  4.41260326e-14,  1.00000000e+00, -3.89421351e-27,
        1.00000000e+00, -4.41260326e-14, -1.00000000e+00,  0.00000000e+00,
        8.82520653e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10985064, -0.03424577,  0.06198202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
  1.56430883e-06,-3.85309585e-06,-4.90501016e+00,-1.84943552e-03,
  4.15243587e-05,-2.22113710e-03]


--- 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,
  9.35858668e-02,-7.01686220e-02, 1.30615890e-01, 5.03539090e-01,
  4.93236501e-01, 4.96313336e-01, 5.06793066e-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,  0.14616941,  2.17488577,  1.22818103,  6.2843989 ,
  -0.6832768 ,-30.63423831]

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([  6.77146061,   1.88599069,   6.50351581,   1.88599069,
        55.11197986, -14.01853579,   6.50351581, -14.01853579,
        10.8367737 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006407771385128075
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.20454159e-14, -8.66309796e-14,  1.00000000e+00,  7.97398455e-27,
        1.00000000e+00,  8.66309796e-14, -1.00000000e+00,  0.00000000e+00,
        9.20454159e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09160338, -0.08814782,  0.06198168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.24111735e-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,
  7.06536169e-06,-5.02295383e-06,-4.90503235e+00,-1.85104968e-03,
  3.75971780e-05,-2.22472197e-03]


--- 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,
  9.35672740e-02,-7.01758807e-02, 1.30614675e-01, 5.03559062e-01,
  4.93157152e-01, 4.96245257e-01, 5.06917093e-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,  0.15007202,  2.10889791,  0.92032543,  5.52048254,
  -0.35008603,-29.88045405]

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([ 6.84863847, -0.14689551, -6.84706292, -0.14689551, 48.90277957,
       -0.90222105, -6.84706292, -0.90222105,  6.86799454,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006501521094199464
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.13454476e-14,  8.53817905e-14,  1.00000000e+00, -1.82251254e-27,
        1.00000000e+00, -8.53817905e-14, -1.00000000e+00,  0.00000000e+00,
        2.13454476e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09160801, -0.08814672,  0.06198141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  2.58099949e-06,-5.90144496e-06,-4.90501991e+00,-1.84657308e-03,
  4.18961073e-05,-2.22556772e-03]


--- 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,
  9.35492908e-02,-7.01749276e-02, 1.30616075e-01, 5.03603902e-01,
  4.93053811e-01, 4.96210886e-01, 5.07006712e-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 ,  0.15243036,  2.05292277,  0.65397283,  4.90851562,
  -0.08636807,-29.23070132]

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([ 6.87710913,  0.17518657, -6.87487743,  0.17518657, 63.41328831,
        1.44066271, -6.87487743,  1.44066271,  6.91382029,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006536235629791137
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.24641601e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.24641601e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09161157, -0.08814694,  0.06198132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30070572e-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,
 -1.37780557e-06,-5.54198374e-06,-4.90501278e+00,-1.84250959e-03,
  4.54254615e-05,-2.22575038e-03]


--- 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,
  9.35319224e-02,-7.01659512e-02, 1.30619174e-01, 5.03673330e-01,
  4.92926324e-01, 4.96209385e-01, 5.07063173e-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,  0.15365903,  2.00584696,  0.42479768,  4.41771531,
   0.12300462,-28.67661713]

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: -0.0006523123308969786
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.12747593e-14,  8.50990371e-14,  1.00000000e+00, -1.81046153e-27,
        1.00000000e+00, -8.50990371e-14, -1.00000000e+00,  0.00000000e+00,
        2.12747593e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09161428, -0.08814823,  0.06198135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -4.93945883e-06,-3.95675975e-06,-4.90501056e+00,-1.83875763e-03,
  4.82901356e-05,-2.22526167e-03]


--- 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,
  9.35151702e-02,-7.01491083e-02, 1.30623188e-01, 5.03767098e-01,
  4.92774586e-01, 4.96240052e-01, 5.07087496e-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,  0.15406936,  1.96661531,  0.22850342,  4.02357795,
   0.28988669,-28.209458  ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006471795281874637
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.28660941e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.28660941e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09161633, -0.08815039,  0.0619815 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.40613279e-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,
 -8.19929788e-06,-1.16517066e-06,-4.90501291e+00,-1.83524156e-03,
  5.05693041e-05,-2.22409774e-03]


--- 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,
  9.34990336e-02,-7.01245283e-02, 1.30627445e-01, 5.03884986e-01,
  4.92598522e-01, 4.96302304e-01, 5.07080506e-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,  0.15389503,  1.93426207,  0.06102654,  3.70661115,
   0.42356851,-27.82070375]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000639044805751332
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.71455688e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.71455688e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09161786, -0.08815323,  0.06198173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.45726051e-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,
 -1.12280515e-05, 2.81091861e-06,-4.90501957e+00,-1.83190482e-03,
  5.23227642e-05,-2.22225730e-03]


--- 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,
  9.34875172e-02,-7.01147941e-02, 1.30629265e-01, 5.03938271e-01,
  4.92499567e-01, 4.96320036e-01, 5.07106318e-01]

qacc:
[-1.41474480e+00,-4.87559882e-01,-3.31642194e-02, 4.56923509e+00,
 -2.15626227e+00, 7.74471300e-01,-2.66228796e+00, 5.63594455e+00,
  4.61232037e+00,-8.73507154e-01,-7.90514061e-01, 9.59862527e+00,
 -9.26031173e-01, 9.32415571e-01, 5.97963061e+00,-2.40106458e+01,
  1.15507535e+00,-3.71143222e+00,-6.09509294e-01, 1.59113029e+01,
 -6.65608972e+00, 5.47438574e+01]

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([ 6.75291543,  1.18049613, -6.64893193,  1.18049613, 69.79359066,
       11.19266579, -6.64893193, 11.19266579,  8.74013665,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006385313014282273
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73871355e-13, -8.69356774e-14,  1.00000000e+00,  1.51156240e-26,
        1.00000000e+00,  8.69356774e-14, -1.00000000e+00,  0.00000000e+00,
        1.73871355e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08238377, -0.03160167,  0.06198175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.36771961e-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,
 -1.40782399e-05, 7.94988721e-06,-4.90503035e+00,-1.82870483e-03,
  5.35956997e-05,-2.21974044e-03]


--- 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,
  9.34804662e-02,-7.01195138e-02, 1.30627643e-01, 5.03928188e-01,
  4.92475362e-01, 4.96295390e-01, 5.07163963e-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 , 1.1163095 ,-3.61349027,
 -0.86025151,15.7944696 ,-6.06756516,53.07341636]

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([ 6.79914231, -4.98778955,  4.62063757, -4.98778955, 20.58635269,
       14.88273053,  4.62063757, 14.88273053, 22.86444209,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006441341505517006
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.61794879e-14, -8.61794879e-14,  1.00000000e+00,  7.42690413e-27,
        1.00000000e+00,  8.61794879e-14, -1.00000000e+00,  0.00000000e+00,
        8.61794879e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08238078, -0.03160587,  0.06198159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.63280683e-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,
 -4.95235455e-06, 4.04610560e-07,-4.90500743e+00,-1.83169984e-03,
  4.95677669e-05,-2.21809114e-03]


--- 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,
  9.34777502e-02,-7.01383535e-02, 1.30621714e-01, 5.03855806e-01,
  4.92523913e-01, 4.96230099e-01, 5.07252610e-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,  1.08376391, -3.52998486, -1.07693012, 15.67254715,
  -5.5966109 , 51.67179063]

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([ 6.79968429, -5.29493562,  4.26607118, -5.29493562, 22.58433276,
       19.59149154,  4.26607118, 19.59149154, 31.11612956,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006441999375499663
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.30853435e-14, -2.15426718e-14,  1.00000000e+00,  9.28173414e-28,
        1.00000000e+00,  2.15426718e-14, -1.00000000e+00,  0.00000000e+00,
        4.30853435e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08237772, -0.03160674,  0.06198159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.40167534e-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,
  4.63759956e-07,-8.55266697e-07,-4.90500167e+00,-1.83365012e-03,
  4.78478650e-05,-2.21798157e-03]


--- 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,
  9.34792603e-02,-7.01710301e-02, 1.30610729e-01, 5.03722027e-01,
  4.92643537e-01, 4.96125562e-01, 5.07371553e-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 ,  1.05655002, -3.45923353, -1.26378724, 15.55367671,
  -5.21932243, 50.50353093]

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([ 6.76354992, -5.58310951,  3.81765579, -5.58310951, 23.40567407,
       24.33818205,  3.81765579, 24.33818205, 42.35678912,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006398188462636567
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.33803658e-14, -6.50705487e-14,  1.00000000e+00,  2.82278421e-27,
        1.00000000e+00,  6.50705487e-14, -1.00000000e+00,  0.00000000e+00,
        4.33803658e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0823746 , -0.03160494,  0.06198171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05282121e-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,
  2.57457400e-06, 3.70129954e-06,-4.90501170e+00,-1.83480925e-03,
  4.83089829e-05,-2.21934303e-03]


--- 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,
  9.34829137e-02,-7.01949514e-02, 1.30605288e-01, 5.03610663e-01,
  4.92738185e-01, 4.96062520e-01, 5.07451828e-01]

qacc:
[  2.97317106,  1.76259892, -6.2832044 , 10.33247613, -4.8352485 ,
  -0.52170169,  1.84150636, -2.67265947, -3.83905905,  0.10090925,
  -2.22241801,  7.84530749, -0.54303289, -0.24152541,  7.13707006,
 -30.01431128,  0.53579805,  2.18881795,  1.38567874,  8.30774308,
   1.7021478 ,-31.84208423]

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: -0.0006581560404696904
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.52477817e-07, -6.06218548e-14,  1.00000000e+00, -1.53056736e-20,
        1.00000000e+00,  6.06218548e-14, -1.00000000e+00, -3.00926554e-36,
       -2.52477817e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08893398, -0.08819542,  0.06198119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.75140300e-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,
  1.68033658e-06, 1.37304221e-05,-4.90503644e+00,-1.83535999e-03,
  5.08468100e-05,-2.22212060e-03]


--- 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,
  9.34886476e-02,-7.02103913e-02, 1.30604038e-01, 5.03520997e-01,
  4.92808698e-01, 4.96039670e-01, 5.07494668e-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,
  5.20129498e-01, 2.12037056e+00, 1.04793092e+00, 8.05941160e+00,
  1.63985889e+00,-3.08197179e+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: -0.0006696466033958545
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.44124391e-07,  6.47626475e-14,  1.00000000e+00, -9.33387715e-21,
        1.00000000e+00, -6.47626475e-14, -1.00000000e+00,  0.00000000e+00,
        1.44124391e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08893462, -0.08819254,  0.06198086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
  6.32911995e-07, 8.37942147e-06,-4.90501999e+00,-1.83530447e-03,
  5.18837084e-05,-2.22421763e-03]


--- 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,
  9.34964090e-02,-7.02175837e-02, 1.30605811e-01, 5.03452414e-01,
  4.92855789e-01, 4.96055898e-01, 5.07501117e-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,  0.50687745,  2.06186626,  0.75569763,  7.84977761,
   1.58494964,-29.9501471 ]

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: -0.0006745483309509448
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.69643463e-07,  2.31451337e-14,  1.00000000e+00, -1.78135008e-20,
        1.00000000e+00, -2.31451337e-14, -1.00000000e+00,  0.00000000e+00,
        7.69643463e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08893486, -0.08819143,  0.06198072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.91815612e-07, 4.61326720e-06,-4.90500951e+00,-1.83532733e-03,
  5.20509653e-05,-2.22552859e-03]


--- 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,
  9.35048838e-02,-7.02167255e-02, 1.30609780e-01, 5.03409900e-01,
  4.92875604e-01, 4.96104996e-01, 5.07476053e-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,  0.17836286,  2.01263684,  0.54906744,  2.86681985,
   0.96451755,-29.41270784]

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: -0.0006747441676290544
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09162201, -0.08814527,  0.06198072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.13169714e-07, 2.29022723e-06,-4.90500447e+00,-1.83543488e-03,
  5.14040953e-05,-2.22607608e-03]


--- 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,
  9.35140610e-02,-7.02079833e-02, 1.30615073e-01, 5.03392879e-01,
  4.92868762e-01, 4.96186260e-01, 5.07420129e-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,  0.1755745 ,  1.97101543,  0.33117893,  2.82448162,
   0.93155985,-28.77564848]

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: -0.0006702842435917372
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.28173298e-14,  8.28173298e-14,  1.00000000e+00,  6.85871011e-27,
        1.00000000e+00, -8.28173298e-14, -1.00000000e+00,  0.00000000e+00,
       -8.28173298e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09162186, -0.08814656,  0.06198084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -9.79882079e-07, 1.08596276e-06,-4.90500345e+00,-1.83550847e-03,
  5.00414741e-05,-2.22597382e-03]


--- 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,
  9.35239317e-02,-7.01914956e-02, 1.30620949e-01, 5.03400870e-01,
  4.92835775e-01, 4.96299102e-01, 5.07333879e-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,  0.17339851,  1.93638261,  0.1453314 ,  2.79125006,
   0.90252531,-28.24700452]

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: -0.0006623912638924756
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04755215e-13,  1.25706258e-13,  1.00000000e+00, -1.31683860e-26,
        1.00000000e+00, -1.25706258e-13, -1.00000000e+00,  0.00000000e+00,
        1.04755215e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09162165, -0.08814878,  0.06198107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.11998243e-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,
 -1.06451772e-06, 1.31085190e-06,-4.90500687e+00,-1.83563347e-03,
  4.82837964e-05,-2.22514358e-03]


--- 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,
  9.35344895e-02,-7.01673762e-02, 1.30626773e-01, 5.03433470e-01,
  4.92777061e-01, 4.96443034e-01, 5.07217729e-01]

qacc:
[ 3.14489592e+00,-2.35332832e+00, 8.81171614e+00,-1.38042798e+01,
  2.01248352e-01,-3.41708092e+00, 1.54192684e+01,-2.98007483e+01,
 -2.94368644e+00, 1.82914673e+00,-7.23773329e+00, 1.27803307e+01,
 -1.42626583e+00, 2.51280803e+00, 1.77176284e+00,-9.27007516e+00,
  1.71763080e-01, 1.90789900e+00,-1.26173611e-02, 2.76618120e+00,
  8.76776225e-01,-2.78130664e+01]

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: -0.0006518438593729886
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.25800983e-14,  4.25800983e-14,  1.00000000e+00, -1.81306477e-27,
        1.00000000e+00, -4.25800983e-14, -1.00000000e+00,  0.00000000e+00,
        4.25800983e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09162137, -0.08815173,  0.06198137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.82718123e-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,
 -1.07037720e-06, 2.87700136e-06,-4.90501449e+00,-1.83581065e-03,
  4.61392234e-05,-2.22359865e-03]


--- 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,
  9.35457297e-02,-7.01357176e-02, 1.30632012e-01, 5.03490346e-01,
  4.92692957e-01, 4.96617653e-01, 5.07072016e-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,
  1.70604109e-01, 1.88481181e+00,-1.46403584e-01, 2.74841976e+00,
  8.53771736e-01,-2.74619040e+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: -0.0006392995535609153
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.30246809e-13,  8.68312060e-14,  1.00000000e+00,  1.13094875e-26,
        1.00000000e+00, -8.68312060e-14, -1.00000000e+00,  0.00000000e+00,
       -1.30246809e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09162106, -0.08815523,  0.06198172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18035824e-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,
 -1.00000959e-06, 5.71443098e-06,-4.90502612e+00,-1.83604055e-03,
  4.36134490e-05,-2.22134986e-03]


--- 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,
  9.35576494e-02,-7.00965932e-02, 1.30636214e-01, 5.03571226e-01,
  4.92583727e-01, 4.96822634e-01, 5.06896993e-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,  0.16986511,  1.86645521, -0.25935019,  2.73720166,
   0.83305469,-27.18321425]

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: -0.0006253106862639107
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.99352134e-14,  8.87737127e-14,  1.00000000e+00, -4.43293429e-27,
        1.00000000e+00, -8.87737127e-14, -1.00000000e+00,  0.00000000e+00,
        4.99352134e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09162072, -0.08815912,  0.06198212])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.51475592e-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,
 -8.55308242e-07, 9.76750975e-06,-4.90504162e+00,-1.83632370e-03,
  4.07100935e-05,-2.21840587e-03]


--- 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,
  9.35742400e-02,-7.00725581e-02, 1.30638509e-01, 5.03585138e-01,
  4.92552127e-01, 4.96984749e-01, 5.06754940e-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,  1.16773427, -3.77232163, -0.47671488, 16.98501404,
  -5.71235914, 55.11645767]

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: -0.0006346330901511321
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.74696767e-14,  4.37348384e-14,  1.00000000e+00, -3.82547217e-27,
        1.00000000e+00, -4.37348384e-14, -1.00000000e+00,  0.00000000e+00,
        8.74696767e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08234758, -0.03160747,  0.06198186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.55516780e-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,
 -6.37601411e-07, 1.49920490e-05,-4.90506090e+00,-1.83666060e-03,
  3.74310229e-05,-2.21477348e-03]


--- 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,
  9.35896993e-02,-7.00632008e-02, 1.30639293e-01, 5.03551969e-01,
  4.92568711e-01, 4.97086339e-01, 5.06672133e-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, -0.28282109, -3.66947062, -0.37760363, -6.33037051,
  -1.15812024, 53.72605588]

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: -0.0006429421048584251
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.71415478e-07, -6.47544516e-14,  1.00000000e+00, -1.75753604e-20,
        1.00000000e+00,  6.47544516e-14, -1.00000000e+00,  0.00000000e+00,
       -2.71415478e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09603209, -0.03292011,  0.06198162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.46044440e-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,
 -7.00219895e-08, 4.11387677e-06,-4.90503192e+00,-1.84093260e-03,
  3.73169881e-05,-2.21263920e-03]


--- 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,
  9.35983837e-02,-7.00675754e-02, 1.30637233e-01, 5.03494709e-01,
  4.92602307e-01, 4.97113626e-01, 5.06669604e-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, -1.69373494, -3.43294384, -0.71104841,-28.55979743,
   2.74116803, 48.84279378]

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([ 6.8538094 , -5.9233676 ,  3.44795876, -5.9233676 , 19.88977156,
       22.39493022,  3.44795876, 22.39493022, 45.32683452,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006507820445392637
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.52991438e-14,  2.13247860e-14,  1.00000000e+00, -1.81898599e-27,
        1.00000000e+00, -2.13247860e-14, -1.00000000e+00,  0.00000000e+00,
        8.52991438e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10978552, -0.03423801,  0.0619814 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.29292958e-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,
 -1.61307010e-06, 8.79892389e-07,-4.90501256e+00,-1.84350393e-03,
  4.05682641e-05,-2.21177222e-03]


--- 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,
  9.36004592e-02,-7.00853321e-02, 1.30631393e-01, 5.03413652e-01,
  4.92652479e-01, 4.97068867e-01, 5.06745273e-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, -1.65223028, -3.34555916, -0.94496969,-27.65382057,
   2.83856111, 47.57976548]

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([ 6.86910184, -3.60685363,  5.84595305, -3.60685363, 44.21294929,
       23.04051894,  5.84595305, 23.04051894, 21.08471029,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006526464547250005
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.27583206e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.27583206e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1097837 , -0.03423842,  0.06198135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.48424667e-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,
 -7.35776922e-07, 1.64593403e-06,-4.90500316e+00,-1.84540116e-03,
  4.31203644e-05,-2.21227182e-03]


--- 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,
  9.35960670e-02,-7.01161753e-02, 1.30620966e-01, 5.03309046e-01,
  4.92718848e-01, 4.96953920e-01, 5.06897368e-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, -1.61691591, -3.27159515, -1.14682338,-26.90090124,
   2.90762195, 46.51888582]

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([ 6.84411531, -3.96844487,  5.57614201, -3.96844487, 49.66194713,
       30.47271833,  5.57614201, 30.47271833, 28.53102759,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006496012856044425
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.54541893e-14, -4.27270947e-14,  1.00000000e+00,  3.65120923e-27,
        1.00000000e+00,  4.27270947e-14, -1.00000000e+00,  0.00000000e+00,
        8.54541893e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10978336, -0.03423639,  0.06198143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  2.26160048e-06, 4.02866358e-06,-4.90500956e+00,-1.84744881e-03,
  4.33140373e-05,-2.21430632e-03]


--- 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,
  9.35853266e-02,-7.01598558e-02, 1.30605256e-01, 5.03181095e-01,
  4.92801087e-01, 4.96770295e-01, 5.07124391e-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,
 -1.58705968e+00,-3.20934887e+00,-1.32080798e+00,-2.62790162e+01,
  2.95462825e+00, 4.56351946e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006426475390861053
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.31894218e-14,  4.31894218e-14,  1.00000000e+00, -1.86532615e-27,
        1.00000000e+00, -4.31894218e-14, -1.00000000e+00,  0.00000000e+00,
        4.31894218e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10978421, -0.03423243,  0.06198163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.07830996e-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,
  7.28797615e-06, 7.92307942e-06,-4.90503056e+00,-1.84965729e-03,
  4.13669954e-05,-2.21784016e-03]


--- 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,
  9.35752304e-02,-7.01944257e-02, 1.30596682e-01, 5.03080535e-01,
  4.92857295e-01, 4.96624198e-01, 5.07312594e-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,  0.16106571,  2.27767292,  1.78407826,  5.85948856,
  -0.3265294 ,-32.42464572]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006567040183281803
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05662425e-13,  4.22649700e-14,  1.00000000e+00,  4.46581922e-27,
        1.00000000e+00, -4.22649700e-14, -1.00000000e+00,  0.00000000e+00,
       -1.05662425e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09163278, -0.08815437,  0.06198123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  1.42777428e-05, 1.32702963e-05,-4.90506524e+00,-1.85203031e-03,
  3.74435211e-05,-2.22284238e-03]


--- 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,
  9.35657842e-02,-7.02202182e-02, 1.30593682e-01, 5.03006704e-01,
  4.92887645e-01, 4.96514180e-01, 5.07463983e-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,  0.16249337,  2.19432392,  1.39336512,  5.2018505 ,
  -0.07495445,-31.35172584]

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([ 7.04707996,  0.48948444, -7.03005981,  0.48948444, 48.92195655,
        2.91563673, -7.03005981,  2.91563673,  7.25008802,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006745322010461713
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.05739441e-14, -8.22957765e-14,  1.00000000e+00,  1.69314871e-27,
        1.00000000e+00,  8.22957765e-14, -1.00000000e+00,  0.00000000e+00,
        2.05739441e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09163678, -0.08815072,  0.06198072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.03127163e-05, 7.33738046e-06,-4.90504122e+00,-1.84870203e-03,
  4.13266576e-05,-2.22563299e-03]


--- 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,
  9.35569899e-02,-7.02375193e-02, 1.30594897e-01, 5.02959009e-01,
  4.92892345e-01, 4.96439005e-01, 5.07580226e-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,
  1.62971648e-01, 2.12286691e+00, 1.05398331e+00, 4.67390476e+00,
  1.21820734e-01,-3.04260563e+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([ 7.12667448,  0.84776479, -7.07607123,  0.84776479, 64.05056614,
        6.81989617, -7.07607123,  6.81989617,  7.94374764,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006844565118661466
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.41929418e-13,  4.05512624e-14,  1.00000000e+00, -5.75541709e-27,
        1.00000000e+00, -4.05512624e-14, -1.00000000e+00,  0.00000000e+00,
        1.41929418e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09163983, -0.088149  ,  0.06198044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.95835571e-06, 3.02104817e-06,-4.90502337e+00,-1.84578739e-03,
  4.44070532e-05,-2.22768924e-03]


--- 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,
  9.35488468e-02,-7.02465719e-02, 1.30599158e-01, 5.02936926e-01,
  4.92871608e-01, 4.96397628e-01, 5.07662704e-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,  0.16281735,  2.06213332,  0.76126271,  4.25002814,
   0.27592466,-29.63425633]

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: -0.0006879156785903201
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.03473514e-14, -4.03473514e-14,  1.00000000e+00, -1.62790876e-27,
        1.00000000e+00,  4.03473514e-14, -1.00000000e+00,  0.00000000e+00,
       -4.03473514e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09164214, -0.08814886,  0.06198034])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.07036729e-06, 2.28121260e-07,-4.90501108e+00,-1.84318937e-03,
  4.67954348e-05,-2.22901849e-03]


--- 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,
  9.35413528e-02,-7.02475807e-02, 1.30605459e-01, 5.02939998e-01,
  4.92825644e-01, 4.96389166e-01, 5.07712555e-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,  0.1622573 ,  2.01092981,  0.51017429,  3.90967314,
   0.39680919,-28.96247601]

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: -0.0006861477593436
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.02256549e-14,  4.04513098e-14,  1.00000000e+00, -8.18154234e-28,
        1.00000000e+00, -4.04513098e-14, -1.00000000e+00,  0.00000000e+00,
        2.02256549e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09164386, -0.08814999,  0.06198039])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.54159034e-06,-1.12552400e-06,-4.90500387e+00,-1.84083608e-03,
  4.85755382e-05,-2.22962924e-03]


--- 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,
  9.35345046e-02,-7.02407171e-02, 1.30612943e-01, 5.02967830e-01,
  4.92754643e-01, 4.96412877e-01, 5.07730714e-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,  0.16145365,  1.96811771,  0.29576221,  3.63639168,
   0.49184428,-28.39739913]

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: -0.0006802117647196071
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.04021579e-14,  4.08043157e-14,  1.00000000e+00, -8.32496091e-28,
        1.00000000e+00, -4.08043157e-14, -1.00000000e+00,  0.00000000e+00,
        2.04021579e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09164511, -0.08815212,  0.06198056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.07526704e-07,-1.11328107e-06,-4.90500134e+00,-1.83867406e-03,
  4.98106692e-05,-2.22953017e-03]


--- 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,
  9.35282985e-02,-7.02261228e-02, 1.30620881e-01, 5.03020085e-01,
  4.92658773e-01, 4.96468146e-01, 5.07717941e-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,
  1.60521846e-01, 1.93265252e+00, 1.13375779e-01, 3.41703311e+00,
  5.66778767e-01,-2.79267472e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006710088367983119
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.27278989e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.27278989e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.091646  , -0.08815505,  0.06198082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -2.73607277e-06, 2.02284846e-07,-4.90500320e+00,-1.83666340e-03,
  5.05486597e-05,-2.22872945e-03]


--- 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,
  9.35227305e-02,-7.02039142e-02, 1.30628654e-01, 5.03096479e-01,
  4.92538171e-01, 4.96554460e-01, 5.07674849e-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,  0.15954345,  1.90359927, -0.04122231,  3.24109087,
   0.62609772,-27.53948365]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006593020423912299
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  4.2098422e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -4.2098422e-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([ 0.09164661, -0.08815859,  0.06198116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.31811121e-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,
 -4.58800203e-06, 2.76873456e-06,-4.90500920e+00,-1.83477416e-03,
  5.08255948e-05,-2.22723442e-03]


--- 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,
  9.35177969e-02,-7.01741850e-02, 1.30635740e-01, 5.03196773e-01,
  4.92392947e-01, 4.96671398e-01, 5.07601927e-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,  0.15857534,  1.88013415, -0.17182138,  3.1001736 ,
   0.6733    ,-27.225846  ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006457343504111396
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.14914814e-14,  1.28948889e-13,  1.00000000e+00, -2.77130265e-27,
        1.00000000e+00, -1.28948889e-13, -1.00000000e+00,  0.00000000e+00,
        2.14914814e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09164699, -0.08816257,  0.06198154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.77135351e-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,
 -6.29608926e-06, 6.54269494e-06,-4.90501917e+00,-1.83298370e-03,
  5.06686101e-05,-2.22505139e-03]


--- 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,
  9.35134939e-02,-7.01370097e-02, 1.30641698e-01, 5.03320774e-01,
  4.92223179e-01, 4.96818621e-01, 5.07499556e-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,
  1.57656437e-01, 1.86153853e+00,-2.81770048e-01, 2.98757915e+00,
  7.11114124e-01,-2.69772843e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006308446671189349
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.599622e-14,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
       -6.599622e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0916472 , -0.08816687,  0.06198197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.71281433e-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,
 -7.88485853e-06, 1.14886843e-05,-4.90503298e+00,-1.83127478e-03,
  5.00979902e-05,-2.22218559e-03]


--- 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,
  9.35138750e-02,-7.01148304e-02, 1.30645539e-01, 5.03379267e-01,
  4.92130919e-01, 4.96921728e-01, 5.07430063e-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 ,  1.17103098, -3.74902092, -0.52940177, 16.26658631,
  -6.40513931, 55.00828656]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006183305752279766
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08230315, -0.03161922,  0.06198232])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.43692714e-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,
 -9.37274820e-06, 1.75779504e-05,-4.90505055e+00,-1.82963414e-03,
  4.91287441e-05,-2.21864115e-03]


--- 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,
  9.35187883e-02,-7.01072334e-02, 1.30646230e-01, 5.03373591e-01,
  4.92113796e-01, 4.96982811e-01, 5.07392477e-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,  1.13303866, -3.64554536, -0.78736234, 16.11074465,
  -5.84583187, 53.32011165]

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([ 6.65616679, -4.96309058,  4.43534534, -4.96309058, 21.52605443,
       16.63920024,  4.43534534, 16.63920024, 25.27520356,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006268506995377454
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.42778091e-14, -4.42778091e-14,  1.00000000e+00,  1.96052438e-27,
        1.00000000e+00,  4.42778091e-14, -1.00000000e+00,  0.00000000e+00,
        4.42778091e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08230099, -0.03162463,  0.06198208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.33261027e-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,
 -3.21351868e-06, 6.02065663e-06,-4.90501824e+00,-1.83352427e-03,
  4.62240268e-05,-2.21625249e-03]


--- 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,
  9.35281062e-02,-7.01138646e-02, 1.30642879e-01, 5.03304904e-01,
  4.92169789e-01, 4.97003578e-01, 5.07385963e-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,  1.10117334, -3.55706618, -1.01077889, 15.95827973,
  -5.39274515, 51.89513139]

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([ 6.67804797, -5.29994571,  4.06286847, -5.29994571, 23.05298281,
       21.36083565,  4.06286847, 21.36083565, 34.54290999,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006294877114688263
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.32276970e-13, -1.32276970e-13,  1.00000000e+00,  1.74971967e-26,
        1.00000000e+00,  1.32276970e-13, -1.00000000e+00,  0.00000000e+00,
        1.32276970e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08229862, -0.03162659,  0.06198201])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.63201464e-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,
 -7.27306418e-07, 9.85786291e-07,-4.90500369e+00,-1.83640472e-03,
  4.56005743e-05,-2.21537275e-03]


--- 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,
  9.35417226e-02,-7.01344233e-02, 1.30634712e-01, 5.03174182e-01,
  4.92297188e-01, 4.96985421e-01, 5.07409807e-01]

qacc:
[ -7.92127795, -0.25072677, -2.084859  , 11.33284147, -1.87697315,
  -2.66812387, 12.32492082,-25.38973726, -3.16910047, -0.35800721,
   1.57008755, -4.65005565, -0.72508911,  0.47019238,  4.38741834,
 -18.52464185,  1.07459994, -3.48188885, -1.20374647, 15.81604869,
  -5.02436596, 50.70031338]

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([ 6.66047101, -5.60721096,  3.59458749, -5.60721096, 23.17902781,
       25.76736079,  3.59458749, 25.76736079, 46.85507699,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006273692263419062
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.42412131e-14, -1.32723639e-13,  1.00000000e+00,  5.87185480e-27,
        1.00000000e+00,  1.32723639e-13, -1.00000000e+00,  0.00000000e+00,
        4.42412131e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08229607, -0.03162578,  0.06198207])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.64742094e-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,
 -1.52203674e-06, 1.95447946e-06,-4.90500541e+00,-1.83852459e-03,
  4.71357866e-05,-2.21593913e-03]


--- 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,
  9.35594956e-02,-7.01679041e-02, 1.30622318e-01, 5.02985136e-01,
  4.92491174e-01, 4.96931950e-01, 5.07461362e-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,  1.03916959, -3.23049992, -1.05689982, 15.26367042,
  -4.46400532, 47.0079088 ]

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: -0.0006213944347251591
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.16845650e-06,  1.16845668e-06,  1.00000000e+00,  1.36529081e-12,
        1.00000000e+00, -1.16845668e-06, -1.00000000e+00,  0.00000000e+00,
       -1.16845650e-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([ 0.08284967, -0.03498636,  0.06198223])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -5.30585703e-06, 8.53858791e-06,-4.90502225e+00,-1.84006642e-03,
  5.07296579e-05,-2.21790099e-03]


--- 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,
  9.35781235e-02,-7.01926295e-02, 1.30615590e-01, 5.02824702e-01,
  4.92654396e-01, 4.96913867e-01, 5.07479630e-01]

qacc:
[-2.81719305e+00,-5.03561919e-01, 4.29840983e+00,-1.39425687e+01,
  2.21125082e+00, 3.33399510e-01,-2.79470866e+00, 1.06797381e+01,
  3.75941263e+00, 5.41393875e-02,-1.85512791e+00, 6.31945970e+00,
 -5.40916114e-01,-2.27127343e-02,-6.60184430e+00, 1.89072414e+01,
  2.13719023e-01, 2.18882982e+00, 1.41659521e+00, 2.46694815e+00,
  1.39966198e+00,-3.19894105e+01]

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: -0.0006411518871377031
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.16450861e-14,  8.65803444e-14,  1.00000000e+00,  1.87403901e-27,
        1.00000000e+00, -8.65803444e-14, -1.00000000e+00,  0.00000000e+00,
       -2.16450861e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09164453, -0.08816493,  0.06198167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.64418887e-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,
 -1.15277765e-05, 1.97120952e-05,-4.90505140e+00,-1.84121277e-03,
  5.60143436e-05,-2.22113769e-03]


--- 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,
  9.35975795e-02,-7.02088697e-02, 1.30613192e-01, 5.02691895e-01,
  4.92788125e-01, 4.96930147e-01, 5.07465420e-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,  0.20702584,  2.12129835,  1.08233236,  2.56857116,
   1.25879073,-30.96733874]

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: -0.0006538322830766524
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.12253022e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.12253022e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09164363, -0.08816168,  0.06198131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -9.72541225e-06, 1.22153808e-05,-4.90503454e+00,-1.84319096e-03,
  5.38310473e-05,-2.22343752e-03]


--- 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,
  9.36178426e-02,-7.02168563e-02, 1.30613963e-01, 5.02585874e-01,
  4.92893429e-01, 4.96979908e-01, 5.07419430e-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,  0.20176168,  2.06341216,  0.792374  ,  2.64717765,
   1.14180631,-30.09665249]

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: -0.0006599028401347018
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.41201884e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.41201884e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09164282, -0.08816022,  0.06198114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -8.02275004e-06, 6.60303472e-06,-4.90502345e+00,-1.84511972e-03,
  5.13168468e-05,-2.22495813e-03]


--- 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,
  9.36388966e-02,-7.02167859e-02, 1.30616903e-01, 5.02505928e-01,
  4.92971201e-01, 4.97062398e-01, 5.07342251e-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,  0.19772619,  2.01425065,  0.54239445,  2.70935452,
   1.04393796,-29.36039814]

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: -0.0006605914218288655
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.68065008e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.68065008e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0916421 , -0.0881602 ,  0.06198112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -6.37333440e-06, 2.69409706e-06,-4.90501759e+00,-1.84703202e-03,
  4.84607231e-05,-2.22572139e-03]


--- 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,
  9.36607295e-02,-7.02088240e-02, 1.30621155e-01, 5.02451456e-01,
  4.93022184e-01, 4.97176980e-01, 5.07234375e-01]

qacc:
[ -3.7742786 ,  1.21079245, -7.23605565, 17.92999705, -2.11203124,
   1.11745068, -4.62344877,  7.15254181,  1.61039428,  0.06352766,
   1.35866377, -4.95513783, -1.33547412,  2.24471915,  7.43936964,
 -29.14497361,  0.19474451,  1.9728804 ,  0.32794801,  2.76004313,
   0.96134534,-28.74268006]

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: -0.0006569531174422799
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.44978884e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.44978884e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09164142, -0.08816135,  0.06198122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -4.74288751e-06, 3.42891002e-07,-4.90501653e+00,-1.84895252e-03,
  4.52544446e-05,-2.22574581e-03]


--- 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,
  9.36833331e-02,-7.01931084e-02, 1.30625987e-01, 5.02421953e-01,
  4.93046993e-01, 4.97323118e-01, 5.07096204e-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,  0.19266604,  1.93841081,  0.14474942,  2.80294561,
   0.89094343,-28.22907925]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006498894101638203
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.40622278e-14,  4.27081519e-14,  1.00000000e+00,  2.73597935e-27,
        1.00000000e+00, -4.27081519e-14, -1.00000000e+00,  0.00000000e+00,
       -6.40622278e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09164078, -0.08816341,  0.06198142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.46115647e-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,
 -3.10584522e-06,-5.67481959e-07,-4.90501995e+00,-1.85089993e-03,
  4.16914325e-05,-2.22504690e-03]


--- 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,
  9.37067022e-02,-7.01697527e-02, 1.30630773e-01, 5.02416999e-01,
  4.93046131e-01, 4.97500367e-01, 5.06928060e-01]

qacc:
[ 1.56466428e+00,-1.67707667e+00, 9.22347676e+00,-2.34190837e+01,
  1.17490021e+00,-1.09240539e+00, 4.59094035e+00,-8.46088962e+00,
 -4.38943479e+00,-1.55052955e+00, 2.99101454e+00, 4.60011903e+00,
 -9.49527737e-01, 1.29109714e+00,-2.02117996e+01, 6.67523893e+01,
  1.91362341e-01, 1.91002199e+00,-1.11796672e-02, 2.84082873e+00,
  8.30257160e-01,-2.78067881e+01]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006401665394502737
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.213321e-14,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
        9.213321e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09164017, -0.08816619,  0.0619817 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.44287252e-06,-1.30662881e-07,-4.90502760e+00,-1.85288869e-03,
  3.77659959e-05,-2.22363754e-03]


--- 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,
  9.37232186e-02,-7.01604046e-02, 1.30633381e-01, 5.02385939e-01,
  4.93062867e-01, 4.97602646e-01, 5.06842169e-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, -1.71316565, -3.50188701, -0.54485532,-28.60593088,
   3.47795545, 50.13910585]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006362765413512467
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.36218748e-14,  4.36218748e-14,  1.00000000e+00, -1.90286796e-27,
        1.00000000e+00, -4.36218748e-14, -1.00000000e+00,  0.00000000e+00,
        4.36218748e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1097358 , -0.0342172 ,  0.06198181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.18872810e-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,
  2.60918270e-07, 1.57838288e-06,-4.90503927e+00,-1.85493018e-03,
  3.34728185e-05,-2.22152829e-03]


--- 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,
  9.37330705e-02,-7.01646820e-02, 1.30632792e-01, 5.02329382e-01,
  4.93096704e-01, 4.97632328e-01, 5.06836165e-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, -1.66612257, -3.40636115, -0.79897714,-27.69261254,
   3.46872624, 48.6804171 ]

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([ 6.78662569, -5.12863583,  4.44470278, -5.12863583, 28.92236076,
       25.54189326,  4.44470278, 25.54189326, 36.25880311,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006426155115612092
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.63831486e-14,  2.15957872e-14,  1.00000000e+00, -1.86551209e-27,
        1.00000000e+00, -2.15957872e-14, -1.00000000e+00,  0.00000000e+00,
        8.63831486e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10973362, -0.03422032,  0.06198163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.51820593e-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,
 -1.49476070e-06, 7.07090970e-07,-4.90501287e+00,-1.85636899e-03,
  3.86004904e-05,-2.22026566e-03]


--- 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,
  9.37364185e-02,-7.01822595e-02, 1.30628128e-01, 5.02247838e-01,
  4.93147209e-01, 4.97591385e-01, 5.06908032e-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, -1.62598182, -3.32504369, -1.01869462,-26.92566785,
   3.45364164, 47.45032955]

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([ 6.79224638, -5.28093438,  4.27157382, -5.28093438, 31.90067744,
       31.04148084,  4.27157382, 31.04148084, 45.16873952,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006432973175699991
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.62915944e-14,  1.51010290e-13,  1.00000000e+00,  1.30309187e-26,
        1.00000000e+00, -1.51010290e-13, -1.00000000e+00,  0.00000000e+00,
       -8.62915944e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10973295, -0.03422051,  0.06198161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.68384834e-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,
 -8.40257885e-07, 1.57435653e-06,-4.90500328e+00,-1.85815961e-03,
  4.12016660e-05,-2.22063385e-03]


--- 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,
  9.37333987e-02,-7.02128620e-02, 1.30618632e-01, 5.02141723e-01,
  4.93214009e-01, 4.97481443e-01, 5.07056057e-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,
 -1.59194425e+00,-3.25625115e+00,-1.20822829e+00,-2.62856456e+01,
  3.43447705e+00, 4.64205079e+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: -0.0006394296731146998
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.68135364e-14, -1.73627073e-13,  1.00000000e+00,  1.50731802e-26,
        1.00000000e+00,  1.73627073e-13, -1.00000000e+00,  0.00000000e+00,
        8.68135364e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10973349, -0.03421835,  0.06198172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.00845647e-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,
  2.05518986e-06, 4.03445318e-06,-4.90500909e+00,-1.86026800e-03,
  4.15290838e-05,-2.22257805e-03]


--- 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,
  9.37257435e-02,-7.02341020e-02, 1.30613508e-01, 5.02087003e-01,
  4.93235649e-01, 4.97387258e-01, 5.07181577e-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, -1.15884204,  2.34060652,  1.09306783,-14.42008834,
  -2.92856283,-33.79988172]

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([ 6.86291901,  0.56496647,  6.83962501,  0.56496647, 68.96474436,
       -5.12973287,  6.83962501, -5.12973287,  7.28664503,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006518923983142438
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.86274059e-14, -8.51538557e-14,  1.00000000e+00, -1.58619544e-27,
        1.00000000e+00,  8.51538557e-14, -1.00000000e+00,  0.00000000e+00,
       -1.86274059e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10227545, -0.08998577,  0.06198137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.01802022e-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,
  7.06581443e-06, 7.99338353e-06,-4.90502923e+00,-1.86266580e-03,
  3.97768941e-05,-2.22605268e-03]


--- 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,
  9.37162878e-02,-7.02465472e-02, 1.30612180e-01, 5.02069892e-01,
  4.93222801e-01, 4.97318700e-01, 5.07278231e-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, -0.45013993,  2.19872963,  0.94901129, -4.25521339,
  -1.29261813,-31.68069662]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006615325401625034
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.09782391e-14, -3.95871749e-07,  1.00000000e+00,  8.30469221e-21,
        1.00000000e+00,  3.95871749e-07, -1.00000000e+00,  0.00000000e+00,
        2.09782391e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09671061, -0.08903054,  0.06198109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.81132796e-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,
  4.42184183e-06, 1.63073082e-06,-4.90501606e+00,-1.85941901e-03,
  4.02542561e-05,-2.22812949e-03]


--- 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,
  9.37075377e-02,-7.02507389e-02, 1.30613866e-01, 5.02078041e-01,
  4.93185292e-01, 4.97284087e-01, 5.07340562e-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,  0.17641423,  2.06337218,  0.75348018,  4.72434645,
   0.03068638,-29.52631924]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006661141877314508
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.08339472e-14,  8.33357887e-14,  1.00000000e+00,  1.73621342e-27,
        1.00000000e+00, -8.33357887e-14, -1.00000000e+00,  0.00000000e+00,
       -2.08339472e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09165657, -0.08816482,  0.06198096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.51468291e-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,
  1.77938088e-06,-1.02972185e-06,-4.90500784e+00,-1.85689415e-03,
  4.19722930e-05,-2.22914866e-03]


--- 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,
  9.36994927e-02,-7.02468774e-02, 1.30617583e-01, 5.02111052e-01,
  4.93123211e-01, 4.97282552e-01, 5.07369739e-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,  0.17625394,  2.01329833,  0.50791027,  4.33463098,
   0.17976196,-28.89631523]

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: -0.0006656533794127673
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.25090219e-13,  4.16967396e-14,  1.00000000e+00,  5.21585428e-27,
        1.00000000e+00, -4.16967396e-14, -1.00000000e+00,  0.00000000e+00,
       -1.25090219e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09165861, -0.08816573,  0.06198098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -2.33569883e-07,-1.34649726e-06,-4.90500313e+00,-1.85490139e-03,
  4.37555746e-05,-2.22930444e-03]


--- 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,
  9.36921505e-02,-7.02351302e-02, 1.30622491e-01, 5.02168581e-01,
  4.93036652e-01, 4.97313368e-01, 5.07366722e-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,  0.17572868,  1.9714109 ,  0.29759416,  4.02155136,
   0.29745171,-28.36509775]

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: -0.0006610319203439741
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.39765063e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.39765063e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09166012, -0.08816762,  0.06198111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.53302614e-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,
 -1.95382566e-06,-3.52355828e-07,-4.90500304e+00,-1.85312477e-03,
  4.49663203e-05,-2.22875580e-03]


--- 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,
  9.36855083e-02,-7.02156362e-02, 1.30627871e-01, 5.02250328e-01,
  4.92925702e-01, 4.97375925e-01, 5.07332287e-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,  0.17498589,  1.9367125 ,  0.1181906 ,  3.77003741,
   0.39062416,-27.92212632]

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: -0.000653131007607069
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06240461e-13,  8.49923684e-14,  1.00000000e+00, -9.02962836e-27,
        1.00000000e+00, -8.49923684e-14, -1.00000000e+00,  0.00000000e+00,
        1.06240461e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0916612 , -0.08817028,  0.06198133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00802412e-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,
 -3.44277452e-06, 1.90222647e-06,-4.90500728e+00,-1.85152079e-03,
  4.56559543e-05,-2.22750900e-03]


--- 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,
  9.36795626e-02,-7.01885090e-02, 1.30633115e-01, 5.02356041e-01,
  4.92790435e-01, 4.97469721e-01, 5.07267062e-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,  0.17413137,  1.90830445, -0.03429715,  3.56805237,
   0.46465369,-27.55772135]

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: -0.0006426985832842513
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.15929958e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.15929958e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09166196, -0.08817354,  0.06198163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.91701598e-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,
 -4.74567341e-06, 5.37372604e-06,-4.90501566e+00,-1.85005711e-03,
  4.58632158e-05,-2.22556995e-03]


--- 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,
  9.36743099e-02,-7.01538402e-02, 1.30637704e-01, 5.02485507e-01,
  4.92630906e-01, 4.97594342e-01, 5.07171546e-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,  0.17324036,  1.88539062, -0.16347243,  3.40598503,
   0.52374531,-27.26317683]

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: -0.0006303662603711346
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.65115767e-14, -8.80617424e-14,  1.00000000e+00, -1.45403821e-27,
        1.00000000e+00,  8.80617424e-14, -1.00000000e+00,  0.00000000e+00,
       -1.65115767e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09166245, -0.08817726,  0.06198198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.88979423e-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,
 -5.89589000e-06, 1.00253465e-05,-4.90502799e+00,-1.84870958e-03,
  4.56171885e-05,-2.22294389e-03]


--- 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,
  9.36622640e-02,-7.01331423e-02, 1.30639969e-01, 5.02590481e-01,
  4.92488765e-01, 4.97643227e-01, 5.07157612e-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, -1.69829711, -3.49272269, -0.58120037,-29.10157511,
   2.75196885, 49.68849299]

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: -0.0006313207967563184
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -2.1982149e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  2.1982149e-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([ 0.10972368, -0.03421101,  0.06198195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.35099119e-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,
 -6.91804764e-06, 1.58264482e-05,-4.90504416e+00,-1.84746006e-03,
  4.49395761e-05,-2.21963522e-03]


--- 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,
  9.36435878e-02,-7.01260334e-02, 1.30638917e-01, 5.02671328e-01,
  4.92363532e-01, 4.97618852e-01, 5.07222995e-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, -1.6575882 , -3.39727281, -0.82928846,-28.12309448,
   2.83646227, 48.29707721]

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([ 6.74253219, -3.39028263,  5.82818359, -3.39028263, 39.78357853,
       19.22013672,  5.82818359, 19.22013672, 17.92297882,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006372749321280902
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.35535343e-14, -2.17767672e-14,  1.00000000e+00, -9.48455175e-28,
        1.00000000e+00,  2.17767672e-14, -1.00000000e+00,  0.00000000e+00,
       -4.35535343e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10972051, -0.03421348,  0.06198179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.47682927e-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,
 -8.58739358e-06, 6.29907585e-06,-4.90502154e+00,-1.84712337e-03,
  4.62257292e-05,-2.21832868e-03]


--- 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,
  9.36184195e-02,-7.01321885e-02, 1.30633689e-01, 5.02728380e-01,
  4.92254791e-01, 4.97523255e-01, 5.07365754e-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, -1.62300567, -3.31595744, -1.04391955,-27.31163609,
   2.88610664, 47.11927761]

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([ 6.74616349, -3.78549552,  5.5839722 , -3.78549552, 45.20050923,
       26.06903264,  5.5839722 , 26.06903264, 24.41892452,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006377142351031845
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.70470631e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.70470631e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10971905, -0.03421319,  0.06198177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.14434695e-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,
 -8.03702849e-06,-1.28781418e-06,-4.90501555e+00,-1.84691318e-03,
  4.50778484e-05,-2.21858232e-03]


--- 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,
  9.35868757e-02,-7.01513318e-02, 1.30623544e-01, 5.02761927e-01,
  4.92162178e-01, 4.97358099e-01, 5.07584236e-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, -1.59389626, -3.24707817, -1.22920126,-26.64334033,
   2.90856076, 46.12943701]

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: -0.0006337195565539883
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.75957680e-14,  6.56968260e-14,  1.00000000e+00, -5.75476392e-27,
        1.00000000e+00, -6.56968260e-14, -1.00000000e+00,  0.00000000e+00,
        8.75957680e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10971895, -0.03421069,  0.06198188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.12679945e-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,
 -5.37405667e-06,-7.11135743e-06,-4.90502483e+00,-1.84684067e-03,
  4.17356070e-05,-2.22035271e-03]


--- 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,
  9.35558738e-02,-7.01618142e-02, 1.30618053e-01, 5.02821002e-01,
  4.92045959e-01, 4.97228556e-01, 5.07765277e-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,  0.13549676,  2.16524087,  1.16362969,  6.13277796,
  -0.61800588,-30.52534219]

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([  6.69792368,   1.82911965,   6.44333011,   1.82911965,
        55.57402137, -13.87484873,   6.44333011, -13.87484873,
        10.63668795,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006318852814261589
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.94156510e-14, -1.75700093e-13,  1.00000000e+00,  8.68233446e-27,
        1.00000000e+00,  1.75700093e-13, -1.00000000e+00,  0.00000000e+00,
        4.94156510e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09167804, -0.08818184,  0.06198193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.28925755e-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,
 -6.80439751e-07,-1.12935251e-05,-4.90504833e+00,-1.84690636e-03,
  3.63794464e-05,-2.22360149e-03]


--- 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,
  9.35254244e-02,-7.01638883e-02, 1.30616029e-01, 5.02905306e-01,
  4.91905758e-01, 4.97133488e-01, 5.07910694e-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,  0.13811238,  2.10204838,  0.86652759,  5.37295448,
  -0.28086214,-29.80479088]

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([ 6.7715253 , -0.05774685, -6.77127907, -0.05774685, 51.29354036,
       -0.37969284, -6.77127907, -0.37969284,  6.7747634 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006407849771101204
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.41436999e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.41436999e-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([ 0.09168252, -0.08818079,  0.06198168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.73836641e-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,
 -5.57746067e-06,-1.01237233e-05,-4.90503767e+00,-1.84159992e-03,
  4.22214200e-05,-2.22387341e-03]


--- 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,
  9.34955319e-02,-7.01577686e-02, 1.30616442e-01, 5.03014554e-01,
  4.91741314e-01, 4.97071929e-01, 5.08021984e-01]

qacc:
[-1.22284274e+00,-9.19140858e-01, 2.00699835e+00, 1.66608493e+00,
  1.68490746e+00, 1.86756338e+00,-7.54327458e+00, 1.42931750e+01,
  4.49642249e+00, 3.43157667e+00,-1.64042253e+01, 3.58837888e+01,
 -1.08362680e+00, 1.39006962e+00, 3.39950547e+00,-1.39172666e+01,
  1.39237367e-01, 2.04848748e+00, 6.09297693e-01, 4.76152070e+00,
 -1.17211863e-02,-2.91841930e+01]

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([ 6.79796776,  0.27542477, -6.79238595,  0.27542477, 66.24555478,
        2.41054292, -6.79238595,  2.41054292,  6.89571298,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006439915910893546
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.15859757e-14, -1.72397131e-13,  1.00000000e+00,  1.57891594e-26,
        1.00000000e+00,  1.72397131e-13, -1.00000000e+00,  0.00000000e+00,
        9.15859757e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09168597, -0.08818103,  0.06198159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.25560498e-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,
 -1.00308834e-05,-7.79191172e-06,-4.90503240e+00,-1.83666929e-03,
  4.72917166e-05,-2.22349917e-03]


--- 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,
  9.34701804e-02,-7.01662192e-02, 1.30613829e-01, 5.03058669e-01,
  4.91653148e-01, 4.96967663e-01, 5.08165622e-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,  1.13524259, -3.64260063, -0.75660015, 16.31125265,
  -5.97479849, 54.13867142]

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([ 6.81096437,  1.0706874 , -6.7262816 ,  1.0706874 , 61.52309366,
        8.70905965, -6.7262816 ,  8.70905965,  8.19726976,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006455696605198319
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.59878563e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.59878563e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08225968, -0.03166711,  0.06198154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.27164644e-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,
 -1.41536523e-05,-4.29706902e-06,-4.90503207e+00,-1.83201701e-03,
  5.16948507e-05,-2.22246692e-03]


--- 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,
  9.34480612e-02,-7.01663127e-02, 1.30614183e-01, 5.03117480e-01,
  4.91548234e-01, 4.96908281e-01, 5.08266952e-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,  0.8080694 ,  2.08928755,  0.74210006, 14.09184834,
   1.49283166,-29.57065797]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006497156714055513
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.27195723e-14,  8.54391447e-14,  1.00000000e+00, -3.64992372e-27,
        1.00000000e+00, -8.54391447e-14, -1.00000000e+00,  0.00000000e+00,
        4.27195723e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623138, -0.08829238,  0.06198143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.39040257e-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,
 -3.05321394e-06,-6.17038843e-06,-4.90502342e+00,-1.83259491e-03,
  4.66002296e-05,-2.22220930e-03]


--- 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,
  9.34302898e-02,-7.01704447e-02, 1.30617880e-01, 5.03146909e-01,
  4.91475981e-01, 4.96847607e-01, 5.08366997e-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,  1.08695446, -1.00962665,  0.83549052, 15.42845371,
  -1.64120329, 15.57552712]

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([ 6.85988652,  0.57360742, -6.83586261,  0.57360742, 53.43014504,
        3.90777978, -6.83586261,  3.90777978,  7.18779415,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006515226881226195
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.52021768e-14, -3.85622411e-07,  1.00000000e+00,  3.28558688e-20,
        1.00000000e+00,  3.85622411e-07, -1.00000000e+00,  0.00000000e+00,
        8.52021768e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08429099, -0.0606508 ,  0.06198137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.10198814e-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,
 -5.41109913e-06,-4.18578450e-06,-4.90501556e+00,-1.82902779e-03,
  5.04070392e-05,-2.22178625e-03]


--- 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,
  9.34156317e-02,-7.01665428e-02, 1.30623026e-01, 5.03190793e-01,
  4.91386923e-01, 4.96830292e-01, 5.08426571e-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,  0.77834543,  2.00847017,  0.36221291, 13.29506275,
   1.64373232,-28.68499005]

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: -0.000650980659821887
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.27909678e-13, -8.52731189e-14,  1.00000000e+00,  1.09072572e-26,
        1.00000000e+00,  8.52731189e-14, -1.00000000e+00,  0.00000000e+00,
        1.27909678e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623497, -0.08829359,  0.06198139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.23637283e-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,
 -1.88663574e-06,-3.69274929e-06,-4.90501032e+00,-1.82811615e-03,
  4.99583639e-05,-2.22162534e-03]


--- 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,
  9.34053356e-02,-7.01767221e-02, 1.30623789e-01, 5.03173008e-01,
  4.91370575e-01, 4.96771915e-01, 5.08517007e-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,  1.09047547, -3.5203135 , -1.09559048, 15.34032913,
  -5.91303113, 51.59272631]

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([ 6.82850648,  0.61949525, -6.80034752,  0.61949525, 51.67951477,
        4.08581862, -6.80034752,  4.08581862,  7.2007147 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006477018564702425
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08224765, -0.03167275,  0.06198149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.21852171e-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,
 -3.88763652e-06,-1.82079822e-06,-4.90500691e+00,-1.82532704e-03,
  5.21856718e-05,-2.22091266e-03]


--- 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,
  9.33982235e-02,-7.01787514e-02, 1.30626685e-01, 5.03170246e-01,
  4.91336309e-01, 4.96757574e-01, 5.08566857e-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,  0.79599939,  2.03752985,  0.533084  , 13.07878805,
   1.93170638,-29.30044656]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006493814659601777
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.54831161e-14,  2.56449348e-13,  1.00000000e+00, -2.19220894e-26,
        1.00000000e+00, -2.56449348e-13, -1.00000000e+00,  0.00000000e+00,
        8.54831161e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623714, -0.08829494,  0.06198144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
  1.66996415e-06,-1.13589003e-06,-4.90500614e+00,-1.82662386e-03,
  5.04583290e-05,-2.22126611e-03]


--- 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,
  9.33942327e-02,-7.01728054e-02, 1.30630831e-01, 5.03182245e-01,
  4.91284321e-01, 4.96786272e-01, 5.08577176e-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 ,  0.78032808,  1.99380898,  0.31244151, 12.67720385,
   1.95650617,-28.67404548]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006477678233726553
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.28480308e-14,  8.56960615e-14,  1.00000000e+00, -3.67190748e-27,
        1.00000000e+00, -8.56960615e-14, -1.00000000e+00,  0.00000000e+00,
        4.28480308e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623775, -0.08829571,  0.06198148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.49184554e-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,
 -1.22600432e-07,-9.23920861e-07,-4.90500116e+00,-1.82484909e-03,
  5.20348206e-05,-2.22118167e-03]


--- 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,
  9.33933101e-02,-7.01590304e-02, 1.30635470e-01, 5.03208782e-01,
  4.91214778e-01, 4.96857170e-01, 5.08548833e-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 ,  0.76704625,  1.95723825,  0.12342383, 12.34710908,
   1.97295916,-28.15020278]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006424357641768852
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.64073178e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.64073178e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623781, -0.08829745,  0.06198164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.74863759e-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,
 -1.65750253e-06, 3.22616972e-07,-4.90500157e+00,-1.82324866e-03,
  5.24384158e-05,-2.22035710e-03]


--- 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,
  9.33968352e-02,-7.01595735e-02, 1.30636272e-01, 5.03173441e-01,
  4.91218815e-01, 4.96886037e-01, 5.08551698e-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,  1.11195272, -3.57950092, -0.95932205, 15.27013818,
  -6.24697337, 52.18842791]

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([ 6.78352109,  0.70815731, -6.74645622,  0.70815731, 59.73850727,
        5.55854201, -6.74645622,  5.55854201,  7.36698624,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006422390177714399
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.32168941e-14, -8.64337882e-14,  1.00000000e+00,  3.73539987e-27,
        1.00000000e+00,  8.64337882e-14, -1.00000000e+00,  0.00000000e+00,
        4.32168941e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08223247, -0.03167223,  0.06198164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -2.96756525e-06, 2.55787457e-06,-4.90500706e+00,-1.82180812e-03,
  5.17359486e-05,-2.21880243e-03]


--- 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,
  9.34046861e-02,-7.01741158e-02, 1.30632428e-01, 5.03077028e-01,
  4.91294637e-01, 4.96874576e-01, 5.08585036e-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, 1.08142331,-3.49982379,
 -1.16145459,15.2351502 ,-5.74219353,50.93523457]

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([ 6.76688858, -4.59695027,  4.96576572, -4.59695027, 29.89848113,
       21.41357175,  4.96576572, 21.41357175, 26.59003971,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006402232321968543
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08222876, -0.03167153,  0.0619817 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.00892483e-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,
 -3.08681659e-07, 9.44123786e-07,-4.90500092e+00,-1.82478114e-03,
  5.17015419e-05,-2.21859475e-03]


--- 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,
  9.34158155e-02,-7.01804029e-02, 1.30631317e-01, 5.02996249e-01,
  4.91351135e-01, 4.96907664e-01, 5.08578026e-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 ,  0.81962496,  2.06381373,  0.6834408 , 12.65068952,
   2.32436679,-29.86897479]

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: -0.0006400024364152657
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623803, -0.0882986 ,  0.06198171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.28028920e-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,
 -8.49797052e-07, 4.97786930e-06,-4.90501015e+00,-1.82692057e-03,
  5.37034956e-05,-2.21981886e-03]


--- 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,
  9.34301533e-02,-7.01786241e-02, 1.30631979e-01, 5.02930711e-01,
  4.91388828e-01, 4.96984250e-01, 5.08531588e-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,  0.80210998,  2.01647633,  0.44293507, 12.38350476,
   2.24827383,-29.15013682]

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: -0.0006415740689907634
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.65233711e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.65233711e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623803, -0.08829827,  0.06198166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.44992344e-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,
 -1.77048708e-06, 2.95635097e-06,-4.90500693e+00,-1.82734326e-03,
  5.27626771e-05,-2.22018652e-03]


--- 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,
  9.34476415e-02,-7.01689391e-02, 1.30633585e-01, 5.02880077e-01,
  4.91408151e-01, 4.97103444e-01, 5.08446481e-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,  0.78758178,  1.97654016,  0.2360063 , 12.16162543,
   2.1811039 ,-28.5468581 ]

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: -0.0006388759495941226
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.34443895e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.34443895e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623763, -0.08829912,  0.06198174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -2.50123548e-06, 2.10967748e-06,-4.90500920e+00,-1.82787363e-03,
  5.07054318e-05,-2.21978806e-03]


--- 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,
  9.34682324e-02,-7.01514814e-02, 1.30635425e-01, 5.02844061e-01,
  4.91409467e-01, 4.97264501e-01, 5.08323325e-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,
  7.75709002e-01, 1.94318722e+00, 5.86944443e-02, 1.19801118e+01,
  2.12138511e+00,-2.80451817e+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: -0.0006327837510888418
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.38626554e-14,  8.77253108e-14,  1.00000000e+00,  3.84786508e-27,
        1.00000000e+00, -8.77253108e-14, -1.00000000e+00,  0.00000000e+00,
       -4.38626554e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0862369 , -0.08830089,  0.06198191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.11386382e-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,
 -3.05459696e-06, 2.35335489e-06,-4.90501662e+00,-1.82852168e-03,
  4.75825035e-05,-2.21864079e-03]


--- 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,
  9.34933174e-02,-7.01483871e-02, 1.30633523e-01, 5.02745685e-01,
  4.91484471e-01, 4.97383848e-01, 5.08231343e-01]

qacc:
[ 2.24464589e+00,-1.83459744e+00, 7.53796408e+00,-1.31831075e+01,
  4.33200573e+00, 3.21202603e+00,-1.41817636e+01, 2.69124354e+01,
 -3.96375069e-02,-2.47801567e+00, 9.10213410e+00,-1.33668425e+01,
 -1.27126807e+00, 2.06338034e+00, 8.94800811e+00,-3.38196016e+01,
  1.12349834e+00,-3.59087196e+00,-9.35659235e-01, 1.54973978e+01,
 -6.05058352e+00, 5.22577708e+01]

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([ 6.69946839,  0.78398124, -6.65343897,  0.78398124, 67.67633831,
        7.18496443, -6.65343897,  7.18496443,  7.5460798 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000632071710998966
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.39120675e-14, -2.19560337e-14,  1.00000000e+00,  9.64134834e-28,
        1.00000000e+00,  2.19560337e-14, -1.00000000e+00,  0.00000000e+00,
        4.39120675e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08221049, -0.03166886,  0.06198193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30536933e-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,
 -3.44159413e-06, 3.61779533e-06,-4.90502892e+00,-1.82929522e-03,
  4.34323057e-05,-2.21675896e-03]


--- 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,
  9.35227823e-02,-7.01593299e-02, 1.30627058e-01, 5.02585743e-01,
  4.91631365e-01, 4.97463190e-01, 5.08169801e-01]

qacc:
[-1.71059000e+00,-1.08754853e+00, 4.48243987e+00,-7.90123109e+00,
 -5.83265428e-01,-5.68972077e-01, 3.32101968e+00,-8.85617214e+00,
  2.62626040e-02,-3.54503473e+00, 1.26979877e+01,-1.64486576e+01,
 -1.56582690e+00, 2.94599333e+00, 1.51393387e+00,-7.89896280e+00,
  1.09497403e+00,-3.50925053e+00,-1.14052552e+00, 1.54637391e+01,
 -5.53365575e+00, 5.10052326e+01]

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([ 6.692092  , -4.54365625,  4.91317445, -4.54365625, 30.95818875,
       22.44105176,  4.91317445, 22.44105176, 27.4453598 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006311815854279645
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.39739946e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.39739946e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08220711, -0.03166865,  0.06198196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.00617887e-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,
 -6.58241106e-06, 2.63838742e-06,-4.90502554e+00,-1.83404523e-03,
  4.69642755e-05,-2.21669920e-03]


--- 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,
  9.35529862e-02,-7.01619886e-02, 1.30623863e-01, 5.02452972e-01,
  4.91749360e-01, 4.97576305e-01, 5.08076174e-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,  0.18476648,  2.07103255,  0.81717943,  2.62103073,
   1.18463631,-30.45643046]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006320411713282431
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.37231841e-13, -1.75656757e-13,  1.00000000e+00,  2.41057002e-26,
        1.00000000e+00,  1.75656757e-13, -1.00000000e+00,  0.00000000e+00,
        1.37231841e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09169644, -0.08818449,  0.06198193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.41006103e-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,
 -1.28397473e-05, 7.40117126e-06,-4.90503769e+00,-1.83801074e-03,
  5.24473255e-05,-2.21801896e-03]


--- 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,
  9.35839211e-02,-7.01565522e-02, 1.30622944e-01, 5.02346632e-01,
  4.91839375e-01, 4.97722409e-01, 5.07951075e-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,  0.18273593,  2.0237407 ,  0.56935785,  2.68254279,
   1.08170007,-29.69277911]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006351341858914367
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.36563542e-13, -8.74006666e-14,  1.00000000e+00,  1.19357446e-26,
        1.00000000e+00,  8.74006666e-14, -1.00000000e+00,  0.00000000e+00,
        1.36563542e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09169591, -0.08818357,  0.06198184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.21766279e-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,
 -1.08404550e-05, 3.63874487e-06,-4.90503523e+00,-1.84034228e-03,
  4.77734571e-05,-2.21831962e-03]


--- 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,
  9.36155822e-02,-7.01431809e-02, 1.30623449e-01, 5.02266095e-01,
  4.91902180e-01, 4.97900837e-01, 5.07795010e-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,  0.1815473 ,  1.98374394,  0.35565657,  2.73546826,
   0.99305374,-29.05250943]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006337536387750614
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.92699697e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.92699697e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09169541, -0.08818391,  0.06198188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.15698168e-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,
 -8.87813837e-06, 1.45532748e-06,-4.90503762e+00,-1.84269233e-03,
  4.27799298e-05,-2.21787562e-03]


--- 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,
  9.36403918e-02,-7.01439175e-02, 1.30621964e-01, 5.02161039e-01,
  4.91982572e-01, 4.98002651e-01, 5.07721184e-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, -1.71285709, -3.52697387, -0.49741956,-29.47805723,
   2.62547131, 50.10045267]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006396771488146602
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.33899752e-14,  2.16949876e-14,  1.00000000e+00, -9.41344973e-28,
        1.00000000e+00, -2.16949876e-14, -1.00000000e+00,  0.00000000e+00,
        4.33899752e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10965229, -0.03418874,  0.06198171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.58749447e-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,
 -6.92653854e-06, 7.28042990e-07,-4.90504453e+00,-1.84507836e-03,
  3.74549781e-05,-2.21670279e-03]


--- 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,
  9.36585392e-02,-7.01583658e-02, 1.30617438e-01, 5.02031718e-01,
  4.92080063e-01, 4.98030523e-01, 5.07727254e-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, -1.66555077, -3.42792721, -0.76005764,-28.4029017 ,
   2.78939911, 48.66667283]

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([ 6.82062177, -3.06927089,  6.09101449, -3.06927089, 39.01711132,
       16.22385703,  6.09101449, 16.22385703, 14.99584648,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006467431715239946
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.29159160e-14, -2.14579580e-14,  1.00000000e+00,  9.20887923e-28,
        1.00000000e+00,  2.14579580e-14, -1.00000000e+00,  0.00000000e+00,
        4.29159160e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10964875, -0.03419174,  0.06198151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -6.44578924e-06, 3.37820797e-06,-4.90502230e+00,-1.84854440e-03,
  4.32354292e-05,-2.21657496e-03]


--- 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,
  9.36701871e-02,-7.01861888e-02, 1.30608963e-01, 5.01878357e-01,
  4.92194230e-01, 4.97986670e-01, 5.07811217e-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, -1.62490032, -3.34366124, -0.98737557,-27.50478468,
   2.91372552, 47.45514149]

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([ 6.83046532, -3.4467453 ,  5.89705039, -3.4467453 , 45.67577106,
       22.70454996,  5.89705039, 22.70454996, 20.10096426,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006479401091785131
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.56732751e-14, -6.42549563e-14,  1.00000000e+00,  5.50493255e-27,
        1.00000000e+00,  6.42549563e-14, -1.00000000e+00,  0.00000000e+00,
        8.56732751e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10964703, -0.0341918 ,  0.06198148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.52886046e-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,
 -3.80456808e-06, 7.74151150e-06,-4.90501715e+00,-1.85213974e-03,
  4.63957859e-05,-2.21800308e-03]


--- 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,
  9.36824964e-02,-7.02053703e-02, 1.30605310e-01, 5.01751330e-01,
  4.92282913e-01, 4.97978432e-01, 5.07858856e-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 ,  0.16536904,  2.16035126,  1.20559006,  5.21204237,
  -0.08879385,-30.91122532]

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([  6.87028802,   1.79630538,   6.63130036,   1.79630538,
        64.4125747 , -15.58721724,   6.63130036, -15.58721724,
        11.09259748,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006527911624363975
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.03514042e-14,  8.50366157e-14,  1.00000000e+00, -7.68317764e-27,
        1.00000000e+00, -8.50366157e-14, -1.00000000e+00,  0.00000000e+00,
        9.03514042e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09170205, -0.08818086,  0.06198134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
  8.98538253e-07, 1.36782207e-05,-4.90502761e+00,-1.85589604e-03,
  4.72143422e-05,-2.22095438e-03]


--- 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,
  9.36954800e-02,-7.02161672e-02, 1.30605251e-01, 5.01650092e-01,
  4.92346319e-01, 4.98004695e-01, 5.07871648e-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,
  1.68582696e-01, 2.09616155e+00, 8.98224867e-01, 4.74824085e+00,
  7.54808040e-02,-3.00773525e+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([ 6.93757957,  1.11508751, -6.84737834,  1.11508751, 72.04681541,
       10.60296248, -6.84737834, 10.60296248,  8.66425954,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000661023618405629
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.92261586e-14, -8.39775610e-14,  1.00000000e+00,  7.49299517e-27,
        1.00000000e+00,  8.39775610e-14, -1.00000000e+00,  0.00000000e+00,
        8.92261586e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09170492, -0.0881795 ,  0.0619811 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -4.69860960e-07, 8.64709122e-06,-4.90501578e+00,-1.85521993e-03,
  4.65608041e-05,-2.22259839e-03]


--- 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,
  9.37091479e-02,-7.02187975e-02, 1.30607722e-01, 5.01574163e-01,
  4.92384662e-01, 4.98064518e-01, 5.07850805e-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,  0.17106036,  2.04164497,  0.63280347,  4.3802197 ,
   0.20052192,-29.36501134]

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: -0.0006634359161048903
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04590266e-13, -4.18361065e-14,  1.00000000e+00, -4.37564951e-27,
        1.00000000e+00,  4.18361065e-14, -1.00000000e+00,  0.00000000e+00,
       -1.04590266e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09170708, -0.08817957,  0.06198104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.14046011e-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,
 -1.42442535e-06, 5.16076761e-06,-4.90500907e+00,-1.85483753e-03,
  4.53129557e-05,-2.22349910e-03]


--- 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,
  9.37235080e-02,-7.02134449e-02, 1.30611813e-01, 5.01523119e-01,
  4.92398151e-01, 4.98157107e-01, 5.07797321e-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  ,  0.17304325,  1.99573974,  0.40481439,  4.08934547,
   0.29487493,-28.76186637]

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: -0.0006611475327915339
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.09904554e-14,  1.25942732e-13,  1.00000000e+00, -2.64359531e-27,
        1.00000000e+00, -1.25942732e-13, -1.00000000e+00,  0.00000000e+00,
        2.09904554e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09170869, -0.08818078,  0.0619811 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -2.05877536e-06, 3.12797385e-06,-4.90500708e+00,-1.85469018e-03,
  4.35317584e-05,-2.22366903e-03]


--- 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,
  9.37385669e-02,-7.02002625e-02, 1.30616743e-01, 5.01496597e-01,
  4.92386980e-01, 4.98281801e-01, 5.07711997e-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,  0.1747087 ,  1.95743593,  0.20983551,  3.86069275,
   0.36520992,-28.25609794]

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: -0.0006551167291889981
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.7663296e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        4.7663296e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09170985, -0.08818291,  0.06198127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.00566228e-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,
 -2.44119014e-06, 2.46944364e-06,-4.90500952e+00,-1.85473520e-03,
  4.12613257e-05,-2.22311973e-03]


--- 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,
  9.37518644e-02,-7.01794509e-02, 1.30622073e-01, 5.01504721e-01,
  4.92342977e-01, 4.98427546e-01, 5.07603575e-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, -0.4403396 ,  1.90730106,  0.09997668, -5.66287338,
  -0.70564218,-27.94935679]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006462637173777951
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.30580866e-07, -4.11299941e-07,  1.00000000e+00, -5.37079024e-14,
        1.00000000e+00,  4.11299941e-07, -1.00000000e+00,  0.00000000e+00,
       -1.30580866e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09714309, -0.08796163,  0.06198153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -2.62119492e-06, 3.11748212e-06,-4.90501613e+00,-1.85494169e-03,
  3.85331477e-05,-2.22186152e-03]


--- 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,
  9.37585195e-02,-7.01725148e-02, 1.30624750e-01, 5.01488979e-01,
  4.92316347e-01, 4.98497900e-01, 5.07575869e-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, -1.66060662, -3.46887851, -0.66333238,-29.01881189,
   2.50437988, 49.18522946]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000655108508658464
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.47358117e-14, -1.27103718e-13,  1.00000000e+00,  1.07702367e-26,
        1.00000000e+00,  1.27103718e-13, -1.00000000e+00,  0.00000000e+00,
        8.47358117e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1096292 , -0.03419031,  0.06198128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -2.23615284e-06, 4.92800831e-06,-4.90502381e+00,-1.85525329e-03,
  3.62523809e-05,-2.22017589e-03]


--- 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,
  9.37586915e-02,-7.01790874e-02, 1.30623810e-01, 5.01449517e-01,
  4.92306636e-01, 4.98495398e-01, 5.07626729e-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, -1.62077043, -3.3771578 , -0.90396357,-27.99143263,
   2.68971225, 47.87099629]

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([ 6.91146246, -2.62649728,  6.39295123, -2.62649728, 40.57538864,
       13.83057797,  6.39295123, 13.83057797, 12.59365431,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006578228370631295
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.68772344e-13, -4.21930861e-14,  1.00000000e+00,  7.12102607e-27,
        1.00000000e+00,  4.21930861e-14, -1.00000000e+00,  0.00000000e+00,
        1.68772344e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10962627, -0.03419097,  0.0619812 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.06276089e-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,
 -1.67214975e-06, 1.80054288e-06,-4.90500405e+00,-1.85760274e-03,
  3.94686107e-05,-2.21995039e-03]


--- 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,
  9.37525163e-02,-7.01988579e-02, 1.30618425e-01, 5.01386478e-01,
  4.92313451e-01, 4.98422123e-01, 5.07754323e-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 , -1.58680919, -3.29947718, -1.11141161,-27.1419108 ,
   2.82567566, 46.76380286]

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([ 6.89165646, -3.05826587,  6.17591602, -3.05826587, 47.99844267,
       20.35576279,  6.17591602, 20.35576279, 16.97167285,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000655400339696216
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.27047122e-13,  2.11745203e-14,  1.00000000e+00, -2.69016186e-27,
        1.00000000e+00, -2.11745203e-14, -1.00000000e+00,  0.00000000e+00,
        1.27047122e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10962505, -0.03418911,  0.06198127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.84906924e-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,
  9.33946166e-07, 4.60233803e-07,-4.90500067e+00,-1.86001570e-03,
  4.02336355e-05,-2.22124494e-03]


--- 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,
  9.37401088e-02,-7.02315646e-02, 1.30607881e-01, 5.01299989e-01,
  4.92336451e-01, 4.98279768e-01, 5.07957097e-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, -1.55806885, -3.23405932, -1.28997927,-26.44329993,
   2.9231106 , 45.83826038]

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([ 6.8382185 , -3.48685295,  5.88243902, -3.48685295, 54.42777883,
       28.20901301,  5.88243902, 28.20901301, 23.55928946,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006488834548286498
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.55487235e-14,  8.55487235e-14,  1.00000000e+00, -7.31858408e-27,
        1.00000000e+00, -8.55487235e-14, -1.00000000e+00,  0.00000000e+00,
        8.55487235e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10962519, -0.03418523,  0.06198145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
  5.51873548e-06, 7.57922147e-07,-4.90501234e+00,-1.86253834e-03,
  3.87936068e-05,-2.22403192e-03]


--- 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,
  9.37255833e-02,-7.02551191e-02, 1.30602666e-01, 5.01252233e-01,
  4.92325447e-01, 4.98163917e-01, 5.08128493e-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 , -0.52950598,  2.28804157,  1.33253745, -3.50928777,
  -2.09443258,-32.69826915]

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([ 6.94731422,  1.28905902,  6.82667574,  1.28905902, 59.00878489,
       -9.83059853,  6.82667574, -9.83059853,  8.80359423,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006622185806707255
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.65969934e-07, -6.41076716e-14,  1.00000000e+00, -1.06399460e-20,
        1.00000000e+00,  6.41076716e-14, -1.00000000e+00,  0.00000000e+00,
       -1.65969934e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09701605, -0.08907384,  0.06198107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.26247768e-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,
  1.20339133e-05, 2.59795720e-06,-4.90503802e+00,-1.86519911e-03,
  3.53340171e-05,-2.22828547e-03]


--- 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,
  9.37116727e-02,-7.02701081e-02, 1.30601863e-01, 5.01229865e-01,
  4.92290774e-01, 4.98083274e-01, 5.08263189e-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,  0.15372703,  2.14137663,  1.10285629,  5.90505367,
  -0.52060588,-30.2108194 ]

qfrc_actuator:
[-5.42474135e-06,-7.01970813e-05,-1.69383877e-05, 3.64764543e-05,
 -3.42690305e-05,-3.41121824e-04,-2.84203853e-04, 2.46461909e-05,
 -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([ 7.04183425,  2.4312968 , -6.6087991 ,  2.4312968 , 47.19161008,
       14.77061414, -6.6087991 , 14.77061414, 12.47576352,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006738814690931821
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.05938113e-14,  1.23562868e-13,  1.00000000e+00, -2.54463038e-27,
        1.00000000e+00, -1.23562868e-13, -1.00000000e+00,  0.00000000e+00,
        2.05938113e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09173314, -0.08818553,  0.06198074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.09689524e-06,-1.92325521e-06,-4.90502372e+00,-1.86051396e-03,
  3.82980666e-05,-2.23017691e-03]


--- 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,
  9.36983879e-02,-7.02767849e-02, 1.30604280e-01, 5.01232522e-01,
  4.92232248e-01, 4.98036746e-01, 5.08362836e-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,
  1.56443913e-01, 2.07806053e+00, 8.05167737e-01, 5.26056694e+00,
 -2.47840531e-01,-2.94809763e+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([ 7.08156225, -0.06857389, -7.08123022, -0.06857389, 56.87234431,
       -0.48216871, -7.08123022, -0.48216871,  7.08623152,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006788196893687676
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.13319915e-14,  4.08879943e-14,  1.00000000e+00, -2.50774212e-27,
        1.00000000e+00, -4.08879943e-14, -1.00000000e+00,  0.00000000e+00,
        6.13319915e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09173691, -0.08818549,  0.0619806 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.25544285e-06,-3.32617396e-06,-4.90501254e+00,-1.85677213e-03,
  4.15930386e-05,-2.23106387e-03]


--- 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,
  9.36857351e-02,-7.02753629e-02, 1.30608895e-01, 5.01259873e-01,
  4.92149761e-01, 4.98023411e-01, 5.08428790e-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,  0.15801971,  2.02469607,  0.54929371,  4.74440371,
  -0.0323637 ,-28.8566308 ]

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([ 7.07783321,  0.33386963, -7.06995432,  0.33386963, 74.46089627,
        3.18207971, -7.06995432,  3.18207971,  7.22810289,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000678355172465353
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.18319864e-14,  4.09159932e-14,  1.00000000e+00,  3.34823700e-27,
        1.00000000e+00, -4.09159932e-14, -1.00000000e+00,  0.00000000e+00,
       -8.18319864e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09173977, -0.08818666,  0.06198061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.14637392e-07,-3.45285569e-06,-4.90500642e+00,-1.85340056e-03,
  4.41773222e-05,-2.23127381e-03]


--- 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,
  9.36737175e-02,-7.02660206e-02, 1.30614831e-01, 5.01311621e-01,
  4.92043252e-01, 4.98042495e-01, 5.08462161e-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,  0.15877587,  1.98008663,  0.33038988,  4.33075771,
   0.13827034,-28.32791953]

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: -0.0006735637206579242
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03017631e-13,  4.12070525e-14,  1.00000000e+00, -4.24505294e-27,
        1.00000000e+00, -4.12070525e-14, -1.00000000e+00,  0.00000000e+00,
        1.03017631e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09174193, -0.0881888 ,  0.06198075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.12413548e-06,-2.33345899e-06,-4.90500500e+00,-1.85031497e-03,
  4.61388269e-05,-2.23080432e-03]


--- 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,
  9.36623357e-02,-7.02489057e-02, 1.30621343e-01, 5.01387509e-01,
  4.91912689e-01, 4.98093351e-01, 5.08463849e-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,  0.15895258,  1.9431344 ,  0.14385747,  3.9990726 ,
   0.2738148 ,-27.88519767]

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: -0.0006653625225914034
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.34299338e-14,  1.25144901e-13,  1.00000000e+00,  1.04408308e-26,
        1.00000000e+00, -1.25144901e-13, -1.00000000e+00,  0.00000000e+00,
       -8.34299338e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09174354, -0.0881917 ,  0.06198098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -5.85519336e-06, 6.10766717e-10,-4.90500797e+00,-1.84745259e-03,
  4.75437031e-05,-2.22965557e-03]


--- 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,
  9.36515887e-02,-7.02241394e-02, 1.30627796e-01, 5.01487312e-01,
  4.91758049e-01, 4.98175444e-01, 5.08434581e-01]

qacc:
[ 3.76714108e+00, 5.48260468e-01,-3.19641358e+00, 7.08515988e+00,
 -1.98422142e+00, 6.04364536e-01,-3.90268309e+00, 1.01631272e+01,
  3.76478633e+00,-1.11437619e-01,-9.28001488e-01, 5.30561901e+00,
 -2.30288101e+00, 4.89723738e+00, 4.50897792e+00,-1.95138667e+01,
  1.58729110e-01, 1.91285694e+00,-1.45262549e-02, 3.73298320e+00,
  3.81913613e-01,-2.75194408e+01]

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: -0.000654529625257777
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.36080657e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.36080657e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09174471, -0.08819519,  0.06198129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.20445398e-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,
 -8.36868779e-06, 3.51945716e-06,-4.90501510e+00,-1.84476644e-03,
  4.84416962e-05,-2.22782905e-03]


--- 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,
  9.36414748e-02,-7.01918195e-02, 1.30633656e-01, 5.01610842e-01,
  4.91579315e-01, 4.98288333e-01, 5.08374938e-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,  0.15823888,  1.88838898, -0.14855841,  3.51946448,
   0.46855759,-27.22242584]

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: -0.000641721767570394
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.16258642e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.16258642e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09174554, -0.08819913,  0.06198166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.40378022e-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,
 -1.07097732e-05, 8.19607725e-06,-4.90502621e+00,-1.84222120e-03,
  4.88701587e-05,-2.22532678e-03]


--- 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,
  9.36319911e-02,-7.01520237e-02, 1.30638468e-01, 5.01757944e-01,
  4.91376459e-01, 4.98431661e-01, 5.08285374e-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,
  1.57580714e-01, 1.86897633e+00,-2.61607962e-01, 3.34814998e+00,
  5.38441260e-01,-2.69867823e+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: -0.0006274903823566963
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.52908387e-15, -3.53861368e-13,  1.00000000e+00,  1.95652918e-27,
        1.00000000e+00,  3.53861368e-13, -1.00000000e+00,  0.00000000e+00,
        5.52908387e-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([ 0.09174611, -0.08820338,  0.06198206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.72856732e-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,
 -1.29120171e-05, 1.40069217e-05,-4.90504119e+00,-1.83979008e-03,
  4.88570510e-05,-2.22215078e-03]


--- 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,
  9.36157877e-02,-7.01263257e-02, 1.30641162e-01, 5.01882924e-01,
  4.91191037e-01, 4.98496772e-01, 5.08277349e-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, -1.67993746, -3.52444443, -0.52989303,-30.38998224,
   1.49263087, 49.64018608]

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: -0.0006278940734698729
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.42042325e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.42042325e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10959602, -0.03416408,  0.06198205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.28806372e-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,
 -1.50004704e-05, 2.09319681e-05,-4.90505995e+00,-1.83745263e-03,
  4.84231848e-05,-2.21830277e-03]


--- 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,
  9.35930133e-02,-7.01143254e-02, 1.30640717e-01, 5.01985651e-01,
  4.91022583e-01, 4.98486617e-01, 5.08348622e-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, -1.64275872, -3.42441008, -0.78439003,-29.16984238,
   1.82270554, 48.26884852]

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([ 6.72570055, -1.34036634,  6.59078645, -1.34036634, 33.83159611,
        5.51251817,  6.59078645,  5.51251817,  7.84677979,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006352398412154819
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.73861298e-14,  2.18465325e-14,  1.00000000e+00, -1.90908392e-27,
        1.00000000e+00, -2.18465325e-14, -1.00000000e+00,  0.00000000e+00,
        8.73861298e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10959048, -0.03416659,  0.06198184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.43761348e-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,
 -1.55915846e-05, 8.85980052e-06,-4.90503384e+00,-1.83836725e-03,
  4.97623857e-05,-2.21699387e-03]


--- 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,
  9.35692484e-02,-7.01166257e-02, 1.30637874e-01, 5.02042538e-01,
  4.90901657e-01, 4.98416415e-01, 5.08478053e-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, -0.24762635, -3.57517718, -0.599707  , -6.57424308,
  -1.44869578, 52.83666997]

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([  6.7406818 ,   6.31963643,   2.34499179,   6.31963643,
        12.83052602, -16.41182778,   2.34499179, -16.41182778,
        50.96974267,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006370511124310824
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.6271544e-07,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -5.6271544e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09582799, -0.03293815,  0.06198179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.54962788e-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,
 -1.42907563e-05,-1.16834553e-06,-4.90502485e+00,-1.83902038e-03,
  4.85217523e-05,-2.21716806e-03]


--- 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,
  9.35500392e-02,-7.01332869e-02, 1.30631623e-01, 5.02034279e-01,
  4.90856422e-01, 4.98304634e-01, 5.08639409e-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,  1.13892699, -3.59019036, -0.85194756, 16.46292521,
  -5.60959624, 53.64510597]

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: -0.0006435901051736054
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.62523379e-14,  8.62523379e-14,  1.00000000e+00, -7.43946580e-27,
        1.00000000e+00, -8.62523379e-14, -1.00000000e+00,  0.00000000e+00,
        8.62523379e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0821247 , -0.03172066,  0.06198161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.50244821e-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,
 -6.56160126e-06,-7.13747423e-06,-4.90502054e+00,-1.84050779e-03,
  4.42114368e-05,-2.21763046e-03]


--- 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,
  9.35352555e-02,-7.01639918e-02, 1.30621094e-01, 5.01962277e-01,
  4.90884723e-01, 4.98152859e-01, 5.08831790e-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,  1.10640176, -3.51095005, -1.06960005, 16.20167516,
  -5.24500498, 52.13607676]

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([ 6.79973847, -6.39187853,  2.31955429, -6.39187853, 11.24536096,
       12.25057721,  2.31955429, 12.25057721, 40.55803493,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006442065136692265
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.30849037e-14, -8.61698074e-14,  1.00000000e+00,  3.71261786e-27,
        1.00000000e+00,  8.61698074e-14, -1.00000000e+00,  0.00000000e+00,
        4.30849037e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08212271, -0.03172261,  0.06198159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.42412626e-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,
  3.10650486e-06,-5.03531401e-06,-4.90502165e+00,-1.84184109e-03,
  4.08547550e-05,-2.21813363e-03]


--- 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,
  9.35247874e-02,-7.02084707e-02, 1.30605533e-01, 5.01827709e-01,
  4.90984751e-01, 4.97962357e-01, 5.09054432e-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,
  1.07886326e+00,-3.44349377e+00,-1.25789014e+00, 1.59687653e+01,
 -4.95668085e+00, 5.08834857e+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([ 6.76706325, -6.48315751,  1.93953955, -6.48315751, 10.81366344,
       13.52627554,  1.93953955, 13.52627554, 51.98035872,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006402443910914352
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73406131e-13, -8.67030653e-14,  1.00000000e+00,  1.50348431e-26,
        1.00000000e+00,  8.67030653e-14, -1.00000000e+00,  0.00000000e+00,
        1.73406131e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08212041, -0.03172167,  0.0619817 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.29919086e-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,
  9.32197715e-06, 2.92100986e-06,-4.90503864e+00,-1.84248063e-03,
  3.98437131e-05,-2.22013055e-03]


--- 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,
  9.35149389e-02,-7.02438899e-02, 1.30597208e-01, 5.01721802e-01,
  4.91056303e-01, 4.97809417e-01, 5.09239358e-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,  0.15492788,  2.26490847,  1.80891116,  4.77017614,
   0.27730073,-33.06945233]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006625673733386267
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.18909484e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.18909484e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09176798, -0.08819839,  0.06198106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.17299281e-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,
  1.24035003e-05, 1.63698760e-05,-4.90507038e+00,-1.84257091e-03,
  4.10317472e-05,-2.22356330e-03]


--- 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,
  9.35070872e-02,-7.02705348e-02, 1.30594489e-01, 5.01637770e-01,
  4.91104774e-01, 4.97698377e-01, 5.09383917e-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,  0.49918227,  2.19358569,  1.40141613,  9.55469191,
   1.03231599,-31.72887698]

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([ 7.09129077,  4.374024  , -5.5816054 ,  4.374024  , 40.46154624,
       26.15059426, -5.5816054 , 26.15059426, 27.58419892,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006800325519291513
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.24902389e-06, -1.78565927e-14,  1.00000000e+00,  2.23033109e-20,
        1.00000000e+00,  1.78565927e-14, -1.00000000e+00,  3.00926554e-36,
        1.24902389e-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([ 0.08908291, -0.08825913,  0.06198056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.16278971e-06, 9.51593036e-06,-4.90504492e+00,-1.83990941e-03,
  4.46646156e-05,-2.22661844e-03]


--- 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,
  9.35011832e-02,-7.02886882e-02, 1.30595994e-01, 5.01575025e-01,
  4.91130580e-01, 4.97627791e-01, 5.09489773e-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,  0.48693808,  2.1228851 ,  1.05635683,  9.02335225,
   1.11802761,-30.7032053 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000690348207327743
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.61116677e-07,  1.03025780e-13,  1.00000000e+00, -3.72043273e-20,
        1.00000000e+00, -1.03025780e-13, -1.00000000e+00,  0.00000000e+00,
        3.61116677e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08908522, -0.08825674,  0.06198027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.31343996e-06, 5.09925692e-06,-4.90502505e+00,-1.83780402e-03,
  4.80958214e-05,-2.22879700e-03]


--- 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,
  9.34971841e-02,-7.02985910e-02, 1.30600535e-01, 5.01533058e-01,
  4.91134101e-01, 4.97596438e-01, 5.09558310e-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,  0.47620224,  2.06264073,  0.75873383,  8.58799846,
   1.18179972,-29.83112328]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006940349054249902
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.71612720e-07,  4.24910892e-14,  1.00000000e+00,  1.15411203e-20,
        1.00000000e+00, -4.24910892e-14, -1.00000000e+00,  0.00000000e+00,
       -2.71612720e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08908677, -0.08825609,  0.06198017])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.89817313e-06, 2.11913127e-06,-4.90501132e+00,-1.83594548e-03,
  5.04900462e-05,-2.23022166e-03]


--- 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,
  9.34950526e-02,-7.03004469e-02, 1.30607090e-01, 5.01511431e-01,
  4.91115670e-01, 4.97603283e-01, 5.09590675e-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,  0.46691387,  2.01173449,  0.50344313,  8.23222633,
   1.22887979,-29.0948274 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006923616890394154
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.61264834e-07, -1.75386139e-14,  1.00000000e+00, -1.15976686e-20,
        1.00000000e+00,  1.75386139e-14, -1.00000000e+00,  1.50463277e-36,
       -6.61264834e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08908772, -0.08825684,  0.06198022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.83799399e-06, 4.75102624e-07,-4.90500312e+00,-1.83429275e-03,
  5.19470715e-05,-2.23090679e-03]


--- 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,
  9.34960270e-02,-7.02944114e-02, 1.30614601e-01, 5.01504252e-01,
  4.91080131e-01, 4.97652604e-01, 5.09583827e-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,  0.77648028,  1.97285652,  0.2390484 , 12.74077543,
   1.78648803,-28.20062263]

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: -0.0006867477854122783
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.42495800e-13,  2.02079833e-14,  1.00000000e+00, -4.90035109e-27,
        1.00000000e+00, -2.02079833e-14, -1.00000000e+00,  0.00000000e+00,
        2.42495800e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08631939, -0.08832663,  0.06198038])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.32523379e-08, 8.27283889e-08,-4.90500000e+00,-1.83281540e-03,
  5.25437038e-05,-2.23086540e-03]


--- 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,
  9.34988125e-02,-7.02806406e-02, 1.30622532e-01, 5.01516756e-01,
  4.91023120e-01, 4.97738589e-01, 5.09542478e-01]

qacc:
[ -5.8315536 ,  1.00835692, -5.26401663, 11.72081212,-11.51347412,
   0.18574826, -0.9889335 ,  1.50113612, -8.02756799,  0.16662568,
  -6.24972217, 23.24312297, -0.18744258, -0.61846517,-16.1513989 ,
  52.25500459,  0.45276071,  1.93380531,  0.10524704,  7.70974535,
   1.29526699,-28.01198695]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006772276693674534
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.17788296e-07,  6.40376772e-14,  1.00000000e+00,  3.95617275e-20,
        1.00000000e+00, -6.40376772e-14, -1.00000000e+00, -6.01853108e-36,
       -6.17788296e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08908828, -0.08826136,  0.06198065])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.41755812e-06, 1.07263067e-06,-4.90500179e+00,-1.83159832e-03,
  5.21823104e-05,-2.22998872e-03]


--- 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,
  9.35033871e-02,-7.02592507e-02, 1.30630253e-01, 5.01548667e-01,
  4.90944852e-01, 4.97860630e-01, 5.09467250e-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,
  4.47289259e-01, 1.90476900e+00,-5.27512743e-02, 7.52253935e+00,
  1.30960344e+00,-2.75818382e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006654463592144387
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.99128753e-07, -8.08125659e-14,  1.00000000e+00, -1.60921054e-20,
        1.00000000e+00,  8.08125659e-14, -1.00000000e+00, -3.00926554e-36,
       -1.99128753e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08908807, -0.0882647 ,  0.06198098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.41621821e-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,
 -2.69204916e-06, 2.89717834e-06,-4.90500801e+00,-1.83049376e-03,
  5.10315385e-05,-2.22852740e-03]


--- 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,
  9.35097331e-02,-7.02303359e-02, 1.30637229e-01, 5.01599755e-01,
  4.90845502e-01, 4.98018229e-01, 5.09358639e-01]

qacc:
[  7.58420476,  1.55370458, -5.51379923,  7.53067276,  0.90979723,
  -1.64611566,  7.71139353,-17.38441831,  0.2023522 ,  1.07610463,
  -1.46737908, -7.0149202 , -1.52464363,  2.8088359 ,  2.91572703,
 -12.27432894,  0.44284341,  1.88124816, -0.18628433,  7.37334763,
   1.31876047,-27.23336433]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006517313029662898
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.33087642e-07,  2.66171575e-15,  1.00000000e+00, -1.15275620e-21,
        1.00000000e+00, -2.66171575e-15, -1.00000000e+00,  0.00000000e+00,
        4.33087642e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08908765, -0.08826856,  0.06198137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.44902837e-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,
 -3.77628374e-06, 5.80218240e-06,-4.90501848e+00,-1.82951274e-03,
  4.91584022e-05,-2.22636804e-03]


--- 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,
  9.35166648e-02,-7.01939865e-02, 1.30643175e-01, 5.01674964e-01,
  4.90721032e-01, 4.98206185e-01, 5.09220676e-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,
  1.46438732e-01, 1.85863763e+00,-2.57458136e-01, 2.82049875e+00,
  8.01127442e-01,-2.72099249e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006371428859952011
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.71251213e-14,  8.71251213e-14,  1.00000000e+00,  7.59078676e-27,
        1.00000000e+00, -8.71251213e-14, -1.00000000e+00,  0.00000000e+00,
       -8.71251213e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09177637, -0.08820565,  0.06198179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.65232859e-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,
 -4.69010701e-06, 9.74689424e-06,-4.90503303e+00,-1.82864591e-03,
  4.65872362e-05,-2.22351767e-03]


--- 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,
  9.35241820e-02,-7.01502588e-02, 1.30647705e-01, 5.01774064e-01,
  4.90571620e-01, 4.98424188e-01, 5.09053635e-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,  0.14636539,  1.84458096, -0.35397956,  2.77485414,
   0.80166257,-26.96194241]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006214005754471563
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.3958174e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.3958174e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09177628, -0.08820985,  0.06198224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.07911272e-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,
 -5.55471009e-06, 1.48397238e-05,-4.90505077e+00,-1.82792669e-03,
  4.40140692e-05,-2.22011772e-03]


--- 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,
  9.35365682e-02,-7.01217172e-02, 1.30650644e-01, 5.01807386e-01,
  4.90500747e-01, 4.98597253e-01, 5.08919585e-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,
  1.21725164e+00,-3.79653515e+00,-3.97550890e-01, 1.61800277e+01,
 -6.77982684e+00, 5.56146222e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006216773872836645
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.46462686e-14,  1.11615672e-13,  1.00000000e+00, -4.98322325e-27,
        1.00000000e+00, -1.11615672e-13, -1.00000000e+00,  0.00000000e+00,
        4.46462686e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08207347, -0.03172175,  0.06198223])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -6.34465158e-06, 2.10746116e-05,-4.90507221e+00,-1.82726677e-03,
  4.10646198e-05,-2.21603538e-03]


--- 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,
  9.35536591e-02,-7.01079108e-02, 1.30650882e-01, 5.01776239e-01,
  4.90505893e-01, 4.98727702e-01, 5.08817506e-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,  1.17615374, -3.68378325, -0.6755326 , 16.0697669 ,
  -6.1234526 , 53.82962574]

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([ 6.70267293, -4.44873016,  5.01344436, -4.44873016, 22.79701649,
       14.28147724,  5.01344436, 14.28147724, 19.37548505,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006324585085418083
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.38852118e-14, -8.77704236e-14,  1.00000000e+00,  3.85182363e-27,
        1.00000000e+00,  8.77704236e-14, -1.00000000e+00,  0.00000000e+00,
        4.38852118e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08207107, -0.03172827,  0.06198192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.27855851e-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,
 -2.39780219e-06, 8.22716325e-06,-4.90503661e+00,-1.83303443e-03,
  3.99820893e-05,-2.21332616e-03]


--- 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,
  9.35753171e-02,-7.01084533e-02, 1.30647454e-01, 5.01681762e-01,
  4.90584908e-01, 4.98817437e-01, 5.08746522e-01]

qacc:
[ -1.24749754, -2.42005262, 14.23919401,-35.8020984 , -4.78137775,
   2.8669407 ,-13.0483484 , 26.26369166,  2.65957848, -1.98195014,
   7.97777788,-14.27473729, -0.63033213,  0.40012402,-13.7260798 ,
  45.28830116,  1.14180575, -3.58725066, -0.91642981, 15.95245296,
  -5.58911646, 52.31797534]

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([ 6.73883411, -4.82557417,  4.70379837, -4.82557417, 25.66780843,
       19.41902313,  4.70379837, 19.41902313, 26.66059285,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000636827642884058
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.35841250e-14,  4.35841250e-14,  1.00000000e+00, -1.89957596e-27,
        1.00000000e+00, -4.35841250e-14, -1.00000000e+00,  0.00000000e+00,
        4.35841250e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0820685 , -0.03173109,  0.0619818 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.27687101e-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,
 -2.26802818e-06, 2.08543298e-06,-4.90501936e+00,-1.83763323e-03,
  4.11063986e-05,-2.21211500e-03]


--- 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,
  9.36014283e-02,-7.01230164e-02, 1.30639527e-01, 5.01524926e-01,
  4.90735961e-01, 4.98868012e-01, 5.08705879e-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,  1.11329365, -3.50512273, -1.1245224 , 15.83780405,
  -5.15199441, 51.04625232]

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([ 6.73195675, -5.19474894,  4.28180163, -5.19474894, 27.34758688,
       25.01120602,  4.28180163, 25.01120602, 37.07594442,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006359960540184284
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.36411129e-14, -4.36411129e-14,  1.00000000e+00,  1.90454674e-27,
        1.00000000e+00,  4.36411129e-14, -1.00000000e+00,  0.00000000e+00,
        4.36411129e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08206576, -0.03173091,  0.06198182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.21962817e-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,
 -5.52525342e-06, 2.08655572e-06,-4.90501885e+00,-1.84136441e-03,
  4.43306123e-05,-2.21233923e-03]


--- 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,
  9.36209482e-02,-7.01512188e-02, 1.30628376e-01, 5.01343953e-01,
  4.90904129e-01, 4.98844748e-01, 5.08744822e-01]

qacc:
[-5.34900760e+00, 1.19321371e+00,-7.27344461e+00, 1.95517408e+01,
  3.21247959e+00, 9.64595144e-01,-2.83811319e+00, 3.05438315e+00,
 -8.28782904e-02,-6.31647690e-01, 2.38370278e+00,-2.08010355e+00,
 -2.91573845e-02,-1.23602073e+00,-8.45806836e+00, 2.58442429e+01,
 -1.64785043e+00,-3.40985281e+00,-8.06287673e-01,-2.84181562e+01,
  2.67857414e+00, 4.84832875e+01]

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: -0.000636399342590091
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.72269148e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.72269148e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10952842, -0.03414195,  0.06198181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.18510178e-05, 7.80640933e-06,-4.90503380e+00,-1.84445008e-03,
  4.95668724e-05,-2.21394792e-03]


--- 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,
  9.36340319e-02,-7.01927428e-02, 1.30613119e-01, 5.01139002e-01,
  4.91088995e-01, 4.98749818e-01, 5.08861395e-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, -1.60902663, -3.33037959, -1.02626485,-27.52160995,
   2.82345862, 47.31395165]

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([ 6.74325499, -3.48976953,  5.77000837, -3.48976953, 43.39531476,
       22.16760065,  5.77000837, 22.16760065, 20.1504829 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00063736236793209
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.53213392e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.53213392e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1095266 , -0.03414211,  0.06198178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.87178582e-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,
 -8.53031932e-06, 1.66028853e-05,-4.90504082e+00,-1.84773817e-03,
  5.19411491e-05,-2.21637534e-03]


--- 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,
  9.36478400e-02,-7.02252783e-02, 1.30604576e-01, 5.00962434e-01,
  4.91245001e-01, 4.98691638e-01, 5.08941686e-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,  0.18111372,  2.2471312 ,  1.67837375,  4.19795743,
   0.56422242,-32.53259441]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006478829666645702
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.60651559e-14, -8.56808314e-14,  1.00000000e+00, -1.37647591e-27,
        1.00000000e+00,  8.56808314e-14, -1.00000000e+00,  0.00000000e+00,
       -1.60651559e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0917765 , -0.08820331,  0.06198148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -3.17852709e-06, 2.68907018e-05,-4.90506308e+00,-1.85120285e-03,
  5.20215717e-05,-2.22032034e-03]


--- 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,
  9.36623663e-02,-7.02491345e-02, 1.30601254e-01, 5.00813352e-01,
  4.91372985e-01, 4.98668924e-01, 5.08987112e-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,  0.17952168,  2.16980632,  1.30522209,  3.94786741,
   0.59745644,-31.42662178]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006645764962104894
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.17643052e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.17643052e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09177795, -0.08819932,  0.061981  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -3.55289147e-06, 1.84138339e-05,-4.90504164e+00,-1.85140614e-03,
  5.14272012e-05,-2.22329208e-03]


--- 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,
  9.36776051e-02,-7.02645773e-02, 1.30601856e-01, 5.00690982e-01,
  4.91473678e-01, 4.98680581e-01, 5.08998864e-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,  0.17814221,  2.10336109,  0.9809294 ,  3.74662272,
   0.6183308 ,-30.47854101]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006737224294033478
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.05986727e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.05986727e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.091779  , -0.0881973 ,  0.06198074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.68117316e-06, 1.18334671e-05,-4.90502623e+00,-1.85178196e-03,
  5.03095493e-05,-2.22547356e-03]


--- 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,
  9.36935521e-02,-7.02718330e-02, 1.30605262e-01, 5.00594654e-01,
  4.91547717e-01, 4.98725673e-01, 5.08977935e-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,  0.17703736,  2.04678023,  0.70103879,  3.58587584,
   0.62980871,-29.67199655]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006766965970385341
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.15244167e-14,  4.10162778e-14,  1.00000000e+00, -2.52350257e-27,
        1.00000000e+00, -4.10162778e-14, -1.00000000e+00,  0.00000000e+00,
        6.15244167e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09177974, -0.08819689,  0.06198066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.61185131e-06, 6.97938026e-06,-4.90501625e+00,-1.85230465e-03,
  4.87095609e-05,-2.22688765e-03]


--- 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,
  9.37102040e-02,-7.02710926e-02, 1.30610511e-01, 5.00523796e-01,
  4.91595647e-01, 4.98803414e-01, 5.08925145e-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,  0.17623726,  1.99900954,  0.46077878,  3.45872215,
   0.63412864,-28.99101103]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006746832604224706
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.22773507e-14,  8.22773507e-14,  1.00000000e+00,  6.76956244e-27,
        1.00000000e+00, -8.22773507e-14, -1.00000000e+00,  0.00000000e+00,
       -8.22773507e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09178022, -0.08819777,  0.06198072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.38017005e-06, 3.71077566e-06,-4.90501125e+00,-1.85295561e-03,
  4.66573267e-05,-2.22755403e-03]


--- 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,
  9.37275590e-02,-7.02625161e-02, 1.30616781e-01, 5.00477923e-01,
  4.91617935e-01, 4.98913141e-01, 5.08841166e-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,  0.17575178,  1.95903195,  0.25545517,  3.35947537,
   0.63298575,-28.42073045]

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: -0.0006686957165015772
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.07535168e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.07535168e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09178049, -0.08819968,  0.06198089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.01154395e-06, 1.91213180e-06,-4.90501084e+00,-1.85372152e-03,
  4.41745942e-05,-2.22748949e-03]


--- 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,
  9.37456162e-02,-7.02462360e-02, 1.30623375e-01, 5.00456623e-01,
  4.91614969e-01, 4.99054304e-01, 5.08726540e-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,  0.17557818,  1.92590654,  0.08066236,  3.28346629,
   0.62766557,-27.94775411]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006595964308182684
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.10398164e-14,  1.26238898e-13,  1.00000000e+00, -2.65604325e-27,
        1.00000000e+00, -1.26238898e-13, -1.00000000e+00,  0.00000000e+00,
        2.10398164e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09178061, -0.08820239,  0.06198115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.51819264e-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,
 -2.52408616e-06, 1.48918477e-06,-4.90501474e+00,-1.85459302e-03,
  4.12766779e-05,-2.22670816e-03]


--- 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,
  9.37596589e-02,-7.02217301e-02, 1.30629375e-01, 5.00482218e-01,
  4.91568793e-01, 4.99208670e-01, 5.08594509e-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, -1.00363253,  2.05643157, -0.14829162,-14.6386705 ,
  -1.68493779,-30.31112577]

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: -0.0006494932338770298
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.54684057e-14,  5.34177536e-15,  1.00000000e+00, -4.56553024e-28,
        1.00000000e+00, -5.34177536e-15, -1.00000000e+00,  0.00000000e+00,
        8.54684057e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10241778, -0.08995519,  0.06198144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.93048117e-06, 2.36529902e-06,-4.90502274e+00,-1.85556375e-03,
  3.79739058e-05,-2.22522183e-03]


--- 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,
  9.37697531e-02,-7.01891027e-02, 1.30634216e-01, 5.00553988e-01,
  4.91480036e-01, 4.99376027e-01, 5.08445339e-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, -0.98712904,  2.03039183, -0.28989151,-14.42266886,
  -1.65832917,-29.85270065]

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: -0.0006381741212575925
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.71826045e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.71826045e-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([ 0.10241954, -0.08995834,  0.06198176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.17995735e-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,
 -2.98442727e-07, 5.03152383e-06,-4.90502957e+00,-1.85660597e-03,
  3.59926033e-05,-2.22337200e-03]


--- 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,
  9.37730524e-02,-7.01706903e-02, 1.30637286e-01, 5.00599584e-01,
  4.91409294e-01, 4.99467444e-01, 5.08379026e-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, -1.69873218, -3.55375619, -0.44247653,-29.05358546,
   3.310033  , 50.55132847]

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: -0.0006479962772577286
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.28498773e-13,  6.42493867e-14,  1.00000000e+00, -8.25596739e-27,
        1.00000000e+00, -6.42493867e-14, -1.00000000e+00,  0.00000000e+00,
        1.28498773e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10950564, -0.03414297,  0.06198148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
  5.02945416e-07, 1.00913642e-05,-4.90504202e+00,-1.85762100e-03,
  3.48843527e-05,-2.22064719e-03]


--- 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,
  9.37697450e-02,-7.01660782e-02, 1.30637504e-01, 5.00619600e-01,
  4.91356034e-01, 4.99485478e-01, 5.08393078e-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, -1.65165713, -3.4500811 , -0.71327815,-28.06204411,
   3.32341808, 49.01373892]

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([ 6.8928326 , -4.51419335,  5.2089538 , -4.51419335, 33.01853586,
       22.64110615,  5.2089538 , 22.64110615, 26.51411065,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006555440826896825
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.46795093e-14, -2.11698773e-14,  1.00000000e+00,  1.79265482e-27,
        1.00000000e+00,  2.11698773e-14, -1.00000000e+00,  0.00000000e+00,
        8.46795093e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10950279, -0.0341465 ,  0.06198127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.87188554e-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,
 -1.71891696e-06, 4.12662163e-06,-4.90501328e+00,-1.85803330e-03,
  3.85992968e-05,-2.21901285e-03]


--- 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,
  9.37599914e-02,-7.01749133e-02, 1.30633932e-01, 5.00614541e-01,
  4.91319790e-01, 4.99432254e-01, 5.08485367e-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, -1.61158144, -3.36177583, -0.94729186,-27.23282942,
   3.32092446, 47.71345389]

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([ 6.90495536, -4.79412117,  4.96938736, -4.79412117, 36.93591433,
       28.97179181,  4.96938736, 28.97179181, 34.85493596,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006570264982750512
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.44884512e-14,  2.11221128e-14,  1.00000000e+00, -1.78457460e-27,
        1.00000000e+00, -2.11221128e-14, -1.00000000e+00,  0.00000000e+00,
        8.44884512e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10950161, -0.03414693,  0.06198123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.55234291e-06, 9.18820984e-08,-4.90500176e+00,-1.85874386e-03,
  3.97639823e-05,-2.21900339e-03]


--- 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,
  9.37439268e-02,-7.01968963e-02, 1.30625765e-01, 5.00584836e-01,
  4.91300162e-01, 4.99309520e-01, 5.08654083e-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, -1.57771633, -3.28700817, -1.14899494,-26.5438187 ,
   3.3064653 , 46.62138635]

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: -0.0006536237447054144
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.49282966e-14,  6.36962224e-14,  1.00000000e+00, -5.40961167e-27,
        1.00000000e+00, -6.36962224e-14, -1.00000000e+00,  0.00000000e+00,
        8.49282966e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10950177, -0.03414488,  0.06198132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.67217268e-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,
  8.41130988e-07,-2.19746440e-06,-4.90500593e+00,-1.85972843e-03,
  3.86445901e-05,-2.22056380e-03]


--- 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,
  9.37216650e-02,-7.02317756e-02, 1.30612307e-01, 5.00530838e-01,
  4.91296801e-01, 4.99118696e-01, 5.08897692e-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, -1.54930705, -3.22405205, -1.32265161,-25.97564612,
   3.28284885, 45.71120209]

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: -0.0006463375907420077
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  6.4414269e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -6.4414269e-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([ 0.10950298, -0.03414086,  0.06198153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.63416022e-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,
  5.33949085e-06,-2.86811612e-06,-4.90502463e+00,-1.86096349e-03,
  3.54440942e-05,-2.22364748e-03]


--- 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,
  9.36999658e-02,-7.02576899e-02, 1.30605162e-01, 5.00503151e-01,
  4.91269468e-01, 4.98964813e-01, 5.09102171e-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,  0.14062746,  2.24125078,  1.5784211 ,  6.70221845,
  -0.8340006 ,-31.54470375]

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([  6.88817864,   1.8633127 ,   6.6313702 ,   1.8633127 ,
        62.34580923, -15.58273846,   6.6313702 , -15.58273846,
        11.2666877 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006549753757265769
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.29706471e-15, -8.47530354e-14,  1.00000000e+00,  4.48942314e-28,
        1.00000000e+00,  8.47530354e-14, -1.00000000e+00,  0.00000000e+00,
        5.29706471e-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([ 0.09179979, -0.08820999,  0.06198128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.47320804e-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,
  1.18543935e-05,-1.99907188e-06,-4.90505697e+00,-1.86242698e-03,
  3.03149611e-05,-2.22821525e-03]


--- 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,
  9.36788426e-02,-7.02749498e-02, 1.30602887e-01, 5.00501325e-01,
  4.91217923e-01, 4.98846497e-01, 5.09269622e-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,  0.14401957,  2.16358905,  1.21717716,  5.87995866,
  -0.48279299,-30.62645361]

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([ 7.00516955, -0.11937398, -7.00415236, -0.11937398, 42.41983975,
       -0.60358338, -7.00415236, -0.60358338,  7.01545661,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000669343774487921
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.07334233e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.07334233e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09180474, -0.08820757,  0.06198087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  6.92253311e-06,-4.51552598e-06,-4.90503763e+00,-1.85760407e-03,
  3.57825980e-05,-2.22992289e-03]


--- 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,
  9.36583029e-02,-7.02838203e-02, 1.30604227e-01, 5.00524942e-01,
  4.91142028e-01, 4.98762583e-01, 5.09401783e-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,  0.14586805,  2.09734482,  0.90402186,  5.2198644 ,
  -0.20485197,-29.83253633]

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([ 7.06341239,  0.17325674, -7.06128718,  0.17325674, 55.52823427,
        1.1891397 , -7.06128718,  1.1891397 ,  7.09258929,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006765607728989737
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.23073536e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.23073536e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09180854, -0.08820681,  0.06198066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.61708332e-06,-5.71518803e-06,-4.90502416e+00,-1.85327291e-03,
  4.03736175e-05,-2.23096215e-03]


--- 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,
  9.36383496e-02,-7.02845256e-02, 1.30608104e-01, 5.00573624e-01,
  4.91041718e-01, 4.98712084e-01, 5.09500084e-01]

qacc:
[ 1.78297309e+00, 2.19361408e+00,-1.01314064e+01, 2.03512613e+01,
 -3.57746745e-01,-1.87273250e+00, 5.62738263e+00,-5.12988008e+00,
 -3.25576613e-01, 1.45551304e+00,-4.47957964e+00, 5.61897597e+00,
 -6.44090104e-01, 4.91772532e-01, 5.65721602e-01,-5.61363498e+00,
  1.46600704e-01, 2.04131119e+00, 6.34278050e-01, 4.68928049e+00,
  1.58090032e-02,-2.91527564e+01]

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([ 7.07457353,  0.56750368, -7.05177497,  0.56750368, 72.49144785,
        5.26453511, -7.05177497,  5.26453511,  7.49824602,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006779492945517829
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.0940489e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        4.0940489e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09181145, -0.0882074 ,  0.06198062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.21495784e-06,-5.62524189e-06,-4.90501602e+00,-1.84931519e-03,
  4.42151421e-05,-2.23132507e-03]


--- 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,
  9.36189824e-02,-7.02772537e-02, 1.30613594e-01, 5.00647036e-01,
  4.90916964e-01, 4.98694172e-01, 5.09565700e-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,  0.14653494,  1.99430394,  0.40310039,  4.2621436 ,
   0.1917079 ,-28.57625642]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006746458804044869
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.05704774e-14,  4.11409547e-14,  1.00000000e+00,  8.46289078e-28,
        1.00000000e+00, -4.11409547e-14, -1.00000000e+00,  0.00000000e+00,
       -2.05704774e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09181364, -0.08820907,  0.06198072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.68739813e-06,-4.27857031e-06,-4.90501278e+00,-1.84564287e-03,
  4.74037135e-05,-2.23100863e-03]


--- 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,
  9.36001988e-02,-7.02621609e-02, 1.30619907e-01, 5.00744884e-01,
  4.90767761e-01, 4.98708154e-01, 5.09599591e-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,  0.14590644,  1.95521816,  0.20580675,  3.91767729,
   0.33264769,-28.0924002 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006676213891310401
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.24721479e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.24721479e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09181529, -0.08821161,  0.06198092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -7.88485196e-06,-1.70867345e-06,-4.90501408e+00,-1.84219013e-03,
  5.00127476e-05,-2.23001264e-03]


--- 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,
  9.35819948e-02,-7.02393759e-02, 1.30626373e-01, 5.00866918e-01,
  4.90594108e-01, 4.98753451e-01, 5.09602538e-01]

qacc:
[  1.55435554, -1.17623831,  8.69845292,-24.20610779,  2.80398233,
   3.30296877,-10.61598499, 10.78958324,  2.73585192,  3.35283773,
 -13.14776176, 23.2231512 , -0.89432227,  1.03125011,  5.57955065,
 -21.15234428,  0.14489004,  1.92305396,  0.03805063,  3.63933336,
   0.44630566,-27.69123717]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006577009075456469
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.33013623e-14,  8.44018164e-14,  1.00000000e+00,  5.34274996e-27,
        1.00000000e+00, -8.44018164e-14, -1.00000000e+00,  0.00000000e+00,
       -6.33013623e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0918165 , -0.08821482,  0.0619812 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.08703056e-05, 2.05306202e-06,-4.90501967e+00,-1.83890748e-03,
  5.20981652e-05,-2.22833839e-03]


--- 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,
  9.35643653e-02,-7.02090031e-02, 1.30632421e-01, 5.01012925e-01,
  4.90396003e-01, 4.98829588e-01, 5.09575167e-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,  0.1436151 ,  1.896924  , -0.10410408,  3.41393777,
   0.53869409,-27.36371239]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006455821723719002
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.07482737e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.07482737e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09181737, -0.08821854,  0.06198155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.36907868e-05, 6.97868058e-06,-4.90502935e+00,-1.83575742e-03,
  5.37026267e-05,-2.22598782e-03]


--- 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,
  9.35473045e-02,-7.01711262e-02, 1.30637574e-01, 5.01182731e-01,
  4.90173431e-01, 4.98936175e-01, 5.09517979e-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,  0.1421769 ,  1.87605067, -0.22416578,  3.23100477,
   0.61452061,-27.10172688]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006318522084578782
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09818306e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.09818306e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09181798, -0.08822263,  0.06198194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.43371792e-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,
 -1.63815865e-05, 1.30441396e-05,-4.90504296e+00,-1.83271122e-03,
  5.48587121e-05,-2.22296295e-03]


--- 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,
  9.35351446e-02,-7.01484345e-02, 1.30641205e-01, 5.01286007e-01,
  4.90029874e-01, 4.98997967e-01, 5.09493955e-01]

qacc:
[ 1.52585802e+00, 2.22295259e-01,-3.49521082e+00, 1.46312026e+01,
 -6.25165251e+00, 4.51715830e-01,-1.35659255e+00, 1.75427010e+00,
 -4.43063051e+00, 1.14119903e+00,-2.75294800e+00, 2.09757707e-02,
 -1.03315221e+00, 1.47774034e+00, 3.12463537e+00,-1.41567409e+01,
  1.22522714e+00,-3.79628381e+00,-3.80316387e-01, 1.64208138e+01,
 -6.62962340e+00, 5.59503968e+01]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006242617294510561
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.77845761e-13, -1.11153601e-13,  1.00000000e+00,  1.97681967e-26,
        1.00000000e+00,  1.11153601e-13, -1.00000000e+00,  0.00000000e+00,
        1.77845761e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0820048 , -0.0317583 ,  0.06198215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.85975644e-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,
 -1.89693866e-05, 2.02293074e-05,-4.90506040e+00,-1.82974659e-03,
  5.55913060e-05,-2.21926555e-03]


--- 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,
  9.35277108e-02,-7.01404803e-02, 1.30642193e-01, 5.01324252e-01,
  4.89962742e-01, 4.99017208e-01, 5.09502043e-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, 1.1815422 ,-3.68440911,
 -0.66065797,16.23682152,-6.04091205,54.10841772]

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([ 6.72705612, -4.95876273,  4.54576244, -4.95876273, 19.85733698,
       14.32321821,  4.54576244, 14.32321821, 22.35159469,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006354036724405127
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.31045398e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.31045398e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0820028 , -0.03176529,  0.06198184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.70021549e-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,
 -8.60818267e-06, 7.05770171e-06,-4.90502285e+00,-1.83296745e-03,
  5.01762496e-05,-2.21649909e-03]


--- 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,
  9.35248558e-02,-7.01468805e-02, 1.30639567e-01, 5.01298768e-01,
  4.89969827e-01, 4.98995729e-01, 5.09541339e-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,
  1.14467733e+00,-3.58857620e+00,-9.03650867e-01, 1.60561341e+01,
 -5.56752878e+00, 5.25512146e+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([ 6.76527379, -5.29885637,  4.20607306, -5.29885637, 21.77844012,
       18.91374944,  4.20607306, 18.91374944, 30.59302003,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006400276349384088
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.33662144e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.33662144e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08200053, -0.03176846,  0.06198171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.44366216e-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,
 -2.23601193e-06, 5.96857899e-07,-4.90500370e+00,-1.83508628e-03,
  4.71936147e-05,-2.21530017e-03]


--- 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,
  9.35264556e-02,-7.01673088e-02, 1.30632486e-01, 5.01210665e-01,
  4.90049259e-01, 4.98935018e-01, 5.09611069e-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,  1.11371734, -3.50703214, -1.11356674, 15.88625937,
  -5.18626223, 51.24330858]

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([ 6.75979356, -5.61777427,  3.75971026, -5.61777427, 22.50655201,
       23.52887012,  3.75971026, 23.52887012, 41.91672637,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006393639624884817
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.34112294e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.34112294e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08199802, -0.03176854,  0.06198173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.79728438e-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,
  6.05566915e-07, 2.72370802e-07,-4.90500131e+00,-1.83637356e-03,
  4.64914200e-05,-2.21559515e-03]


--- 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,
  9.35324068e-02,-7.02014893e-02, 1.30620227e-01, 5.01060872e-01,
  4.90199457e-01, 4.98836275e-01, 5.09710571e-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,  1.0878356 , -3.43806245, -1.29458602, 15.73176897,
  -4.87850563, 50.15260215]

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([ 6.7192549 , -5.89226332,  3.22949212, -5.89226332, 21.62095959,
       27.18841373,  3.22949212, 27.18841373, 56.32497832,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006344609887352359
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.31240105e-13, -1.31240105e-13,  1.00000000e+00,  1.72239652e-26,
        1.00000000e+00,  1.31240105e-13, -1.00000000e+00,  0.00000000e+00,
        1.31240105e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08199532, -0.03176617,  0.06198186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.64628761e-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,
  2.60835717e-07, 5.65128229e-06,-4.90501442e+00,-1.83702569e-03,
  4.79443924e-05,-2.21732495e-03]


--- 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,
  9.35391048e-02,-7.02268869e-02, 1.30613730e-01, 5.00939921e-01,
  4.90318772e-01, 4.98772897e-01, 5.09776710e-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,  0.18669187,  2.1957337 ,  1.44040896,  2.52788277,
   1.36029727,-32.07944858]

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: -0.0006425947820735967
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.69956048e-14, -2.59157806e-13,  1.00000000e+00,  6.99612169e-27,
        1.00000000e+00,  2.59157806e-13, -1.00000000e+00,  0.00000000e+00,
        2.69956048e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09181713, -0.08822069,  0.06198163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.44909830e-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,
 -3.01476175e-06, 1.64175718e-05,-4.90504202e+00,-1.83718502e-03,
  5.14514153e-05,-2.22044214e-03]


--- 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,
  9.35465217e-02,-7.02437749e-02, 1.30611643e-01, 5.00846832e-01,
  4.90408420e-01, 4.98743828e-01, 5.09810384e-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,  0.17974999,  2.12740321,  1.10269389,  2.57998042,
   1.2475192 ,-31.04335218]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006555976238077077
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.11681484e-14,  4.23362968e-14,  1.00000000e+00,  8.96181015e-28,
        1.00000000e+00, -4.23362968e-14, -1.00000000e+00,  0.00000000e+00,
       -2.11681484e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09181641, -0.08821735,  0.06198126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -2.46548932e-06, 9.76158016e-06,-4.90502417e+00,-1.83788545e-03,
  5.12701978e-05,-2.22278999e-03]


--- 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,
  9.35546350e-02,-7.02523876e-02, 1.30612796e-01, 5.00780770e-01,
  4.90469419e-01, 4.98748159e-01, 5.09812361e-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,  0.17408557,  2.06881966,  0.80973622,  2.61687385,
   1.15469478,-30.16061685]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006619078668286538
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.28990310e-14,  8.38653746e-14,  1.00000000e+00,  5.27505080e-27,
        1.00000000e+00, -8.38653746e-14, -1.00000000e+00,  0.00000000e+00,
       -6.28990310e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09181576, -0.08821582,  0.06198108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.95969873e-06, 4.98232729e-06,-4.90501210e+00,-1.83855056e-03,
  5.06996734e-05,-2.22435061e-03]


--- 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,
  9.35634264e-02,-7.02529241e-02, 1.30616177e-01, 5.00741028e-01,
  4.90502624e-01, 4.98785115e-01, 5.09783295e-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,
  1.69519907e-01, 2.01905593e+00, 5.57184090e-01, 2.64336433e+00,
  1.07797071e+00,-2.94140395e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006627672198871171
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.46574109e-13,  8.37566336e-14,  1.00000000e+00, -1.22765539e-26,
        1.00000000e+00, -8.37566336e-14, -1.00000000e+00,  0.00000000e+00,
        1.46574109e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09181516, -0.08821576,  0.06198106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.48650422e-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,
 -1.46686268e-06, 1.90250060e-06,-4.90500527e+00,-1.83920515e-03,
  4.97420962e-05,-2.22514703e-03]


--- 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,
  9.35728813e-02,-7.02455519e-02, 1.30620920e-01, 5.00727009e-01,
  4.90508741e-01, 4.98854039e-01, 5.09723735e-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,  0.16589597,  1.97716956,  0.34055292,  2.6629878 ,
   1.01422661,-28.78748149]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006592427310923854
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.10511048e-14,  4.21022096e-14,  1.00000000e+00, -8.86298025e-28,
        1.00000000e+00, -4.21022096e-14, -1.00000000e+00,  0.00000000e+00,
        2.10511048e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09181461, -0.08821688,  0.06198116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -9.65293687e-07, 3.79784955e-07,-4.90500326e+00,-1.83986740e-03,
  4.84003229e-05,-2.22519861e-03]


--- 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,
  9.35829886e-02,-7.02304107e-02, 1.30626286e-01, 5.00738212e-01,
  4.90488352e-01, 4.98954379e-01, 5.09634131e-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 ,  0.16307792,  1.94226011,  0.15551437,  2.67834392,
   0.96094139,-28.26630155]

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: -0.0006522461432517529
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.51076726e-14,  4.25538363e-14,  1.00000000e+00,  3.62165797e-27,
        1.00000000e+00, -4.25538363e-14, -1.00000000e+00,  0.00000000e+00,
       -8.51076726e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09181408, -0.08821892,  0.06198136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.92185097e-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,
 -4.39520856e-07, 3.00430221e-07,-4.90500573e+00,-1.84055067e-03,
  4.66771354e-05,-2.22452151e-03]


--- 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,
  9.35937396e-02,-7.02076155e-02, 1.30631644e-01, 5.00774223e-01,
  4.90441932e-01, 4.99085674e-01, 5.09514847e-01]

qacc:
[-2.11909670e+00, 2.16873342e+00,-9.45986703e+00, 1.77732734e+01,
 -2.43773018e+00, 6.07519100e-01,-1.82073934e+00, 2.82812799e+00,
  1.19839501e+00, 5.93198071e-01,-2.89106365e+00, 4.54401381e+00,
 -1.84273374e-01,-7.39480135e-01,-2.12216564e+00, 5.23973577e+00,
  1.60949492e-01, 1.91349814e+00,-1.95241548e-03, 2.69133742e+00,
  9.16081044e-01,-2.78374959e+01]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006425524563513224
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.07989532e-13,  1.29587438e-13,  1.00000000e+00, -1.39940868e-26,
        1.00000000e+00, -1.29587438e-13, -1.00000000e+00,  0.00000000e+00,
        1.07989532e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09181357, -0.08822169,  0.06198163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.23209466e-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,
  1.21568484e-07, 1.57378515e-06,-4.90501243e+00,-1.84126489e-03,
  4.45748412e-05,-2.22312908e-03]


--- 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,
  9.36051284e-02,-7.01772597e-02, 1.30636459e-01, 5.00834694e-01,
  4.90369863e-01, 4.99247545e-01, 5.09366170e-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 ,  0.15941194,  1.89013694, -0.13549462,  2.70335578,
   0.87800555,-27.48967266]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006308170929986423
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.53997911e-13,  4.39994032e-14,  1.00000000e+00,  6.77581618e-27,
        1.00000000e+00, -4.39994032e-14, -1.00000000e+00,  0.00000000e+00,
       -1.53997911e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, -0.08822501,  0.06198197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.83104491e-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,
  7.26044255e-07, 4.12775830e-06,-4.90502317e+00,-1.84201750e-03,
  4.20950490e-05,-2.22103220e-03]


--- 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,
  9.36097493e-02,-7.01609416e-02, 1.30639037e-01, 5.00869425e-01,
  4.90315568e-01, 4.99334106e-01, 5.09299434e-01]

qacc:
[-4.03428244e-02, 1.38765886e-01,-1.29018208e-01,-1.19014953e+00,
  1.33278589e-01, 5.62731090e-01,-8.65616888e-01,-8.64489621e-01,
 -2.63398280e+00,-2.30852957e+00, 7.95153995e+00,-1.15312679e+01,
 -1.91775106e+00, 3.84245187e+00, 1.99391951e-01,-2.64080018e+00,
 -1.69194960e+00,-3.50941445e+00,-5.59543032e-01,-2.88716891e+01,
  3.13078201e+00, 4.99764498e+01]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006190659463155279
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.9669205e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        8.9669205e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10945706, -0.03411397,  0.0619823 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  1.37986380e-06, 7.90509909e-06,-4.90503780e+00,-1.84281419e-03,
  3.92385564e-05,-2.21823961e-03]


--- 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,
  9.36077774e-02,-7.01582823e-02, 1.30638382e-01, 5.00878969e-01,
  4.90278552e-01, 4.99347730e-01, 5.09312325e-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, -1.64820269, -3.41469555, -0.8081402 ,-27.95245709,
   3.14327002, 48.55015727]

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([ 6.65185319, -4.65452625,  4.75210861, -4.65452625, 32.69182019,
       25.50524826,  4.75210861, 25.50524826, 31.63336293,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006263311344518047
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.64718088e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.64718088e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1094544 , -0.03411746,  0.0619821 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.53674919e-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,
 -8.69891794e-07, 3.01839576e-06,-4.90501083e+00,-1.84319808e-03,
  4.29843351e-05,-2.21669291e-03]


--- 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,
  9.35993619e-02,-7.01689584e-02, 1.30633633e-01, 5.00863802e-01,
  4.90258383e-01, 4.99290385e-01, 5.09402867e-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, -1.6108899 , -3.33386735, -1.02352272,-27.18274604,
   3.14157643, 47.34392533]

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([ 6.66547467, -4.87859207,  4.54179392, -4.87859207, 35.7198429 ,
       31.208904  ,  4.54179392, 31.208904  , 40.1886847 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006279721342962868
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.41987377e-14,  4.41987377e-14,  1.00000000e+00, -1.95352841e-27,
        1.00000000e+00, -4.41987377e-14, -1.00000000e+00,  0.00000000e+00,
        4.41987377e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10945329, -0.03411804,  0.06198205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -7.75647388e-07,-1.30085760e-08,-4.90500070e+00,-1.84383784e-03,
  4.42279853e-05,-2.21674594e-03]


--- 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,
  9.35846292e-02,-7.01926958e-02, 1.30624045e-01, 5.00824318e-01,
  4.90254690e-01, 4.99163690e-01, 5.09569379e-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,
 -1.57930473e+00,-3.26532028e+00,-1.20966481e+00,-2.65425561e+01,
  3.12906983e+00, 4.63311630e+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: -0.0006250767860377926
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.88069314e-14, -4.44034657e-14,  1.00000000e+00,  3.94333553e-27,
        1.00000000e+00,  4.44034657e-14, -1.00000000e+00,  0.00000000e+00,
        8.88069314e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10945343, -0.03411631,  0.06198213])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.59892458e-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,
  1.51138789e-06,-1.35366000e-06,-4.90500603e+00,-1.84471138e-03,
  4.32147687e-05,-2.21834794e-03]


--- 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,
  9.35704169e-02,-7.02077807e-02, 1.30619174e-01, 5.00811019e-01,
  4.90226087e-01, 4.99072449e-01, 5.09699321e-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,  0.130089  ,  2.16314514,  1.17929382,  5.50398963,
  -0.27528728,-30.73681465]

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([  6.71576338,   1.72925427,   6.48931102,   1.72925427,
        63.8083724 , -15.21388602,   6.48931102, -15.21388602,
        10.76991911,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006340392053128391
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.73598771e-14, -2.62654821e-13,  1.00000000e+00,  7.18620362e-27,
        1.00000000e+00,  2.62654821e-13, -1.00000000e+00,  0.00000000e+00,
        2.73598771e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09182369, -0.08822766,  0.06198187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.20197405e-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,
  5.87750982e-06,-1.11450638e-06,-4.90502573e+00,-1.84579733e-03,
  4.01322691e-05,-2.22145585e-03]


--- 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,
  9.35567357e-02,-7.02144648e-02, 1.30617825e-01, 5.00823476e-01,
  4.90172504e-01, 4.99015544e-01, 5.09794320e-01]

qacc:
[ 8.81927537e-01,-1.31535440e-01,-8.53823133e-01, 5.89375648e+00,
  4.77249694e-01,-6.69585943e-01,-2.91580873e-02, 5.64667686e+00,
  8.88422394e-01,-1.72612797e+00, 3.33814805e+00, 4.68788117e+00,
  7.09948716e-02,-1.22678426e+00,-5.15907309e+00, 1.48182836e+01,
  1.32779303e-01, 2.10017571e+00, 8.80277082e-01, 4.90198668e+00,
 -2.76735261e-02,-2.99633179e+01]

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([ 6.79055863,  0.53003519, -6.76984115,  0.53003519, 62.183454  ,
        4.3369088 , -6.76984115,  4.3369088 ,  7.1301108 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006430925633610363
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.15797672e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.15797672e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09182726, -0.08822628,  0.06198162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.11191387e-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,
  2.53764258e-06,-2.71803046e-06,-4.90501405e+00,-1.84256552e-03,
  4.35389807e-05,-2.22244257e-03]


--- 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,
  9.35435918e-02,-7.02129622e-02, 1.30618961e-01, 5.00861301e-01,
  4.90093928e-01, 4.98992030e-01, 5.09855718e-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,  0.1343364 ,  2.04668206,  0.62143005,  4.41886655,
   0.16782973,-29.29957937]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006464029645997793
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.14692515e-14,  4.29385030e-14,  1.00000000e+00, -9.21857519e-28,
        1.00000000e+00, -4.29385030e-14, -1.00000000e+00,  0.00000000e+00,
        2.14692515e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09182999, -0.08822625,  0.06198152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.39374324e-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,
 -3.76680806e-07,-2.95906384e-06,-4.90500761e+00,-1.83965167e-03,
  4.62510628e-05,-2.22272670e-03]


--- 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,
  9.35309883e-02,-7.02034531e-02, 1.30621691e-01, 5.00924147e-01,
  4.89990376e-01, 4.99001108e-01, 5.09884618e-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,  0.13507459,  2.00164245,  0.39858743,  4.03081616,
   0.32265367,-28.73575013]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006450606211335225
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.29083568e-13,  4.30278562e-14,  1.00000000e+00, -5.55418922e-27,
        1.00000000e+00, -4.30278562e-14, -1.00000000e+00,  0.00000000e+00,
        1.29083568e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09183207, -0.08822734,  0.06198156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.60405790e-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,
 -2.97011908e-06,-1.88312853e-06,-4.90500601e+00,-1.83697889e-03,
  4.83537251e-05,-2.22230991e-03]


--- 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,
  9.35189256e-02,-7.01860876e-02, 1.30625252e-01, 5.01011715e-01,
  4.89861880e-01, 4.99042112e-01, 5.09881919e-01]

qacc:
[  0.43341883, -1.27342456,  6.82698848,-15.13810698,  1.23147949,
  -1.79745997,  7.97307177,-16.85411024,  0.84811215,  0.70238025,
  -0.89971393, -3.07575907, -0.34122294, -0.42802079,  9.75350519,
 -37.14103   ,  0.13522878,  1.96407999,  0.2076103 ,  3.71883975,
   0.44574106,-28.26198769]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006400006992570012
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.62630148e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.62630148e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09183363, -0.08822931,  0.0619817 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.52899089e-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,
 -5.32000647e-06, 4.66365891e-07,-4.90500892e+00,-1.83449013e-03,
  4.99114043e-05,-2.22119552e-03]


--- 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,
  9.35115130e-02,-7.01832649e-02, 1.30625724e-01, 5.01034224e-01,
  4.89809258e-01, 4.99041360e-01, 5.09911088e-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 ,  1.16249626, -3.63569083, -0.77232477, 16.34487137,
  -5.76458824, 53.72913625]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006369269853612192
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74309309e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.74309309e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08196911, -0.03178361,  0.06198179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.80937288e-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,
 -7.48347622e-06, 4.05015415e-06,-4.90501611e+00,-1.83214283e-03,
  5.09728296e-05,-2.21938750e-03]


--- 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,
  9.35086159e-02,-7.01946338e-02, 1.30622197e-01, 5.00993019e-01,
  4.89830381e-01, 4.99000520e-01, 5.09971248e-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,
  1.12890287e+00,-3.54791789e+00,-9.99621769e-01, 1.61246115e+01,
 -5.35602819e+00, 5.22261053e+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([ 6.76028713, -5.94143994,  3.22502301, -5.94143994, 16.29890676,
       17.57293995,  3.22502301, 17.57293995, 39.13480569,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006394237264903957
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.34071719e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.34071719e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0819671 , -0.03178589,  0.06198172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.37366767e-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,
 -1.38063804e-06,-4.71482194e-07,-4.90500192e+00,-1.83402975e-03,
  4.83340352e-05,-2.21861318e-03]


--- 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,
  9.35064625e-02,-7.01983435e-02, 1.30621883e-01, 5.00975832e-01,
  4.89826416e-01, 4.98991422e-01, 5.10000843e-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,  0.1858989 ,  1.914816  ,  0.80303418,  3.55316994,
   0.86951208,-27.81396475]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006374614207097976
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.88438409e-07, -4.88438583e-07,  1.00000000e+00, -2.38572164e-13,
        1.00000000e+00,  4.88438583e-07, -1.00000000e+00,  0.00000000e+00,
       -4.88438409e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09158453, -0.08679221,  0.06198178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.40818351e-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,
  1.28712971e-06, 1.03919742e-06,-4.90500416e+00,-1.83517345e-03,
  4.79688663e-05,-2.21931627e-03]


--- 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,
  9.35049112e-02,-7.01939898e-02, 1.30623563e-01, 5.00984700e-01,
  4.89795364e-01, 4.99015015e-01, 5.09998870e-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,
  1.50549882e-01, 2.01585803e+00, 4.98841655e-01, 3.04601779e+00,
  8.63998548e-01,-2.93161045e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006387695188984077
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.62943606e-14, -8.69032563e-14,  1.00000000e+00, -1.41603299e-27,
        1.00000000e+00,  8.69032563e-14, -1.00000000e+00,  0.00000000e+00,
       -1.62943606e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09183651, -0.088231  ,  0.06198174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.60160307e-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,
  3.12530236e-07, 1.44550856e-08,-4.90500037e+00,-1.83432991e-03,
  4.84709082e-05,-2.21958470e-03]


--- 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,
  9.35077443e-02,-7.02028798e-02, 1.30622068e-01, 5.00933562e-01,
  4.89833394e-01, 4.99001971e-01, 5.10025338e-01]

qacc:
[-3.42563845e+00, 1.31409220e+00,-2.95291921e+00,-1.98417486e+00,
  3.12165823e-01, 4.56331857e-02,-3.51629128e+00, 1.32376431e+01,
  4.82918701e+00,-9.19429455e-01, 3.80829026e+00,-7.69769904e+00,
 -8.04546265e-01, 9.02082571e-01, 4.88215245e+00,-1.92045113e+01,
  1.09607372e+00,-3.31092915e+00,-7.93895780e-01, 1.55608702e+01,
 -4.85625297e+00, 4.86348111e+01]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006366589075779925
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.12005678e-07,  9.12005853e-07,  1.00000000e+00,  8.31754516e-13,
        1.00000000e+00, -9.12005853e-07, -1.00000000e+00,  0.00000000e+00,
       -9.12005678e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08254974, -0.03515407,  0.0619818 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.99127282e-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,
 -6.16241473e-07, 2.86874885e-07,-4.90500084e+00,-1.83349662e-03,
  4.85252099e-05,-2.21911743e-03]


--- 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,
  9.35112072e-02,-7.02036213e-02, 1.30623037e-01, 5.00908929e-01,
  4.89843604e-01, 4.99021896e-01, 5.10020230e-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,  0.15747026,  2.03712397,  0.61581748,  2.82668826,
   1.00576909,-29.68404907]

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: -0.0006396533892023687
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.13902916e-13,  8.67831738e-14,  1.00000000e+00, -9.88485652e-27,
        1.00000000e+00, -8.67831738e-14, -1.00000000e+00,  0.00000000e+00,
        1.13902916e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09183663, -0.08823116,  0.06198171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.27845741e-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,
  5.94080180e-08, 1.49739526e-06,-4.90500300e+00,-1.83476764e-03,
  4.90432657e-05,-2.21977711e-03]


--- 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,
  9.35152874e-02,-7.01963851e-02, 1.30625588e-01, 5.00910219e-01,
  4.89826626e-01, 4.99074091e-01, 5.09984197e-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,
  1.54322990e-01, 1.99441049e+00, 3.95640323e-01, 2.78651912e+00,
  9.72850255e-01,-2.90429667e+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: -0.0006387466260098923
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.71582409e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.71582409e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09183649, -0.08823158,  0.06198174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.80015151e-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,
 -2.00086865e-07, 3.64664015e-07,-4.90500068e+00,-1.83465451e-03,
  4.85287755e-05,-2.21981940e-03]


--- 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,
  9.35199747e-02,-7.01813144e-02, 1.30628966e-01, 5.00936941e-01,
  4.89782983e-01, 4.99157963e-01, 5.09917776e-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,
  1.51762233e-01, 1.95863275e+00, 2.06753972e-01, 2.75323853e+00,
  9.44724084e-01,-2.85075768e+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: -0.0006341229096532425
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.64137594e-14, -8.75400500e-14,  1.00000000e+00, -1.43686132e-27,
        1.00000000e+00,  8.75400500e-14, -1.00000000e+00,  0.00000000e+00,
       -1.64137594e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0918363 , -0.088233  ,  0.06198187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.73098032e-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,
 -3.96322390e-07, 6.86109191e-07,-4.90500293e+00,-1.83457968e-03,
  4.76049048e-05,-2.21912596e-03]


--- 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,
  9.35292049e-02,-7.01805586e-02, 1.30628604e-01, 5.00899155e-01,
  4.89813353e-01, 4.99202163e-01, 5.09882453e-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,  1.13575402, -3.57873257, -0.93495113, 16.45934403,
  -5.09142158, 52.42286165]

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: -0.0006357530674464401
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.36577927e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.36577927e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08195312, -0.03178775,  0.06198183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -5.30876504e-07, 2.37330866e-06,-4.90500948e+00,-1.83454511e-03,
  4.62821886e-05,-2.21771031e-03]


--- 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,
  9.35428689e-02,-7.01937970e-02, 1.30623685e-01, 5.00798115e-01,
  4.89915904e-01, 4.99207996e-01, 5.09877467e-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,  1.10841711, -3.49853154, -1.13936375, 16.21586349,
  -4.79275203, 51.13694348]

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([ 6.72281987, -6.3470298 ,  2.21619487, -6.3470298 , 13.34459567,
       18.96431085,  2.21619487, 18.96431085, 61.03530296,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006348917250568187
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.74340443e-14, -1.74868089e-13,  1.00000000e+00,  1.52894242e-26,
        1.00000000e+00,  1.74868089e-13, -1.00000000e+00,  0.00000000e+00,
        8.74340443e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08195146, -0.0317876 ,  0.06198185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.23600746e-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,
 -9.82128207e-07, 3.20372916e-07,-4.90500372e+00,-1.83650732e-03,
  4.70380392e-05,-2.21764621e-03]


--- 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,
  9.35572341e-02,-7.01987382e-02, 1.30621966e-01, 5.00724272e-01,
  4.89989377e-01, 4.99247171e-01, 5.09841031e-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,  0.17532557,  2.07428935,  0.80027155,  2.40668599,
   1.26892682,-30.2339771 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006344743930482011
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.29597771e-14, -8.74915550e-14,  1.00000000e+00,  8.13319545e-27,
        1.00000000e+00,  8.74915550e-14, -1.00000000e+00,  0.00000000e+00,
        9.29597771e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09183447, -0.08823341,  0.06198186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.51581515e-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,
 -4.49187539e-06, 4.05006472e-06,-4.90501355e+00,-1.83794765e-03,
  4.99242270e-05,-2.21898395e-03]


--- 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,
  9.35722828e-02,-7.01955749e-02, 1.30622467e-01, 5.00676913e-01,
  4.90034682e-01, 4.99318962e-01, 5.09773689e-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,  0.17086526,  2.02612463,  0.55479195,  2.48878007,
   1.16385031,-29.51122959]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006370736569029645
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14364148e-13,  8.71345890e-14,  1.00000000e+00, -9.96507303e-27,
        1.00000000e+00, -8.71345890e-14, -1.00000000e+00,  0.00000000e+00,
        1.14364148e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0918336 , -0.08823289,  0.06198179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.99075031e-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,
 -3.21917212e-06, 1.15611956e-06,-4.90500897e+00,-1.83935895e-03,
  4.78259015e-05,-2.21946064e-03]


--- 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,
  9.35880014e-02,-7.01844697e-02, 1.30624342e-01, 5.00655436e-01,
  4.90052573e-01, 4.99422753e-01, 5.09675900e-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,  0.16745233,  1.98547732,  0.34336608,  2.55377837,
   1.07659614,-28.90362123]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006352832520528096
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.09963787e-14, -1.74760317e-13,  1.00000000e+00,  1.24073497e-26,
        1.00000000e+00,  1.74760317e-13, -1.00000000e+00,  0.00000000e+00,
        7.09963787e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09183284, -0.08823355,  0.06198184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.79478044e-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,
 -1.98844661e-06,-1.81006878e-07,-4.90500920e+00,-1.84075621e-03,
  4.53741528e-05,-2.21919230e-03]


--- 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,
  9.36043796e-02,-7.01655584e-02, 1.30626864e-01, 5.00659335e-01,
  4.90043673e-01, 4.99558026e-01, 5.09548042e-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,  0.16492818,  1.95153149,  0.16207791,  2.60648376,
   1.00360199,-28.39766041]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006299910994732316
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.75356823e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.75356823e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09183216, -0.08823515,  0.06198199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.99271651e-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,
 -7.71091371e-07,-7.47140064e-08,-4.90501391e+00,-1.84216022e-03,
  4.25630431e-05,-2.21819424e-03]


--- 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,
  9.36140299e-02,-7.01606004e-02, 1.30626957e-01, 5.00637286e-01,
  4.90052518e-01, 4.99618648e-01, 5.09501761e-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, -1.68197165, -3.4883418 , -0.60757578,-28.59518627,
   3.26158997, 49.75490153]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006387981562794992
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.34496802e-14,  6.51745203e-14,  1.00000000e+00,  2.83181207e-27,
        1.00000000e+00, -6.51745203e-14, -1.00000000e+00,  0.00000000e+00,
       -4.34496802e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10941767, -0.03411654,  0.06198174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.25883530e-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,
  4.53984902e-07, 1.38426175e-06,-4.90502288e+00,-1.84358666e-03,
  3.93879685e-05,-2.21647918e-03]


--- 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,
  9.36171291e-02,-7.01692272e-02, 1.30623634e-01, 5.00589873e-01,
  4.90078611e-01, 4.99606905e-01, 5.09534763e-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,
 -1.63779407e+00,-3.39617519e+00,-8.53734404e-01,-2.77084262e+01,
  3.25430002e+00, 4.83481882e+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([ 6.79568513, -5.1593841 ,  4.42290539, -5.1593841 , 29.05386893,
       25.96449833,  4.42290539, 25.96449833, 37.08365381,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006437145698942603
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.62356607e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.62356607e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10941581, -0.03411898,  0.0619816 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.54300301e-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,
 -6.83491976e-07, 4.59657898e-07,-4.90500434e+00,-1.84454617e-03,
  4.29740560e-05,-2.21580822e-03]


--- 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,
  9.36138276e-02,-7.01911250e-02, 1.30616046e-01, 5.00517582e-01,
  4.90121524e-01, 4.99524690e-01, 5.09645098e-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, -1.60017538, -3.31778061, -1.06655055,-26.96581513,
   3.23981127, 47.16424514]

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([ 6.79175481, -5.30575615,  4.2399157 , -5.30575615, 31.94809783,
       31.48020648,  4.2399157 , 31.48020648, 46.18553312,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006432376794996142
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10941539, -0.03411862,  0.06198161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.55235168e-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,
  5.07857780e-07, 1.25671967e-06,-4.90500222e+00,-1.84579809e-03,
  4.41100150e-05,-2.21674076e-03]


--- 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,
  9.36108929e-02,-7.02050535e-02, 1.30612926e-01, 5.00470520e-01,
  4.90139833e-01, 4.99474401e-01, 5.09722988e-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,
  9.17174079e-02, 1.99233900e+00, 1.11733607e+00, 3.89905814e+00,
  7.24968596e-03,-2.85180107e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006389348871844743
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.87741419e-07, -5.87741647e-07,  1.00000000e+00, -3.45440110e-13,
        1.00000000e+00,  5.87741647e-07, -1.00000000e+00, -5.04870979e-29,
       -5.87741419e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0922725 , -0.08689522,  0.06198173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.68674739e-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,
  3.87510155e-06, 3.64356786e-06,-4.90501519e+00,-1.84731167e-03,
  4.30309855e-05,-2.21922468e-03]


--- 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,
  9.36085427e-02,-7.02106714e-02, 1.30612921e-01, 5.00449348e-01,
  4.90132466e-01, 4.99458043e-01, 5.09766886e-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,  0.1461147 ,  2.07767259,  0.77858761,  4.36645452,
   0.23847944,-29.83163725]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006456997297360489
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.61194753e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.61194753e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09183979, -0.08823386,  0.06198154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.21275706e-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,
  2.15445029e-06, 1.12905252e-06,-4.90500596e+00,-1.84578308e-03,
  4.43565297e-05,-2.22033080e-03]


--- 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,
  9.36067800e-02,-7.02081780e-02, 1.30615051e-01, 5.00453620e-01,
  4.90099615e-01, 4.99474751e-01, 5.09777907e-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 ,  0.14686938,  2.0278079 ,  0.53370679,  4.02661996,
   0.35856919,-29.17936362]

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: -0.0006471313284420049
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.34031795e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.34031795e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09184164, -0.08823413,  0.0619815 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.02246497e-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,
  6.16817247e-07,-1.01792437e-07,-4.90500088e+00,-1.84441845e-03,
  4.52045338e-05,-2.22068584e-03]


--- 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,
  9.36056062e-02,-7.01977409e-02, 1.30618474e-01, 5.00482945e-01,
  4.90041461e-01, 4.99523799e-01, 5.09756964e-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,  0.14722542,  1.98591399,  0.32328653,  3.75459309,
   0.45203896,-28.62848286]

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: -0.0006442739525688301
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.84654431e-14, -8.61607877e-14,  1.00000000e+00,  4.17582075e-27,
        1.00000000e+00,  8.61607877e-14, -1.00000000e+00,  0.00000000e+00,
        4.84654431e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09184301, -0.08823545,  0.06198158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.20342895e-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,
 -6.67136114e-07, 5.35252542e-08,-4.90500048e+00,-1.84323793e-03,
  4.55144204e-05,-2.22031918e-03]


--- 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,
  9.36050216e-02,-7.01794996e-02, 1.30622470e-01, 5.00536991e-01,
  4.89958164e-01, 4.99604579e-01, 5.09704799e-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,  0.14732727,  1.95106423,  0.14325084,  3.53717566,
   0.52477238,-28.16819639]

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: -0.0006380105297221911
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.43791488e-15, -2.61019914e-13,  1.00000000e+00,  1.41940407e-27,
        1.00000000e+00,  2.61019914e-13, -1.00000000e+00,  0.00000000e+00,
        5.43791488e-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([ 0.09184401, -0.08823761,  0.06198176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.00712833e-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,
 -1.75305564e-06, 1.53106427e-06,-4.90500448e+00,-1.84220443e-03,
  4.53308738e-05,-2.21923988e-03]


--- 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,
  9.35979207e-02,-7.01748828e-02, 1.30623086e-01, 5.00566976e-01,
  4.89892064e-01, 4.99611816e-01, 5.09731794e-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, -1.62911336, -3.4061532 , -0.84495136,-28.31857897,
   2.61476818, 48.25526934]

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: -0.0006368248429262507
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.71686333e-14, -1.30752950e-13,  1.00000000e+00,  1.13975560e-26,
        1.00000000e+00,  1.30752950e-13, -1.00000000e+00,  0.00000000e+00,
        8.71686333e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10940882, -0.03411312,  0.06198179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.26568882e-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,
 -2.68170008e-06, 4.27661166e-06,-4.90501265e+00,-1.84129059e-03,
  4.46872073e-05,-2.21745602e-03]


--- 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,
  9.35844404e-02,-7.01835694e-02, 1.30619474e-01, 5.00573151e-01,
  4.89842745e-01, 4.99547625e-01, 5.09836030e-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, -1.594813  , -3.32581536, -1.0570016 ,-27.46800541,
   2.71350458, 47.08857733]

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([ 6.74119603, -3.51000412,  5.75531016, -3.51000412, 44.64487672,
       23.1164041 ,  5.75531016, 23.1164041 , 20.83925006,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006371133112019894
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.71291657e-14, -6.53468742e-14,  1.00000000e+00,  5.69361863e-27,
        1.00000000e+00,  6.53468742e-14, -1.00000000e+00,  0.00000000e+00,
        8.71291657e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10940714, -0.03411276,  0.06198179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.27245505e-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,
 -2.23832235e-06,-3.05913187e-07,-4.90500296e+00,-1.84194815e-03,
  4.53424334e-05,-2.21757514e-03]


--- 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,
  9.35754566e-02,-7.02062990e-02, 1.30611654e-01, 5.00514557e-01,
  4.89867506e-01, 4.99443936e-01, 5.09971332e-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, 1.12408343,-3.51076537,
 -1.05222347,16.57648775,-4.98352239,52.46377685]

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([ 6.74189757,  6.73202987,  0.36463235,  6.73202987,  6.86715627,
       -2.31259035,  0.36463235, -2.31259035, 49.43812935,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006371981681837363
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.71175625e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.71175625e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08193296, -0.03180224,  0.06198178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.35471354e-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,
  2.60493155e-07,-3.16443519e-06,-4.90500870e+00,-1.84270241e-03,
  4.37358249e-05,-2.21920264e-03]


--- 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,
  9.35670369e-02,-7.02204536e-02, 1.30608318e-01, 5.00482707e-01,
  4.89865877e-01, 4.99375368e-01, 5.10071294e-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,  0.14104861,  2.14375536,  1.12141756,  4.62574723,
   0.18360093,-30.85627216]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006473538160649828
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.60782876e-14, -2.57252602e-13,  1.00000000e+00, -4.13618133e-27,
        1.00000000e+00,  2.57252602e-13, -1.00000000e+00,  0.00000000e+00,
       -1.60782876e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0918533 , -0.08823795,  0.06198149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.40532447e-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,
  5.02557835e-06, 2.00010288e-06,-4.90501914e+00,-1.84360708e-03,
  4.29771344e-05,-2.22064051e-03]


--- 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,
  9.35591825e-02,-7.02262741e-02, 1.30608293e-01, 5.00477037e-01,
  4.89838123e-01, 4.99340852e-01, 5.10137297e-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,  0.14132605,  2.08350706,  0.82744906,  4.21372317,
   0.32923965,-30.03835394]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000654552637200087
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.12019432e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.12019432e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09185559, -0.08823663,  0.06198129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
  2.58293211e-06,-3.28711739e-07,-4.90500836e+00,-1.84137576e-03,
  4.52405916e-05,-2.22171615e-03]


--- 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,
  9.35518926e-02,-7.02239652e-02, 1.30610562e-01, 5.00497057e-01,
  4.89784497e-01, 4.99339484e-01, 5.10170484e-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,
  1.41120039e-01, 2.03238311e+00, 5.73634903e-01, 3.88219157e+00,
  4.43369057e-01,-2.93424115e+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: -0.0006562225485445966
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.11479899e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.11479899e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09185731, -0.08823671,  0.06198124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  4.61726629e-07,-1.17825592e-06,-4.90500274e+00,-1.83936823e-03,
  4.68967566e-05,-2.22205873e-03]


--- 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,
  9.35451651e-02,-7.02136986e-02, 1.30614254e-01, 5.00542339e-01,
  4.89705225e-01, 4.99370503e-01, 5.10171795e-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,
  1.40604319e-01, 1.98939470e+00, 3.55616979e-01, 3.61542381e+00,
  5.33023503e-01,-2.87555320e+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: -0.0006534342248298713
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09185859, -0.08823791,  0.06198132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.41226249e-06,-6.29129449e-07,-4.90500189e+00,-1.83753489e-03,
  4.80076810e-05,-2.22167840e-03]


--- 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,
  9.35389972e-02,-7.01956177e-02, 1.30618623e-01, 5.00612521e-01,
  4.89600504e-01, 4.99433272e-01, 5.10141997e-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,  0.13990389,  1.95360082,  0.16914972,  3.40081632,
   0.60368271,-28.26557132]

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: -0.0006471037676673147
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.96995020e-14, -1.71568005e-13,  1.00000000e+00,  1.19582045e-26,
        1.00000000e+00,  1.71568005e-13, -1.00000000e+00,  0.00000000e+00,
        6.96995020e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09185953, -0.08824001,  0.0619815 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.99494806e-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,
 -3.09389461e-06, 1.25028612e-06,-4.90500551e+00,-1.83583890e-03,
  4.86203722e-05,-2.22058456e-03]


--- 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,
  9.35374778e-02,-7.01920114e-02, 1.30619711e-01, 5.00617890e-01,
  4.89571105e-01, 4.99454895e-01, 5.10143774e-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,  1.16213011, -3.61866082, -0.8198647 , 16.33893856,
  -5.59742219, 53.31691491]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006408043946297265
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.66272948e-14, -8.66272948e-14,  1.00000000e+00,  7.50428821e-27,
        1.00000000e+00,  8.66272948e-14, -1.00000000e+00,  0.00000000e+00,
        8.66272948e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08192098, -0.03181117,  0.06198168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.99651364e-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,
 -4.62375881e-06, 4.40288241e-06,-4.90501334e+00,-1.83425273e-03,
  4.87703820e-05,-2.21878553e-03]


--- 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,
  9.35404784e-02,-7.02025349e-02, 1.30616635e-01, 5.00559742e-01,
  4.89614982e-01, 4.99436955e-01, 5.10176285e-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,  1.12998061, -3.53245627, -1.04130161, 16.12396594,
  -5.20811385, 51.87841552]

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([ 6.78176573, -5.9607646 ,  3.23444457, -5.9607646 , 17.25127853,
       19.29428682,  3.23444457, 19.29428682, 42.33924686,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006420261785834019
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  8.6462442e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -8.6462442e-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([ 0.08191892, -0.03181254,  0.06198165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.68026449e-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,
 -5.83318286e-07, 2.12930256e-07,-4.90500061e+00,-1.83634262e-03,
  4.72224956e-05,-2.21812191e-03]


--- 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,
  9.35441171e-02,-7.02048259e-02, 1.30616423e-01, 5.00528334e-01,
  4.89630856e-01, 4.99452347e-01, 5.10176797e-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,  0.15953456,  2.05812718,  0.71608302,  2.93802755,
   0.97430573,-29.98275296]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006416954695901977
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.02869391e-14, -2.59521006e-13,  1.00000000e+00,  1.82409371e-26,
        1.00000000e+00,  2.59521006e-13, -1.00000000e+00,  0.00000000e+00,
        7.02869391e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09186055, -0.08824223,  0.06198165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.92302811e-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,
  1.26021960e-07, 1.98026908e-06,-4.90500407e+00,-1.83774494e-03,
  4.78928142e-05,-2.21891028e-03]


--- 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,
  9.35483810e-02,-7.01990678e-02, 1.30618135e-01, 5.00523050e-01,
  4.89619390e-01, 4.99500316e-01, 5.10146022e-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,  0.15629229,  2.01226921,  0.48103992,  2.88590654,
   0.94378198,-29.29704252]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006423744197627812
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.86087578e-14,  8.64155694e-14,  1.00000000e+00, -4.20055348e-27,
        1.00000000e+00, -8.64155694e-14, -1.00000000e+00,  0.00000000e+00,
        4.86087578e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09186048, -0.08824224,  0.06198163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.31143798e-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,
 -1.81954314e-07, 5.28808239e-07,-4.90500086e+00,-1.83759651e-03,
  4.74161366e-05,-2.21909327e-03]


--- 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,
  9.35532594e-02,-7.01854148e-02, 1.30620964e-01, 5.00543367e-01,
  4.89581136e-01, 4.99580226e-01, 5.10084549e-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,  0.15363979,  1.97372874,  0.27908617,  2.84283486,
   0.91738773,-28.72251305]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006389744237608741
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.42971177e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.42971177e-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([ 0.09186035, -0.08824334,  0.06198173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.47846995e-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,
 -4.18175428e-07, 5.62099868e-07,-4.90500231e+00,-1.83749524e-03,
  4.65197457e-05,-2.21853456e-03]


--- 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,
  9.35627157e-02,-7.01860739e-02, 1.30620068e-01, 5.00499138e-01,
  4.89616969e-01, 4.99620469e-01, 5.10054137e-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,  1.14445433, -3.57803007, -0.93110065, 16.46625964,
  -5.09646952, 52.45226442]

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: -0.0006416556315284039
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.29768559e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.29768559e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08191126, -0.03181438,  0.06198166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -5.86005844e-07, 1.98488178e-06,-4.90500814e+00,-1.83744200e-03,
  4.52160232e-05,-2.21724861e-03]


--- 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,
  9.35766383e-02,-7.02007223e-02, 1.30614622e-01, 5.00391612e-01,
  4.89725042e-01, 4.99622371e-01, 5.10054022e-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,  1.11658927, -3.49731451, -1.13739215, 16.22719752,
  -4.78860908, 51.15677147]

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([ 6.76900454, -6.3288757 ,  2.4009904 , -6.3288757 , 14.25442403,
       19.73114485,  2.4009904 , 19.73114485, 58.77919287,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006404795645170297
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.30006844e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.30006844e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08190948, -0.03181409,  0.06198169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.78288698e-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,
 -1.14896506e-06, 5.26936047e-07,-4.90500386e+00,-1.83944393e-03,
  4.61479332e-05,-2.21730590e-03]


--- 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,
  9.35912692e-02,-7.02070205e-02, 1.30612642e-01, 5.00311425e-01,
  4.89803951e-01, 4.99657860e-01, 5.10022147e-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,  0.17706708,  2.08755062,  0.86618631,  2.50874606,
   1.23433989,-30.42838934]

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: -0.0006420415402259433
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.18641466e-14,  8.64603733e-14,  1.00000000e+00, -7.94260841e-27,
        1.00000000e+00, -8.64603733e-14, -1.00000000e+00,  0.00000000e+00,
        9.18641466e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0918587 , -0.08824303,  0.06198164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.41014570e-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,
 -4.78341061e-06, 4.84055715e-06,-4.90501515e+00,-1.84092538e-03,
  4.92092515e-05,-2.21876502e-03]


--- 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,
  9.36065903e-02,-7.02051706e-02, 1.30613099e-01, 5.00257838e-01,
  4.89854630e-01, 4.99726173e-01, 5.09959105e-01]

qacc:
[-3.45368302e+00,-2.61982245e-02,-6.85347330e-01, 3.91877043e+00,
  4.96013937e-01, 9.89739509e-01,-7.21925972e+00, 2.10032558e+01,
 -3.21320994e+00, 3.01077239e+00,-1.10981383e+01, 1.70236343e+01,
 -1.48120945e+00, 2.78157958e+00,-3.97815868e+00, 1.11538221e+01,
  1.72562992e-01, 2.03702112e+00, 6.09464611e-01, 2.58043561e+00,
  1.13161368e+00,-2.96707747e+01]

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: -0.0006452561185909395
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.61305574e-14, -2.58088918e-13,  1.00000000e+00, -4.16311811e-27,
        1.00000000e+00,  2.58088918e-13, -1.00000000e+00,  0.00000000e+00,
       -1.61305574e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09185789, -0.08824235,  0.06198155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.02408019e-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,
 -3.53230639e-06, 1.63948100e-06,-4.90500977e+00,-1.84232191e-03,
  4.71205600e-05,-2.21937051e-03]


--- 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,
  9.36225878e-02,-7.01953434e-02, 1.30615109e-01, 5.00230225e-01,
  4.89877855e-01, 4.99826657e-01, 5.09865396e-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,  0.16910699,  1.9943344 ,  0.38836778,  2.63696681,
   1.04611788,-29.0331627 ]

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: -0.0006438494689967322
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.84973959e-14,  8.62175926e-14,  1.00000000e+00, -4.18132872e-27,
        1.00000000e+00, -8.62175926e-14, -1.00000000e+00,  0.00000000e+00,
        4.84973959e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09185718, -0.08824291,  0.06198159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.14265065e-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,
 -2.31821093e-06, 1.92791796e-08,-4.90500928e+00,-1.84371177e-03,
  4.46723011e-05,-2.21922699e-03]


--- 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,
  9.36320042e-02,-7.01992364e-02, 1.30614033e-01, 5.00177106e-01,
  4.89918564e-01, 4.99853740e-01, 5.09851843e-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, -1.64530494, -3.43006919, -0.77185696,-28.12395269,
   3.19154994, 48.8984349 ]

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: -0.0006431813642753387
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.31535756e-14, -1.29460727e-13,  1.00000000e+00,  5.58669326e-27,
        1.00000000e+00,  1.29460727e-13, -1.00000000e+00,  0.00000000e+00,
        4.31535756e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1093772 , -0.03410948,  0.06198161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16128294e-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,
 -1.11358543e-06,-1.39349302e-07,-4.90501333e+00,-1.84511500e-03,
  4.18596503e-05,-2.21835062e-03]


--- 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,
  9.36349981e-02,-7.02165181e-02, 1.30608972e-01, 5.00098962e-01,
  4.89976304e-01, 4.99809517e-01, 5.09916363e-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, -1.6056041 , -3.34716649, -0.99587235,-27.30113878,
   3.20501446, 47.62887952]

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([ 6.80236229, -5.02177451,  4.58845437, -5.02177451, 32.31027457,
       27.91680451,  4.58845437, 27.91680451, 37.35554775,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006445250305665007
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.29190835e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.29190835e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10937608, -0.0341101 ,  0.06198157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.33269506e-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,
 -1.07622873e-06, 1.10378450e-06,-4.90500353e+00,-1.84638658e-03,
  4.45827707e-05,-2.21853993e-03]


--- 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,
  9.36386120e-02,-7.02253888e-02, 1.30607585e-01, 5.00047252e-01,
  4.90007508e-01, 4.99799596e-01, 5.09946813e-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,
  1.54993905e-01, 2.10275750e+00, 9.18235441e-01, 4.14841741e+00,
  3.89565374e-01,-3.02939239e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006499758862021365
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.93915133e-14, -1.70809879e-13,  1.00000000e+00,  1.18527560e-26,
        1.00000000e+00,  1.70809879e-13, -1.00000000e+00,  0.00000000e+00,
        6.93915133e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09185913, -0.0882425 ,  0.06198142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
  1.18190166e-06, 3.97019892e-06,-4.90500939e+00,-1.84792640e-03,
  4.49776509e-05,-2.22030034e-03]


--- 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,
  9.36428455e-02,-7.02260642e-02, 1.30608807e-01, 5.00021426e-01,
  4.90012558e-01, 4.99823062e-01, 5.09944284e-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,  0.15491146,  2.04882177,  0.652463  ,  3.87399958,
   0.46811184,-29.56115588]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006535127409841579
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.65446007e-14, -8.49427222e-14,  1.00000000e+00,  2.25477064e-27,
        1.00000000e+00,  8.49427222e-14, -1.00000000e+00,  0.00000000e+00,
        2.65446007e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09186057, -0.0882421 ,  0.06198132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
  3.66281674e-07, 1.49338433e-06,-4.90500261e+00,-1.84737628e-03,
  4.50339603e-05,-2.22102981e-03]


--- 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,
  9.36476979e-02,-7.02187264e-02, 1.30611725e-01, 5.00021006e-01,
  4.89991793e-01, 4.99879145e-01, 5.09909675e-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,
  1.54701827e-01, 2.00330933e+00, 4.23715231e-01, 3.65441523e+00,
  5.27573720e-01,-2.89411225e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006522591617422191
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.78721103e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.78721103e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09186162, -0.08824292,  0.06198135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.05997532e-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,
 -2.25912063e-07, 4.95612213e-07,-4.90500065e+00,-1.84698756e-03,
  4.45737854e-05,-2.22102008e-03]


--- 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,
  9.36531681e-02,-7.02035275e-02, 1.30615553e-01, 5.00045584e-01,
  4.89945504e-01, 4.99967196e-01, 5.09843721e-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,  0.15445836,  1.96526726,  0.22772997,  3.47935108,
   0.5722329 ,-28.42148934]

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: -0.0006471769169931474
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.36089416e-15,  8.57743065e-14,  1.00000000e+00, -4.59826978e-28,
        1.00000000e+00, -8.57743065e-14, -1.00000000e+00,  0.00000000e+00,
        5.36089416e-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([ 0.09186237, -0.0882447 ,  0.0619815 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.24909848e-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,
 -6.40496070e-07, 8.90156564e-07,-4.90500321e+00,-1.84673208e-03,
  4.36351057e-05,-2.22028415e-03]


--- 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,
  9.36521231e-02,-7.02019950e-02, 1.30616099e-01, 5.00045354e-01,
  4.89916566e-01, 4.99981998e-01, 5.09857238e-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, -1.62880104, -3.41662546, -0.82061356,-28.12407293,
   2.93297171, 48.47551428]

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: -0.0006462917916629923
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.29458891e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.29458891e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10937001, -0.03410978,  0.06198152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.06368940e-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,
 -9.10797488e-07, 2.60497658e-06,-4.90501003e+00,-1.84658936e-03,
  4.22460449e-05,-2.21883323e-03]


--- 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,
  9.36447089e-02,-7.02138021e-02, 1.30612493e-01, 5.00020677e-01,
  4.89904548e-01, 4.99925635e-01, 5.09948248e-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, -1.59229045, -3.334857  , -1.03794945,-27.29596371,
   2.98760954, 47.2693238 ]

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([ 6.8178768 , -4.19581348,  5.37388066, -4.19581348, 41.2987576 ,
       26.92194963,  5.37388066, 26.92194963, 27.83797128,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006464095403078268
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.07345165e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.07345165e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10936878, -0.03410949,  0.06198152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -5.23521692e-07, 1.52549906e-08,-4.90500027e+00,-1.84752452e-03,
  4.36105002e-05,-2.21901230e-03]


--- 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,
  9.36378515e-02,-7.02172880e-02, 1.30611996e-01, 5.00021611e-01,
  4.89867591e-01, 4.99903319e-01, 5.10004709e-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,
  1.39196911e-01, 2.08025934e+00, 7.77250251e-01, 4.80930450e+00,
  6.41443048e-03,-2.97416202e+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([  6.80470129,   1.67836675,   6.59447076,   1.67836675,
        61.86535568, -14.01355388,   6.59447076, -14.01355388,
        10.37130787,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006448090168310328
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.69029035e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.69029035e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09186792, -0.08824728,  0.06198156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.18313522e-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,
  1.98793292e-06,-8.80361551e-07,-4.90500598e+00,-1.84864299e-03,
  4.27041119e-05,-2.22072584e-03]


--- 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,
  9.36315579e-02,-7.02126533e-02, 1.30613629e-01, 5.00047772e-01,
  4.89805723e-01, 4.99914166e-01, 5.10027848e-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,  0.14096368,  2.03017122,  0.53256328,  4.37831454,
   0.17596721,-29.11271905]

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: -0.000646266065195758
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.61053495e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.61053495e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09187034, -0.08824767,  0.06198152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.52715465e-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,
 -1.48619561e-07,-1.19565905e-06,-4.90500188e+00,-1.84658111e-03,
  4.41961820e-05,-2.22079875e-03]


--- 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,
  9.36258325e-02,-7.02000661e-02, 1.30616551e-01, 5.00098823e-01,
  4.89718994e-01, 4.99957429e-01, 5.10018669e-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,
  1.42023885e-01, 1.98813533e+00, 3.22267066e-01, 4.03322930e+00,
  3.09314239e-01,-2.85808175e+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: -0.0006434391222381874
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.16646131e-14, -8.62725770e-14,  1.00000000e+00,  7.90814239e-27,
        1.00000000e+00,  8.62725770e-14, -1.00000000e+00,  0.00000000e+00,
        9.16646131e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09187217, -0.08824908,  0.0619816 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.62291988e-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,
 -1.99183738e-06,-1.86768969e-07,-4.90500245e+00,-1.84474364e-03,
  4.51128002e-05,-2.22016382e-03]


--- 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,
  9.36137003e-02,-7.02009503e-02, 1.30615647e-01, 5.00126160e-01,
  4.89649287e-01, 4.99928039e-01, 5.10087595e-01]

qacc:
[  1.68202766,  0.38441198, -0.65150559,  0.26291404, -2.16882244,
  -0.80785225,  8.02901128,-25.09933232, -4.66011514,  0.26908637,
  -1.98364784,  5.36122479, -2.04306138,  4.08882196, -3.3017227 ,
   9.29713559, -1.60167687, -3.36786583, -0.95679888,-27.98873291,
   2.54405215, 47.62218067]

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: -0.0006413209799782521
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.32787582e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.32787582e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10936358, -0.03410491,  0.06198166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -3.60978883e-06, 2.09812365e-06,-4.90500741e+00,-1.84308185e-03,
  4.55084747e-05,-2.21882638e-03]


--- 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,
  9.35953657e-02,-7.02146655e-02, 1.30610618e-01, 5.00130701e-01,
  4.89595601e-01, 4.99829607e-01, 5.10231117e-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, -1.55062078, -3.2077566 , -1.03084278,-26.66828272,
   2.61081176, 45.37590348]

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([ 6.75695339, -2.26135725,  6.3673136 , -2.26135725, 56.79386418,
       17.77065463,  6.3673136 , 17.77065463, 13.06821763,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006390200929365595
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.36434448e-07,  6.36434448e-07,  1.00000000e+00,  4.05048807e-13,
        1.00000000e+00, -6.36434448e-07, -1.00000000e+00,  1.00974196e-28,
       -6.36434448e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10890839, -0.03550915,  0.06198173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.21652817e-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,
 -2.10138992e-06,-2.25660345e-06,-4.90500532e+00,-1.84373948e-03,
  4.48370592e-05,-2.21966627e-03]


--- 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,
  9.35775296e-02,-7.02199589e-02, 1.30609143e-01, 5.00160875e-01,
  4.89517347e-01, 4.99765605e-01, 5.10339305e-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,  0.12462232,  2.10547729,  0.88826207,  5.19613205,
  -0.17862671,-29.94340716]

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([  6.82628717,   1.73386904,   6.60241582,   1.73386904,
        58.50555195, -13.57155917,   6.60241582, -13.57155917,
        10.39033204,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000647431961357442
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.35878233e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.35878233e-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([ 0.09188036, -0.08825059,  0.06198149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.33213020e-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,
  1.26917583e-06,-4.90514300e-06,-4.90501766e+00,-1.84441017e-03,
  4.21119639e-05,-2.22193484e-03]


--- 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,
  9.35602004e-02,-7.02170473e-02, 1.30610176e-01, 5.00216329e-01,
  4.89414408e-01, 4.99735064e-01, 5.10413585e-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,  0.12675699,  2.05123558,  0.62690387,  4.65016456,
   0.05080528,-29.28923661]

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([ 6.85217533,  0.62310588, -6.8237853 ,  0.62310588, 71.23191544,
        5.87875977, -6.8237853 ,  5.87875977,  7.38898732,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006505829513818034
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.26626237e-14,  4.26626237e-14,  1.00000000e+00,  1.82009946e-27,
        1.00000000e+00, -4.26626237e-14, -1.00000000e+00,  0.00000000e+00,
       -4.26626237e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09188348, -0.0882507 ,  0.0619814 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.58328046e-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,
 -2.16447190e-06,-4.40252468e-06,-4.90501173e+00,-1.84086496e-03,
  4.54196598e-05,-2.22199915e-03]


--- 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,
  9.35433828e-02,-7.02061132e-02, 1.30612816e-01, 5.00296749e-01,
  4.89286714e-01, 4.99737169e-01, 5.10455126e-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,  0.12786875,  2.0056162 ,  0.40199733,  4.21152637,
   0.2331464 ,-28.73308229]

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: -0.000649054042221528
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.13815598e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.13815598e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09188586, -0.08825191,  0.06198144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -5.26072948e-06,-2.63358917e-06,-4.90501067e+00,-1.83758822e-03,
  4.80903683e-05,-2.22137654e-03]


--- 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,
  9.35312385e-02,-7.02096183e-02, 1.30612179e-01, 5.00312373e-01,
  4.89234759e-01, 4.99697585e-01, 5.10528358e-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,  1.16833843, -3.6098091 , -0.81930541, 16.2388681 ,
  -5.81586882, 53.58799926]

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([ 6.82093797,  1.24244157, -6.7068274 ,  1.24244157, 71.46119696,
       11.97462532, -6.7068274 , 11.97462532,  9.03924053,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006467816076628358
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.58267313e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.58267313e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187898, -0.0318396 ,  0.06198151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.65271032e-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,
 -8.10354375e-06, 3.70434532e-07,-4.90501415e+00,-1.83451471e-03,
  5.01956803e-05,-2.22006674e-03]


--- 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,
  9.35236320e-02,-7.02272251e-02, 1.30607374e-01, 5.00264509e-01,
  4.89256414e-01, 4.99617984e-01, 5.10632404e-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,
  1.13444042e+00,-3.52540114e+00,-1.04201354e+00, 1.60305419e+01,
 -5.40059919e+00, 5.20951837e+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([ 6.82883087, -6.00755172,  3.24688365, -6.00755172, 15.80549561,
       16.6090884 ,  3.24688365, 16.6090884 , 37.55982347,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000647741309636074
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.71399139e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.71399139e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187663, -0.03184127,  0.06198148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.81902663e-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,
 -7.94817255e-07,-2.07112033e-06,-4.90500476e+00,-1.83607112e-03,
  4.72131512e-05,-2.21969739e-03]


--- 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,
  9.35166082e-02,-7.02364238e-02, 1.30606333e-01, 5.00243648e-01,
  4.89250385e-01, 4.99572590e-01, 5.10703027e-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,
  1.45693883e-01, 2.10202739e+00, 9.40776991e-01, 3.55244114e+00,
  7.02739227e-01,-3.05383038e+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: -0.0006551771075503227
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.47269396e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.47269396e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09189035, -0.08825169,  0.06198127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.56544285e-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,
  3.05071425e-06, 1.41300353e-06,-4.90501154e+00,-1.83688095e-03,
  4.65128342e-05,-2.22081283e-03]


--- 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,
  9.35114067e-02,-7.02373916e-02, 1.30607911e-01, 5.00243842e-01,
  4.89221491e-01, 4.99565756e-01, 5.10737200e-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,  0.45555197,  2.0576982 ,  0.65497632,  8.08170049,
   1.30748099,-29.63704397]

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: -0.0006583357101491383
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.58135388e-13,  1.14288192e-06,  1.00000000e+00,  4.09306460e-19,
        1.00000000e+00, -1.14288192e-06, -1.00000000e+00,  0.00000000e+00,
       -3.58135388e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08928871, -0.08833119,  0.06198118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.76110429e-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,
  1.26024827e-06,-3.80501707e-07,-4.90500380e+00,-1.83525047e-03,
  4.80785008e-05,-2.22153883e-03]


--- 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,
  9.35079908e-02,-7.02303139e-02, 1.30611175e-01, 5.00264674e-01,
  4.89170087e-01, 4.99596588e-01, 5.10735872e-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 ,  0.44642389,  2.0114008 ,  0.421444  ,  7.80758508,
   1.3305052 ,-28.98636339]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006572755279290637
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.53843062e-14,  6.58496066e-07,  1.00000000e+00,  5.62252297e-20,
        1.00000000e+00, -6.58496066e-07, -1.00000000e+00,  1.20370622e-35,
       -8.53843062e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08928927, -0.08833186,  0.06198121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07415928e-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,
 -2.28851980e-07,-4.97162511e-07,-4.90500057e+00,-1.83385813e-03,
  4.91081167e-05,-2.22145509e-03]


--- 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,
  9.35063295e-02,-7.02153455e-02, 1.30615324e-01, 5.00305790e-01,
  4.89096472e-01, 4.99664334e-01, 5.10699825e-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,  0.43864204,  1.97266413,  0.22137154,  7.58262977,
   1.34664575,-28.44149762]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006522747932734829
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.18098331e-13,  3.97221853e-07,  1.00000000e+00, -4.69112379e-20,
        1.00000000e+00, -3.97221853e-07, -1.00000000e+00,  6.01853108e-36,
        1.18098331e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08928947, -0.08833354,  0.06198135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16275908e-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,
 -1.49146568e-06, 6.13005031e-07,-4.90500222e+00,-1.83259671e-03,
  4.93262051e-05,-2.22064002e-03]


--- 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,
  9.35092945e-02,-7.02147331e-02, 1.30615873e-01, 5.00283117e-01,
  4.89097348e-01, 4.99691162e-01, 5.10694949e-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,  1.15654848, -3.58900631, -0.90000526, 15.99769067,
  -5.69764516, 52.70341372]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006457001640607501
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.59704772e-14,  8.59704772e-14,  1.00000000e+00, -7.39092295e-27,
        1.00000000e+00, -8.59704772e-14, -1.00000000e+00,  0.00000000e+00,
        8.59704772e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08186353, -0.03184415,  0.06198154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.52227308e-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,
 -2.55732515e-06, 2.88550215e-06,-4.90500845e+00,-1.83145303e-03,
  4.87785845e-05,-2.21910498e-03]


--- 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,
  9.35167618e-02,-7.02281466e-02, 1.30611978e-01, 5.00197767e-01,
  4.89170802e-01, 4.99678630e-01, 5.10720459e-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,  1.12559943, -3.50646404, -1.11132809, 15.83961417,
  -5.287509  , 51.36358174]

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([ 6.80511712, -5.6197558 ,  3.83770294, -5.6197558 , 22.09124243,
       22.38429933,  3.83770294, 22.38429933, 39.58365625,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000644859509950399
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.60825503e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.60825503e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0818609 , -0.03184422,  0.06198156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.47932274e-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,
 -2.74379287e-07, 4.78534983e-07,-4.90500066e+00,-1.83376297e-03,
  4.84428652e-05,-2.21883314e-03]


--- 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,
  9.35248633e-02,-7.02332623e-02, 1.30611344e-01, 5.00139594e-01,
  4.89215546e-01, 4.99699629e-01, 5.10714027e-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,  0.15856161,  2.0744616 ,  0.81563566,  2.71610984,
   1.11501201,-30.302504  ]

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: -0.0006507535007828913
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.53028853e-14,  4.26514426e-14,  1.00000000e+00,  3.63829112e-27,
        1.00000000e+00, -4.26514426e-14, -1.00000000e+00,  0.00000000e+00,
       -8.53028853e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.091892  , -0.08825389,  0.0619814 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.23173358e-06, 3.85152444e-06,-4.90500860e+00,-1.83537865e-03,
  5.02369185e-05,-2.21999374e-03]


--- 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,
  9.35335847e-02,-7.02302760e-02, 1.30612968e-01, 5.00107898e-01,
  4.89232386e-01, 4.99753365e-01, 5.10676353e-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,
  1.54947344e-01, 2.02548093e+00, 5.64415815e-01, 2.71105219e+00,
  1.05408329e+00,-2.95533475e+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: -0.0006525145871398991
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.25363297e-14,  1.27608989e-13,  1.00000000e+00,  5.42801803e-27,
        1.00000000e+00, -1.27608989e-13, -1.00000000e+00,  0.00000000e+00,
       -4.25363297e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09189166, -0.08825352,  0.06198135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.05631412e-06, 1.42874425e-06,-4.90500380e+00,-1.83573220e-03,
  4.91411737e-05,-2.22046522e-03]


--- 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,
  9.35429143e-02,-7.02193529e-02, 1.30615987e-01, 5.00102090e-01,
  4.89221995e-01, 4.99839165e-01, 5.10608019e-01]

qacc:
[  5.68570098, -0.84110519,  4.05173737, -8.3073148 ,  0.73408452,
   0.2733194 , -2.99882907, 10.76524331, -1.61670727,  0.72157347,
  -5.30156116, 15.2629867 , -0.63691327,  0.46401047, 16.59979822,
 -61.06781388,  0.15208408,  1.98420125,  0.34848911,  2.70594363,
   1.00272311,-28.92480752]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006498471899004654
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.2813278e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.2813278e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09189131, -0.08825436,  0.06198142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.32589893e-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,
 -8.53015701e-07, 5.55078168e-07,-4.90500380e+00,-1.83610936e-03,
  4.76524892e-05,-2.22018808e-03]


--- 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,
  9.35528435e-02,-7.02006307e-02, 1.30619660e-01, 5.00121675e-01,
  4.89184924e-01, 4.99956464e-01, 5.10509505e-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,  0.14987172,  1.94976909,  0.16369525,  2.70193284,
   0.9591539 ,-28.4022652 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006436594734608725
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.31215212e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.31215212e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09189095, -0.08825615,  0.0619816 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.06308114e-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,
 -6.13850060e-07, 1.11940623e-06,-4.90500827e+00,-1.83651831e-03,
  4.57768811e-05,-2.21917844e-03]


--- 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,
  9.35673978e-02,-7.01962864e-02, 1.30619778e-01, 5.00076466e-01,
  4.89222292e-01, 5.00033915e-01, 5.10442123e-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,  1.15626802, -3.59446109, -0.88878953, 16.50869841,
  -5.15409274, 52.6786678 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000641014369121784
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.65989187e-14,  8.65989187e-14,  1.00000000e+00, -7.49937272e-27,
        1.00000000e+00, -8.65989187e-14, -1.00000000e+00,  0.00000000e+00,
        8.65989187e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08185013, -0.03184425,  0.06198167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.75325604e-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,
 -3.33177668e-07, 3.03301906e-06,-4.90501698e+00,-1.83696504e-03,
  4.35188994e-05,-2.21744958e-03]


--- 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,
  9.35864636e-02,-7.02059849e-02, 1.30615491e-01, 4.99967735e-01,
  4.89332202e-01, 5.00072899e-01, 5.10405089e-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,  1.12789548, -3.51070457, -1.10100826, 16.27130485,
  -4.82641581, 51.34637596]

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([ 6.771048  , -6.25860918,  2.58397024, -6.25860918, 15.25296655,
       20.54397241,  2.58397024, 20.54397241, 56.53040379,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000640727144265163
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.66377392e-14,  1.29956609e-13,  1.00000000e+00, -1.12591468e-26,
        1.00000000e+00, -1.29956609e-13, -1.00000000e+00,  0.00000000e+00,
        8.66377392e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08184842, -0.0318444 ,  0.06198168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.84608754e-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,
 -1.85088486e-06, 1.77216489e-07,-4.90500933e+00,-1.83960346e-03,
  4.49260917e-05,-2.21714728e-03]


--- 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,
  9.36062260e-02,-7.02074320e-02, 1.30614148e-01, 4.99886076e-01,
  4.89413160e-01, 5.00145024e-01, 5.10336776e-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,  0.17414314,  2.06283578,  0.73579397,  2.41726868,
   1.2507752 ,-30.07546507]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006393683834748781
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.71318307e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.71318307e-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([ 0.09188876, -0.08825772,  0.06198172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -6.46560783e-06, 3.17420492e-06,-4.90501748e+00,-1.84169614e-03,
  4.84515657e-05,-2.21824564e-03]


--- 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,
  9.36266696e-02,-7.02008129e-02, 1.30614797e-01, 4.99830789e-01,
  4.89466074e-01, 5.00249598e-01, 5.10237674e-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,  0.1703051 ,  2.01656821,  0.49791216,  2.51673431,
   1.13726351,-29.37840796]

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: -0.0006405344033175719
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.66638091e-14,  2.70824403e-15,  1.00000000e+00,  2.34706744e-28,
        1.00000000e+00, -2.70824403e-15, -1.00000000e+00,  0.00000000e+00,
       -8.66638091e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09188781, -0.08825757,  0.06198169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.39070964e-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,
 -4.73617968e-06, 5.27975611e-07,-4.90501511e+00,-1.84358806e-03,
  4.53931115e-05,-2.21842003e-03]


--- 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,
  9.36405297e-02,-7.02079784e-02, 1.30612512e-01, 4.99749859e-01,
  4.89536604e-01, 5.00280426e-01, 5.10219058e-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,
 -1.64586588e+00,-3.44615220e+00,-7.33480675e-01,-2.82669550e+01,
  3.18677434e+00, 4.91109655e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006469987119074871
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.28989658e-14, -8.57979316e-14,  1.00000000e+00,  3.68064253e-27,
        1.00000000e+00,  8.57979316e-14, -1.00000000e+00,  0.00000000e+00,
        4.28989658e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10931984, -0.03409712,  0.0619815 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -3.06497758e-06,-5.93335105e-07,-4.90501748e+00,-1.84547234e-03,
  4.19942581e-05,-2.21785556e-03]


--- 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,
  9.36479708e-02,-7.02285886e-02, 1.30606371e-01, 4.99643762e-01,
  4.89624285e-01, 5.00239672e-01, 5.10278788e-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, -1.60476992, -3.36117011, -0.96393529,-27.41330379,
   3.21077315, 47.80834589]

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([ 6.83795566, -4.98577687,  4.67970797, -4.98577687, 31.99505359,
       26.80245813,  4.67970797, 26.80245813, 35.39338617,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006488514660848987
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.55529411e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.55529411e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10931856, -0.03409803,  0.06198145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -2.73067635e-06, 2.32951875e-06,-4.90500841e+00,-1.84721564e-03,
  4.52114001e-05,-2.21823806e-03]


--- 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,
  9.36560384e-02,-7.02407150e-02, 1.30604284e-01, 4.99564412e-01,
  4.89684998e-01, 5.00233478e-01, 5.10304290e-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,
  1.56628400e-01, 2.12094675e+00, 1.01340608e+00, 4.09330476e+00,
  4.44457105e-01,-3.05811914e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006525927363891515
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.70124944e-13,  4.25312359e-14,  1.00000000e+00, -7.23562411e-27,
        1.00000000e+00, -4.25312359e-14, -1.00000000e+00,  0.00000000e+00,
        1.70124944e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09188925, -0.08825549,  0.06198134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.33981471e-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,
 -1.73468121e-07, 6.85435560e-06,-4.90501512e+00,-1.84923109e-03,
  4.60639731e-05,-2.22019897e-03]


--- 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,
  9.36647320e-02,-7.02445855e-02, 1.30605130e-01, 4.99511201e-01,
  4.89719220e-01, 5.00260890e-01, 5.10296666e-01]

qacc:
[ -1.47895671,  0.0451883 , -1.31372263,  3.95247504, -1.13814777,
  -0.84214357,  2.87942719, -3.33137381, -2.23046013, -2.28417137,
   8.07890752,-12.6147716 , -0.57836816,  0.48851878, -6.8281173 ,
  19.59955808,  0.15649704,  2.06395155,  0.73343357,  3.84317796,
   0.50527107,-29.79799168]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006575814664595281
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.44171469e-14,  8.44171469e-14,  1.00000000e+00,  7.12625469e-27,
        1.00000000e+00, -8.44171469e-14, -1.00000000e+00,  0.00000000e+00,
       -8.44171469e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09189057, -0.08825469,  0.0619812 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -6.06319032e-07, 3.31571136e-06,-4.90500661e+00,-1.84913316e-03,
  4.55633863e-05,-2.22126465e-03]


--- 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,
  9.36740509e-02,-7.02403932e-02, 1.30607945e-01, 4.99483603e-01,
  4.89727368e-01, 5.00321102e-01, 5.10256827e-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,  0.15632456,  2.01572997,  0.49223364,  3.64342536,
   0.54981889,-29.13407114]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006574379353410931
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.68871153e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.68871153e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09189153, -0.08825519,  0.06198121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.31013961e-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,
 -8.28300528e-07, 1.31724799e-06,-4.90500305e+00,-1.84919161e-03,
  4.45578797e-05,-2.22158237e-03]


--- 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,
  9.36839945e-02,-7.02282996e-02, 1.30611902e-01, 4.99481167e-01,
  4.89709804e-01, 5.00413437e-01, 5.10185519e-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 ,  0.15618922,  1.97530443,  0.28542621,  3.48478319,
   0.58177938,-28.57631115]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006531777390538507
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.69972575e-13,  4.24931438e-14,  1.00000000e+00, -7.22266909e-27,
        1.00000000e+00, -4.24931438e-14, -1.00000000e+00,  0.00000000e+00,
        1.69972575e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0918922 , -0.08825673,  0.06198133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -8.81605866e-07, 7.58601358e-07,-4.90500410e+00,-1.84938158e-03,
  4.30824063e-05,-2.22116712e-03]


--- 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,
  9.36874719e-02,-7.02298541e-02, 1.30612490e-01, 4.99453784e-01,
  4.89709636e-01, 5.00432790e-01, 5.10193504e-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, -1.61655994, -3.41201069, -0.84218589,-28.00377067,
   2.99348297, 48.38888971]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006493933962320453
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.54815456e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.54815456e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1093128 , -0.03409722,  0.06198144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -7.96717814e-07, 1.55673617e-06,-4.90500948e+00,-1.84968516e-03,
  4.11625903e-05,-2.22003173e-03]


--- 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,
  9.36846286e-02,-7.02447345e-02, 1.30608851e-01, 4.99401808e-01,
  4.89726437e-01, 5.00381223e-01, 5.10278828e-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 , -1.58016226, -3.33147183, -1.05702811,-27.18362427,
   3.05122085, 47.1978942 ]

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([ 6.83813445, -4.26468469,  5.34532947, -4.26468469, 41.16418913,
       27.38648771,  5.34532947, 27.38648771, 28.68800085,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006488732246670015
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.55500722e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.55500722e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10931175, -0.03409662,  0.06198145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.17774776e-07, 5.55794586e-07,-4.90500036e+00,-1.85108573e-03,
  4.29956055e-05,-2.22039220e-03]


--- 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,
  9.36823552e-02,-7.02512564e-02, 1.30608561e-01, 4.99375581e-01,
  4.89718166e-01, 5.00363874e-01, 5.10329443e-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,
  1.42453316e-01, 2.08961835e+00, 8.37604350e-01, 4.84860930e+00,
 -4.03752994e-04,-2.98871864e+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([  6.87021651,   1.68048936,   6.66151863,   1.68048936,
        64.20675554, -14.4641859 ,   6.66151863, -14.4641859 ,
        10.51907076,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006527824382397823
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.25188761e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.25188761e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09189755, -0.08825874,  0.06198134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.86861622e-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,
  2.67602397e-06, 1.21568127e-06,-4.90500663e+00,-1.85268730e-03,
  4.25618827e-05,-2.22228841e-03]


--- 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,
  9.36806593e-02,-7.02496291e-02, 1.30610602e-01, 4.99374682e-01,
  4.89684911e-01, 5.00379824e-01, 5.10346595e-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,  0.14439732,  2.03729354,  0.58266875,  4.42907156,
   0.15917636,-29.22266345]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006547202061144008
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.69572134e-13,  8.47860670e-14,  1.00000000e+00,  1.43773543e-26,
        1.00000000e+00, -8.47860670e-14, -1.00000000e+00,  0.00000000e+00,
       -1.69572134e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09189992, -0.08825899,  0.06198128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08561663e-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,
  8.48099754e-07,-8.09525382e-08,-4.90500112e+00,-1.85105289e-03,
  4.35121209e-05,-2.22268142e-03]


--- 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,
  9.36795462e-02,-7.02400286e-02, 1.30614098e-01, 4.99398740e-01,
  4.89626772e-01, 5.00428303e-01, 5.10331301e-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,  0.14568148,  1.99331651,  0.36362298,  4.09387938,
   0.28374117,-28.66010019]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006521679758859367
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.51178734e-14,  4.25589367e-14,  1.00000000e+00, -3.62252619e-27,
        1.00000000e+00, -4.25589367e-14, -1.00000000e+00,  0.00000000e+00,
        8.51178734e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09190171, -0.08826032,  0.06198136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -6.74411229e-07,-1.37603456e-08,-4.90500032e+00,-1.84965200e-03,
  4.38874490e-05,-2.22235965e-03]


--- 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,
  9.36790191e-02,-7.02226012e-02, 1.30618299e-01, 4.99447435e-01,
  4.89543846e-01, 5.00508666e-01, 5.10284389e-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,  0.14650744,  1.95670692,  0.17622679,  3.82642123,
   0.38093809,-28.188899  ]

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: -0.0006460448661520651
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.59246070e-14,  1.28886911e-13,  1.00000000e+00, -1.10745571e-26,
        1.00000000e+00, -1.28886911e-13, -1.00000000e+00,  0.00000000e+00,
        8.59246070e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09190303, -0.08826251,  0.06198153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.44312204e-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,
 -1.96107901e-06, 1.35957511e-06,-4.90500395e+00,-1.84843653e-03,
  4.37415077e-05,-2.22133028e-03]


--- 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,
  9.36720551e-02,-7.02188301e-02, 1.30619120e-01, 4.99472081e-01,
  4.89478254e-01, 5.00515441e-01, 5.10316542e-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, -1.60921556, -3.41406646, -0.84475843,-28.3463207 ,
   2.57235979, 48.23001092]

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: -0.0006456065192995408
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.59829472e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.59829472e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10930395, -0.03409241,  0.06198154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.69408180e-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,
 -3.06280113e-06, 3.98886395e-06,-4.90501176e+00,-1.84737104e-03,
  4.31141050e-05,-2.21960016e-03]


--- 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,
  9.36587892e-02,-7.02283903e-02, 1.30615708e-01, 4.99472874e-01,
  4.89429575e-01, 5.00450795e-01, 5.10425843e-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,
 -1.57548316e+00,-3.33282551e+00,-1.05839176e+00,-2.74694105e+01,
  2.69810400e+00, 4.70659332e+01]

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([ 6.80872027, -3.17048178,  6.02550554, -3.17048178, 45.25719306,
       20.23069792,  6.02550554, 20.23069792, 17.45364602,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006452970800644164
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.60241785e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.60241785e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10930218, -0.03409166,  0.06198155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.63503394e-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,
 -2.20455610e-06,-5.60158813e-07,-4.90500261e+00,-1.84833820e-03,
  4.37140014e-05,-2.21988164e-03]


--- 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,
  9.36419356e-02,-7.02416366e-02, 1.30615464e-01, 4.99471706e-01,
  4.89380855e-01, 5.00360821e-01, 5.10561889e-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, -0.89692493, -0.92152815,  0.79197739,-12.68630295,
   0.72110408, 13.36690332]

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([  6.77357813,   1.37760262,   6.63201114,   1.37760262,
        58.30391545, -10.70389152,   6.63201114, -10.70389152,
         8.99699253,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006410337302388598
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02330574e-06,  8.65963031e-14,  1.00000000e+00,  8.86144944e-20,
        1.00000000e+00, -8.65963031e-14, -1.00000000e+00,  0.00000000e+00,
       -1.02330574e-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([ 0.1004856 , -0.0615525 ,  0.06198167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.47724518e-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,
  6.70537344e-07,-3.37354207e-06,-4.90500889e+00,-1.84938768e-03,
  4.20535977e-05,-2.22166673e-03]


--- 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,
  9.36255865e-02,-7.02466584e-02, 1.30617821e-01, 4.99495661e-01,
  4.89307981e-01, 5.00304490e-01, 5.10663492e-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,  0.12612102,  2.05612586,  0.6502136 ,  5.02558493,
  -0.14501326,-29.29013032]

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([  6.8099899 ,   1.75165221,   6.58085686,   1.75165221,
        59.65362826, -14.06559631,   6.58085686, -14.06559631,
        10.55388426,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006454512915974875
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.50506345e-13,  4.30018128e-14,  1.00000000e+00,  6.47204567e-27,
        1.00000000e+00, -4.30018128e-14, -1.00000000e+00,  0.00000000e+00,
       -1.50506345e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09191382, -0.08826606,  0.06198155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.24163153e-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,
  1.57421651e-06,-4.35033599e-06,-4.90501499e+00,-1.84848335e-03,
  4.15778670e-05,-2.22326805e-03]


--- 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,
  9.36097506e-02,-7.02436439e-02, 1.30621872e-01, 4.99544447e-01,
  4.89210810e-01, 5.00280954e-01, 5.10731922e-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,  0.12828855,  2.0090808 ,  0.42364998,  4.52862744,
   0.06637556,-28.72602213]

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: -0.0006446797223374073
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.45799177e-14,  4.30532785e-14,  1.00000000e+00, -2.78037718e-27,
        1.00000000e+00, -4.30532785e-14, -1.00000000e+00,  0.00000000e+00,
        6.45799177e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09191661, -0.08826713,  0.06198157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.57122826e-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,
 -1.68788499e-06,-3.97553941e-06,-4.90500953e+00,-1.84511308e-03,
  4.45481676e-05,-2.22333716e-03]


--- 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,
  9.35944326e-02,-7.02327503e-02, 1.30626842e-01, 4.99617804e-01,
  4.89089250e-01, 5.00289500e-01, 5.10768216e-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,  0.12949989,  1.96976254,  0.22947556,  4.12969751,
   0.23458097,-28.24944363]

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: -0.0006400850981127665
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.08405803e-13, -4.33623212e-14,  1.00000000e+00,  4.70072725e-27,
        1.00000000e+00,  4.33623212e-14, -1.00000000e+00,  0.00000000e+00,
        1.08405803e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09191873, -0.08826909,  0.0619817 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.55897080e-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,
 -4.64077549e-06,-2.37104648e-06,-4.90500872e+00,-1.84199533e-03,
  4.69144225e-05,-2.22272746e-03]


--- 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,
  9.35796347e-02,-7.02141078e-02, 1.30632066e-01, 4.99715504e-01,
  4.88943239e-01, 5.00329537e-01, 5.10773216e-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,  0.13000938,  1.93723407,  0.06373581,  3.80905794,
   0.36901372,-27.85173406]

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: -0.0006324813653299233
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.19418129e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.19418129e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09192033, -0.08827174,  0.06198192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.65016114e-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,
 -7.35938271e-06, 4.38566851e-07,-4.90501227e+00,-1.83907144e-03,
  4.87392984e-05,-2.22143840e-03]


--- 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,
  9.35695682e-02,-7.02098945e-02, 1.30633983e-01, 4.99748936e-01,
  4.88872823e-01, 5.00327669e-01, 5.10809737e-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,  1.18286046, -3.60731072, -0.82682633, 16.01283266,
  -5.99242564, 53.44452206]

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: -0.0006238705413074142
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.89786383e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.89786383e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08180599, -0.03186082,  0.06198216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.65877367e-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,
 -9.89919798e-06, 4.42927449e-06,-4.90501998e+00,-1.83629745e-03,
  5.00701623e-05,-2.21947073e-03]


--- 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,
  9.35640964e-02,-7.02197773e-02, 1.30631725e-01, 4.99719260e-01,
  4.88875936e-01, 5.00285654e-01, 5.10876937e-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,  1.14867752, -3.52399936, -1.04366566, 15.86968605,
  -5.52506387, 51.99253938]

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([ 6.65035831, -5.4895272 ,  3.75397879, -5.4895272 , 19.18760348,
       18.33349421,  3.75397879, 18.33349421, 33.45983722,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006261511005809794
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.86545615e-14,  8.86545615e-14,  1.00000000e+00, -7.85963127e-27,
        1.00000000e+00, -8.86545615e-14, -1.00000000e+00,  0.00000000e+00,
        8.86545615e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08180338, -0.0318631 ,  0.0619821 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -2.48577866e-06,-6.97603583e-07,-4.90500367e+00,-1.83843959e-03,
  4.68655419e-05,-2.21845159e-03]


--- 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,
  9.35616822e-02,-7.02336828e-02, 1.30632486e-01, 4.99665073e-01,
  4.88905828e-01, 5.00238127e-01, 5.10947868e-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,  0.7643823 , -1.00569396,  0.75455165, 10.34142113,
  -1.17441768, 15.2382688 ]

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: -0.0006242446981881835
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.50307275e-14, -1.03516616e-06,  1.00000000e+00,  7.76692698e-20,
        1.00000000e+00,  1.03516616e-06, -1.00000000e+00,  0.00000000e+00,
        7.50307275e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08698032, -0.06072858,  0.06198215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  1.41990140e-06, 1.19025973e-07,-4.90500362e+00,-1.83976914e-03,
  4.59048351e-05,-2.21891561e-03]


--- 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,
  9.35598438e-02,-7.02394996e-02, 1.30635403e-01, 4.99637039e-01,
  4.88908781e-01, 5.00223582e-01, 5.10986694e-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,  0.14395706,  2.0221707 ,  0.53932651,  3.33298547,
   0.73288937,-29.50261968]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006276568086902995
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.42209425e-14,  1.32662827e-13,  1.00000000e+00, -5.86647525e-27,
        1.00000000e+00, -1.32662827e-13, -1.00000000e+00,  0.00000000e+00,
        4.42209425e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09192396, -0.08827421,  0.06198206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.49670673e-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,
  1.83563080e-06, 1.83853563e-06,-4.90500627e+00,-1.83992106e-03,
  4.66425828e-05,-2.22000422e-03]


--- 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,
  9.35585744e-02,-7.02373890e-02, 1.30639654e-01, 4.99634648e-01,
  4.88885251e-01, 5.00241298e-01, 5.10994201e-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,  0.14226561,  1.98185415,  0.33323648,  3.19068359,
   0.75565167,-28.88580385]

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: -0.0006263048416232514
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.43163996e-14,  4.43163996e-14,  1.00000000e+00,  1.96394327e-27,
        1.00000000e+00, -4.43163996e-14, -1.00000000e+00,  0.00000000e+00,
       -4.43163996e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09192448, -0.0882747 ,  0.06198209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.81762837e-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,
  6.44762235e-07, 2.70509925e-07,-4.90500096e+00,-1.83889314e-03,
  4.72132106e-05,-2.22046915e-03]


--- 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,
  9.35578681e-02,-7.02274862e-02, 1.30644531e-01, 4.99657471e-01,
  4.88835618e-01, 5.00290668e-01, 5.10971034e-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,  0.1407606 ,  1.94806063,  0.15649676,  3.07568508,
   0.77245151,-28.37071122]

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: -0.0006214943644654303
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.46594164e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.46594164e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09192481, -0.08827613,  0.06198223])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -4.13212825e-07, 1.23139401e-07,-4.90500023e+00,-1.83795683e-03,
  4.73261654e-05,-2.22020725e-03]


--- 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,
  9.35577196e-02,-7.02099031e-02, 1.30649430e-01, 4.99705144e-01,
  4.88760198e-01, 5.00371186e-01, 5.10917718e-01]

qacc:
[-6.69462611e-01,-3.23992331e-01,-6.38374151e-01, 5.08660342e+00,
 -4.25107536e+00,-1.56506127e+00, 1.25571605e+00, 9.75005815e+00,
 -5.30293793e+00,-7.61147755e-02, 9.29625188e-01,-3.54097722e+00,
  4.18604614e-01,-1.99246261e+00, 3.01398169e+00,-1.41273367e+01,
  1.39451426e-01, 1.92006049e+00, 5.54961913e-03, 2.98316187e+00,
  7.84771708e-01,-2.79450869e+01]

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: -0.0006139699483389133
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.78100997e-14,  1.80826933e-13,  1.00000000e+00, -1.22618923e-26,
        1.00000000e+00, -1.80826933e-13, -1.00000000e+00,  0.00000000e+00,
        6.78100997e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09192501, -0.08827831,  0.06198245])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.36015179e-06, 1.32012811e-06,-4.90500381e+00,-1.83709963e-03,
  4.70045463e-05,-2.21923027e-03]


--- 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,
  9.35621972e-02,-7.02065519e-02, 1.30650448e-01, 4.99689069e-01,
  4.88758684e-01, 5.00411671e-01, 5.10895237e-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,  1.15651669, -3.55796069, -0.97021669, 16.10331385,
  -5.39791768, 52.26286225]

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: -0.0006125249270910876
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.06267627e-14,  9.06267627e-14,  1.00000000e+00, -8.21321012e-27,
        1.00000000e+00, -9.06267627e-14, -1.00000000e+00,  0.00000000e+00,
        9.06267627e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08178664, -0.0318597 ,  0.06198249])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.09991983e-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,
 -2.21251556e-06, 3.79985554e-06,-4.90501149e+00,-1.83631201e-03,
  4.62659029e-05,-2.21754792e-03]


--- 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,
  9.35711878e-02,-7.02171283e-02, 1.30646807e-01, 4.99610318e-01,
  4.88829300e-01, 5.00413537e-01, 5.10902865e-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, 1.12826909,-3.48191748,
 -1.16478289,15.93933091,-5.03460838,51.01762913]

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([ 6.53689754, -5.74869594,  3.1118362 , -5.74869594, 19.02095501,
       23.06260544,  3.1118362 , 23.06260544, 49.14193768,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006125139926352885
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.06283806e-14,  9.06283806e-14,  1.00000000e+00, -8.21350337e-27,
        1.00000000e+00, -9.06283806e-14, -1.00000000e+00,  0.00000000e+00,
        9.06283806e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08178448, -0.03186016,  0.06198249])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.68106211e-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,
 -4.16037427e-07, 4.60308691e-07,-4.90500160e+00,-1.83854419e-03,
  4.59373356e-05,-2.21709332e-03]


--- 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,
  9.35832415e-02,-7.02317206e-02, 1.30645949e-01, 4.99507530e-01,
  4.88926202e-01, 5.00409901e-01, 5.10914208e-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,  0.76576092, -1.00395286,  0.69591138, 10.10641496,
  -1.16634534, 14.98999108]

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: -0.0006085031547667746
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.55685014e-14, -1.26378668e-08,  1.00000000e+00,  8.28645988e-22,
        1.00000000e+00,  1.26378668e-08, -1.00000000e+00,  0.00000000e+00,
        6.55685014e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0869718 , -0.06072883,  0.0619826 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05524757e-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,
 -1.79119132e-06, 2.85234301e-06,-4.90500728e+00,-1.84015989e-03,
  4.77271303e-05,-2.21805085e-03]


--- 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,
  9.35959333e-02,-7.02382094e-02, 1.30647330e-01, 4.99431250e-01,
  4.88995134e-01, 5.00439045e-01, 5.10894262e-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,  0.15951921,  2.02585006,  0.55939393,  2.73657908,
   1.05013247,-29.59727765]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006129236282876316
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.26419527e-14,  4.52839054e-14,  1.00000000e+00, -1.02531605e-27,
        1.00000000e+00, -4.52839054e-14, -1.00000000e+00,  0.00000000e+00,
        2.26419527e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09192392, -0.08827901,  0.06198248])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -3.35870654e-06, 4.91527668e-06,-4.90501305e+00,-1.84139581e-03,
  4.89472724e-05,-2.21939101e-03]


--- 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,
  9.36092527e-02,-7.02367556e-02, 1.30650124e-01, 4.99380889e-01,
  4.89036804e-01, 5.00500316e-01, 5.10843583e-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,  0.15691937,  1.98567815,  0.35368809,  2.75217972,
   0.987558  ,-28.97263767]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006129220609008973
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.35852064e-13,  9.05680425e-14,  1.00000000e+00, -1.23038555e-26,
        1.00000000e+00, -9.05680425e-14, -1.00000000e+00,  0.00000000e+00,
        1.35852064e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09192351, -0.0882791 ,  0.06198248])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -2.60507231e-06, 1.94544530e-06,-4.90500776e+00,-1.84236201e-03,
  4.72701333e-05,-2.22001823e-03]


--- 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,
  9.36231921e-02,-7.02274941e-02, 1.30653627e-01, 4.99355948e-01,
  4.89051795e-01, 5.00593166e-01, 5.10762627e-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,  0.15499379,  1.95189413,  0.17680348,  2.76523089,
   0.93432011,-28.45014781]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006093738848600705
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.27738473e-14,  4.55476946e-14,  1.00000000e+00,  1.03729624e-27,
        1.00000000e+00, -4.55476946e-14, -1.00000000e+00,  0.00000000e+00,
       -2.27738473e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09192311, -0.08828017,  0.06198258])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.99310766e-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,
 -1.83682813e-06, 4.59557516e-07,-4.90500708e+00,-1.84335402e-03,
  4.52125279e-05,-2.21991271e-03]


--- 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,
  9.36377462e-02,-7.02105375e-02, 1.30657230e-01, 4.99356010e-01,
  4.89040591e-01, 5.00717133e-01, 5.10651768e-01]

qacc:
[ 5.11043423e+00,-1.44087779e+00, 5.12016542e+00,-7.22661012e+00,
  6.30056143e-01,-8.99762069e-01, 1.41857927e+00, 3.04399778e+00,
 -2.35902490e+00,-1.27779543e+00, 3.85726829e+00,-2.70454612e+00,
 -1.57971888e+00, 3.00295190e+00,-4.82040956e+00, 1.36298327e+01,
  1.53651673e-01, 1.92380896e+00, 2.53480470e-02, 2.77731544e+00,
  8.88608825e-01,-2.80175983e+01]

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: -0.0006030236915743614
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.20546771e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.20546771e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09192273, -0.088282  ,  0.06198276])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.04198408e-06, 3.64164145e-07,-4.90501074e+00,-1.84438179e-03,
  4.27757097e-05,-2.21908786e-03]


--- 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,
  9.36457951e-02,-7.02072973e-02, 1.30657649e-01, 4.99330898e-01,
  4.89046909e-01, 5.00767777e-01, 5.10620611e-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, -1.62626571, -3.42912888, -0.7961905 ,-28.14489686,
   3.0108203 , 48.64406341]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006070431887159888
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.57225715e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.57225715e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10926874, -0.03405996,  0.06198265])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.78548447e-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,
 -2.11475539e-07, 1.58414163e-06,-4.90501855e+00,-1.84545304e-03,
  3.99602347e-05,-2.21755472e-03]


--- 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,
  9.36474861e-02,-7.02174536e-02, 1.30654032e-01, 4.99280999e-01,
  4.89070322e-01, 5.00747158e-01, 5.10667199e-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, -1.5894922 , -3.34911355, -1.00888326,-27.33110651,
   3.05973682, 47.44382821]

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([ 6.51843021, -4.38215848,  4.82562114, -4.38215848, 38.09235042,
       28.67235495,  4.82562114, 28.67235495, 32.55586657,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006102984975584758
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.54786891e-14,  9.09573782e-14,  1.00000000e+00,  4.13662232e-27,
        1.00000000e+00, -9.09573782e-14, -1.00000000e+00,  0.00000000e+00,
       -4.54786891e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10926695, -0.03406137,  0.06198255])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.17849263e-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,
 -6.77435934e-07, 6.37891819e-07,-4.90500284e+00,-1.84667509e-03,
  4.30191882e-05,-2.21721320e-03]


--- 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,
  9.36429445e-02,-7.02407343e-02, 1.30645643e-01, 4.99206641e-01,
  4.89110459e-01, 5.00656975e-01, 5.10789860e-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, -1.55814116, -3.28109772, -1.19311   ,-26.65282508,
   3.09016551, 46.43423249]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006089354571612166
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.55804885e-14,  9.11609770e-14,  1.00000000e+00, -4.15516187e-27,
        1.00000000e+00, -9.11609770e-14, -1.00000000e+00,  0.00000000e+00,
        4.55804885e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10926646, -0.0340604 ,  0.06198259])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  1.02405888e-06, 1.36619750e-06,-4.90500286e+00,-1.84811490e-03,
  4.37449224e-05,-2.21842235e-03]


--- 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,
  9.36389393e-02,-7.02554897e-02, 1.30641410e-01, 4.99158568e-01,
  4.89125044e-01, 5.00601659e-01, 5.10877084e-01]

qacc:
[-6.81257110e+00, 9.91731079e-01,-3.23847879e+00, 4.03307320e+00,
 -6.02508221e-01, 2.55045099e-01,-3.61264405e-01,-2.15911457e+00,
 -5.12546969e+00,-9.59741920e-01, 1.24435431e+00, 3.41914213e+00,
 -7.38751738e-01, 8.69499378e-01, 6.32122444e+00,-2.40872433e+01,
  1.34070887e-01, 2.13132114e+00, 1.03917099e+00, 4.96960608e+00,
 -1.70175013e-02,-3.04810163e+01]

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([  6.54610974,   1.59245297,   6.34946032,   1.59245297,
        66.79114908, -15.10953481,   6.34946032, -15.10953481,
        10.33560087,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006136195190276778
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.04651001e-14,  1.35697650e-13,  1.00000000e+00, -1.22759015e-26,
        1.00000000e+00, -1.35697650e-13, -1.00000000e+00,  0.00000000e+00,
        9.04651001e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09192907, -0.08828129,  0.06198246])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.98022324e-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,
  4.78760631e-06, 3.65702958e-06,-4.90501747e+00,-1.84976674e-03,
  4.23403349e-05,-2.22114344e-03]


--- 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,
  9.36354790e-02,-7.02619477e-02, 1.30640240e-01, 4.99136312e-01,
  4.89114188e-01, 5.00580205e-01, 5.10930242e-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,  0.13625523,  2.0743501 ,  0.76566232,  4.51322428,
   0.15658104,-29.74671594]

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: -0.0006217239484616055
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.23214625e-14,  4.46429250e-14,  1.00000000e+00,  9.96495377e-28,
        1.00000000e+00, -4.46429250e-14, -1.00000000e+00,  0.00000000e+00,
       -2.23214625e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09193176, -0.0882799 ,  0.06198223])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  2.63087026e-06, 9.74783777e-07,-4.90500689e+00,-1.84786849e-03,
  4.40223900e-05,-2.22227067e-03]


--- 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,
  9.36325693e-02,-7.02603021e-02, 1.30641185e-01, 4.99139459e-01,
  4.89078020e-01, 5.00591764e-01, 5.10950464e-01]

qacc:
[  0.68348823, -2.18985872,  8.77735848,-13.250962  , -1.38866309,
  -0.19914541,  2.97743889,-12.0668837 ,  2.46600876,  3.11242313,
 -10.09233259,  9.55637209, -1.57266328,  2.97031576, -2.16993911,
   6.553173  ,  0.13765377,  2.02589527,  0.52859675,  4.14764547,
   0.29213045,-29.11834304]

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: -0.0006245661271806341
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.66596564e-14, -4.44397709e-14,  1.00000000e+00,  2.96233986e-27,
        1.00000000e+00,  4.44397709e-14, -1.00000000e+00,  0.00000000e+00,
        6.66596564e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09193381, -0.08827981,  0.06198215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
  8.22385588e-07,-2.73342886e-07,-4.90500134e+00,-1.84622738e-03,
  4.50900517e-05,-2.22267393e-03]


--- 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,
  9.36302137e-02,-7.02507163e-02, 1.30643426e-01, 4.99167648e-01,
  4.89016672e-01, 5.00635620e-01, 5.10938676e-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,  0.13850083,  1.98506899,  0.3242368 ,  3.85501689,
   0.39798625,-28.58596692]

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.,
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       0., 0.])
  dim: 3
  dist: -0.0006231451653247178
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.45411072e-14,  1.33623322e-13,  1.00000000e+00, -5.95173069e-27,
        1.00000000e+00, -1.33623322e-13, -1.00000000e+00,  0.00000000e+00,
        4.45411072e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09193535, -0.08828076,  0.06198219])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -7.19429097e-07,-1.52404847e-07,-4.90500046e+00,-1.84478773e-03,
  4.56066632e-05,-2.22236097e-03]


--- 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,
  9.36284139e-02,-7.02333263e-02, 1.30646263e-01, 4.99220562e-01,
  4.88930266e-01, 5.00711171e-01, 5.10895634e-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,  0.1389704 ,  1.95101795,  0.14887082,  3.62105948,
   0.48067701,-28.13989937]

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: -0.000618318883650007
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.48887724e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.48887724e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0919365 , -0.08828255,  0.06198232])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.77353620e-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,
 -2.05457575e-06, 1.28010020e-06,-4.90500397e+00,-1.84350840e-03,
  4.56197250e-05,-2.22133941e-03]


--- 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,
  9.36271709e-02,-7.02082446e-02, 1.30649096e-01, 4.99297936e-01,
  4.88818908e-01, 5.00817919e-01, 5.10821944e-01]

qacc:
[ 7.00540635e+00, 4.06596264e-01,-1.79963949e+00, 4.86763697e+00,
  2.57858064e+00,-1.16384497e+00, 5.74660008e+00,-1.36294171e+01,
  1.15895019e+00, 1.15950523e+00,-5.91321274e+00, 1.47434268e+01,
 -3.72737172e-01,-6.05526774e-02,-5.11929348e+00, 1.57156885e+01,
  1.39191408e-01, 1.92295154e+00,-1.02109362e-03, 3.43435890e+00,
  5.45304217e-01,-2.77710706e+01]

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([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: -0.000610819660535486
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.08797716e-14,  1.36319657e-13,  1.00000000e+00, -1.23886993e-26,
        1.00000000e+00, -1.36319657e-13, -1.00000000e+00,  0.00000000e+00,
        9.08797716e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09193733, -0.08828499,  0.06198254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -3.22710828e-06, 3.97454843e-06,-4.90501167e+00,-1.84235896e-03,
  4.51647161e-05,-2.21961627e-03]


--- 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,
  9.36194053e-02,-7.01970194e-02, 1.30649063e-01, 4.99351210e-01,
  4.88725143e-01, 5.00849741e-01, 5.10828387e-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, -1.63066409, -3.46414091, -0.71650624,-28.9204015 ,
   2.42167606, 48.87812597]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000615027602538204
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.51289918e-14, -9.02579835e-14,  1.00000000e+00,  4.07325180e-27,
        1.00000000e+00,  9.02579835e-14, -1.00000000e+00,  0.00000000e+00,
        4.51289918e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10925252, -0.03405986,  0.06198242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.43780724e-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,
 -4.26932531e-06, 7.88883603e-06,-4.90502337e+00,-1.84131684e-03,
  4.42679692e-05,-2.21719769e-03]


--- 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,
  9.36052588e-02,-7.01993039e-02, 1.30645260e-01, 4.99380585e-01,
  4.88648527e-01, 5.00808974e-01, 5.10912927e-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, -1.59519875, -3.37741254, -0.94227502,-27.9766472 ,
   2.564975  , 47.63591506]

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([ 6.59401783, -2.96471637,  5.88995144, -2.96471637, 42.83355704,
       18.24122936,  5.88995144, 18.24122936, 15.77576948,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006193732215332981
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.96247195e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.96247195e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10924946, -0.03406144,  0.06198229])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.16222413e-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,
 -4.35724041e-06, 1.43652366e-06,-4.90500741e+00,-1.84200120e-03,
  4.54751566e-05,-2.21676870e-03]


--- 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,
  9.35902343e-02,-7.02155719e-02, 1.30638183e-01, 4.99363762e-01,
  4.88618612e-01, 5.00710910e-01, 5.11054078e-01]

qacc:
[  0.09218925,  0.90784633, -2.68970417,  1.73396828, -3.43765696,
  -1.35759533,  2.71727332,  2.63726203,  0.71244639, -2.90527213,
  12.08289391,-20.90714257, -0.53154283,  0.23113352, 12.73303189,
 -45.52578227, -0.2195124 , -3.49588187, -0.81876427, -5.86430531,
  -0.83707854, 51.62957509]

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([  6.58762236,   6.35524464,   1.73425316,   6.35524464,
        10.47758476, -14.25493308,   1.73425316, -14.25493308,
        58.8254325 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006186046662935486
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.75534502e-07,  8.97360693e-14,  1.00000000e+00, -3.36989901e-20,
        1.00000000e+00, -8.97360693e-14, -1.00000000e+00,  0.00000000e+00,
        3.75534502e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09548575, -0.03296869,  0.06198232])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -2.39604119e-06,-3.18603500e-06,-4.90500751e+00,-1.84272647e-03,
  4.43116670e-05,-2.21785591e-03]


--- 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,
  9.35797391e-02,-7.02457651e-02, 1.30626635e-01, 4.99282659e-01,
  4.88662207e-01, 5.00573870e-01, 5.11225855e-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, 1.13231618,-3.48130448,
 -1.11773181,16.43180417,-4.94022324,51.99819027]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006196867300124337
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08175589, -0.03188189,  0.06198228])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  3.16769017e-06,-3.14481081e-06,-4.90501634e+00,-1.84394187e-03,
  4.16868227e-05,-2.21954868e-03]


--- 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,
  9.35697578e-02,-7.02672174e-02, 1.30620483e-01, 4.99228944e-01,
  4.88678967e-01, 5.00472811e-01, 5.11361217e-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,  0.12849165,  2.18525255,  1.34917639,  4.92052052,
   0.08926886,-31.59922845]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006343756228255337
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.75051771e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.75051771e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09195097, -0.08828203,  0.06198186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  7.93258703e-06, 4.82342233e-06,-4.90503365e+00,-1.84463699e-03,
  4.13275339e-05,-2.22161052e-03]


--- 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,
  9.35602941e-02,-7.02801929e-02, 1.30618438e-01, 4.99201973e-01,
  4.88669199e-01, 5.00406512e-01, 5.11461755e-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,  0.12938845,  2.11915811,  1.02660267,  4.4451511 ,
   0.25840396,-30.66221431]

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([ 6.81777996,  2.18838507, -6.457019  ,  2.18838507, 67.7929373 ,
       20.66543767, -6.457019  , 20.66543767, 13.82162108,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006463977708696805
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.29388480e-14,  8.58776960e-14,  1.00000000e+00,  3.68748933e-27,
        1.00000000e+00, -8.58776960e-14, -1.00000000e+00,  0.00000000e+00,
       -4.29388480e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09195369, -0.08827927,  0.06198152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.55997801e-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,
  4.97828688e-06, 1.19661718e-06,-4.90501797e+00,-1.84198003e-03,
  4.43118357e-05,-2.22332526e-03]


--- 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,
  9.35513488e-02,-7.02849181e-02, 1.30619380e-01, 4.99201181e-01,
  4.88633195e-01, 5.00373939e-01, 5.11528790e-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,  0.12960901,  2.062616  ,  0.74671079,  4.06242017,
   0.39091517,-29.86148422]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006520457830204718
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.25669122e-14,  4.25669122e-14,  1.00000000e+00,  1.81194202e-27,
        1.00000000e+00, -4.25669122e-14, -1.00000000e+00,  0.00000000e+00,
       -4.25669122e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09195575, -0.08827817,  0.06198136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.72267041e-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,
  2.40987760e-06,-8.69252582e-07,-4.90500787e+00,-1.83959302e-03,
  4.66288545e-05,-2.22429945e-03]


--- 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,
  9.35429210e-02,-7.02815844e-02, 1.30622343e-01, 4.99226078e-01,
  4.88571226e-01, 5.00374216e-01, 5.11563412e-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 ,  0.12937284,  2.01469171,  0.50533063,  3.7541902 ,
   0.49498809,-29.18284609]

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: -0.0006525053768327849
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06342325e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.06342325e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09195731, -0.08827841,  0.06198135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  1.35227161e-07,-1.46825670e-06,-4.90500286e+00,-1.83741436e-03,
  4.83552119e-05,-2.22454380e-03]


--- 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,
  9.35350086e-02,-7.02703530e-02, 1.30626498e-01, 4.99276241e-01,
  4.88483528e-01, 5.00406611e-01, 5.11566517e-01]

qacc:
[ -0.52754047,  0.7115647 , -3.83527462, 10.1637994 , -0.70347238,
  -1.96770568,  9.44995641,-20.32507628,  4.03406268,  0.51499623,
  -1.67486016,  2.98702991, -0.81304124,  1.18322873, -0.41835905,
   0.60913591,  0.12883923,  1.97445054,  0.2981891 ,  3.50591261,
   0.57699552,-28.61270438]

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: -0.0006487956162063296
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.13900764e-14,  8.55603057e-14,  1.00000000e+00,  1.83014148e-27,
        1.00000000e+00, -8.55603057e-14, -1.00000000e+00,  0.00000000e+00,
       -2.13900764e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09195847, -0.08827973,  0.06198145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.91386506e-06,-6.80670160e-07,-4.90500255e+00,-1.83539828e-03,
  4.95491053e-05,-2.22406853e-03]


--- 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,
  9.35276086e-02,-7.02513575e-02, 1.30631139e-01, 4.99351313e-01,
  4.88370305e-01, 5.00470512e-01, 5.11538833e-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 ,  0.12812348,  1.94100721,  0.12117066,  3.30593266,
   0.64190008,-28.13853405]

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: -0.0006417873586821998
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.48709621e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.48709621e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09195931, -0.08828191,  0.06198165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.84234181e-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,
 -3.78794558e-06, 1.42621196e-06,-4.90500665e+00,-1.83351060e-03,
  5.02547208e-05,-2.22288290e-03]


--- 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,
  9.35207179e-02,-7.02247078e-02, 1.30635661e-01, 4.99450993e-01,
  4.88231723e-01, 5.00565410e-01, 5.11480950e-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,  0.12730858,  1.91355034, -0.02954631,  3.14492147,
   0.69356636,-27.74907446]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006322209090264125
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.39017046e-14, -8.78034093e-14,  1.00000000e+00,  3.85471934e-27,
        1.00000000e+00,  8.78034093e-14, -1.00000000e+00,  0.00000000e+00,
        4.39017046e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09195991, -0.08828475,  0.06198193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.66466826e-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,
 -5.52456200e-06, 4.79672788e-06,-4.90501492e+00,-1.83172557e-03,
  5.05055628e-05,-2.22099503e-03]


--- 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,
  9.35186397e-02,-7.02127756e-02, 1.30637556e-01, 4.99485207e-01,
  4.88169838e-01, 5.00618130e-01, 5.11455007e-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 ,  1.20313556, -3.67936588, -0.65694318, 16.35389626,
  -5.96555169, 54.21108222]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006306161948776701
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.76053681e-13,  8.80268405e-14,  1.00000000e+00, -1.54974493e-26,
        1.00000000e+00, -8.80268405e-14, -1.00000000e+00,  0.00000000e+00,
        1.76053681e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0817376 , -0.03189666,  0.06198197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.78995492e-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,
 -7.15170280e-06, 9.38532883e-06,-4.90502720e+00,-1.83002370e-03,
  5.03269615e-05,-2.21841178e-03]


--- 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,
  9.35212289e-02,-7.02151781e-02, 1.30635852e-01, 4.99455316e-01,
  4.88182427e-01, 5.00630472e-01, 5.11460102e-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, 1.16682019,-3.58368141,
 -0.8994188 ,16.15140666,-5.50762559,52.64175925]

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([ 6.72972128, -5.54391335,  3.81499321, -5.54391335, 19.6660589 ,
       18.79896788,  3.81499321, 18.79896788, 34.04821   ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006357258135424454
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74638657e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.74638657e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08173568, -0.03190013,  0.06198183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.19765205e-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,
 -1.83951537e-06, 1.84768701e-06,-4.90500545e+00,-1.83271578e-03,
  4.79326502e-05,-2.21696087e-03]


--- 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,
  9.35283633e-02,-7.02315893e-02, 1.30629713e-01, 4.99362477e-01,
  4.88267601e-01, 5.00603899e-01, 5.11495457e-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, 1.13634198,-3.50217081,
 -1.10899741,15.96514299,-5.13651588,51.32266174]

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([ 6.72792779, -5.82754054,  3.3622587 , -5.82754054, 19.77282584,
       22.60970344,  3.3622587 , 22.60970344, 45.91556174,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006355090270744046
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.73491152e-14,  8.73491152e-14,  1.00000000e+00, -7.62986793e-27,
        1.00000000e+00, -8.73491152e-14, -1.00000000e+00,  0.00000000e+00,
        8.73491152e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08173345, -0.03190048,  0.06198183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.70761946e-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,
 -7.95731139e-08, 5.02704122e-07,-4.90500064e+00,-1.83458290e-03,
  4.78052148e-05,-2.21699405e-03]


--- 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,
  9.35399414e-02,-7.02617331e-02, 1.30618415e-01, 4.99207656e-01,
  4.88423763e-01, 5.00539598e-01, 5.11560412e-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 ,  1.11089994, -3.43315374, -1.28979507, 15.79860703,
  -4.83472758, 50.22164   ]

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([ 6.69072708, -6.05827722,  2.83956088, -6.05827722, 18.49799485,
       25.19111379,  2.83956088, 25.19111379, 60.4366255 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006310169115802261
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.75941881e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.75941881e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08173096, -0.03189836,  0.06198196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.15280357e-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,
 -1.53049717e-06, 4.90079082e-06,-4.90501147e+00,-1.83581847e-03,
  4.98200790e-05,-2.21845438e-03]


--- 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,
  9.35521945e-02,-7.02831589e-02, 1.30612538e-01, 4.99081544e-01,
  4.88549193e-01, 5.00510261e-01, 5.11592394e-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,  0.1687459 ,  2.1795081 ,  1.35528893,  2.51352897,
   1.3503532 ,-31.80382131]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006471859925157863
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.14432759e-14,  4.28865518e-14,  1.00000000e+00,  9.19628164e-28,
        1.00000000e+00, -4.28865518e-14, -1.00000000e+00,  0.00000000e+00,
       -2.14432759e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09195887, -0.0882815 ,  0.0619815 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.51694320e-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,
 -5.93912726e-06, 1.47121843e-05,-4.90503690e+00,-1.83656399e-03,
  5.38774358e-05,-2.22129598e-03]


--- 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,
  9.35651004e-02,-7.02961300e-02, 1.30610774e-01, 4.98983191e-01,
  4.88645075e-01, 5.00514882e-01, 5.11592238e-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,  0.16319892,  2.11366568,  1.02830433,  2.57448461,
   1.23466651,-30.81002893]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006583974354165828
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.43125265e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.43125265e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09195812, -0.08827866,  0.06198118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -4.82083911e-06, 8.46962926e-06,-4.90502180e+00,-1.83778036e-03,
  5.26936300e-05,-2.22329728e-03]


--- 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,
  9.35786414e-02,-7.03008716e-02, 1.30611990e-01, 4.98911791e-01,
  4.88712403e-01, 5.00552597e-01, 5.11560660e-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,  0.15879873,  2.05736782,  0.74511565,  2.6199831 ,
   1.1387423 ,-29.96502067]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006632320744377057
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.25546894e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.25546894e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09195746, -0.08827754,  0.06198104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -3.77471348e-06, 4.05572047e-06,-4.90501231e+00,-1.83896380e-03,
  5.11443123e-05,-2.22451935e-03]


--- 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,
  9.35928040e-02,-7.02975746e-02, 1.30615212e-01, 4.98866658e-01,
  4.88752007e-01, 5.00622671e-01, 5.11498265e-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,
  1.55381158e-01, 2.00967263e+00, 5.01288894e-01, 2.65485525e+00,
  1.05872475e+00,-2.92518740e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006628881365007416
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.09353389e-14,  4.18706779e-14,  1.00000000e+00,  8.76576832e-28,
        1.00000000e+00, -4.18706779e-14, -1.00000000e+00,  0.00000000e+00,
       -2.09353389e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09195686, -0.08827781,  0.06198105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -2.76653508e-06, 1.30174826e-06,-4.90500792e+00,-1.84013947e-03,
  4.92273833e-05,-2.22498391e-03]


--- 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,
  9.36075778e-02,-7.02863990e-02, 1.30619603e-01, 4.98847215e-01,
  4.88764575e-01, 5.00724480e-01, 5.11405554e-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,  0.1528038 ,  1.96964108,  0.29234652,  2.68267747,
   0.99149642,-28.65485451]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006583937651751803
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.43129965e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.43129965e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0919563 , -0.08827919,  0.06198118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.41344645e-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,
 -1.77129234e-06, 7.22763155e-08,-4.90500824e+00,-1.84132604e-03,
  4.69417614e-05,-2.22470923e-03]


--- 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,
  9.36229554e-02,-7.02674778e-02, 1.30624450e-01, 4.98852981e-01,
  4.88750674e-01, 5.00857503e-01, 5.11282940e-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 ,  0.15094461,  1.93638597,  0.11401649,  2.70609206,
   0.93454233,-28.15976636]

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: -0.0006506262967761189
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.39896722e-14,  4.26597814e-14,  1.00000000e+00, -2.72978543e-27,
        1.00000000e+00, -4.26597814e-14, -1.00000000e+00,  0.00000000e+00,
        6.39896722e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09195578, -0.08828145,  0.0619814 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -7.70534481e-07, 2.58958145e-07,-4.90501296e+00,-1.84253750e-03,
  4.42866800e-05,-2.22371053e-03]


--- 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,
  9.36389318e-02,-7.02409203e-02, 1.30629146e-01, 4.98883552e-01,
  4.88710765e-01, 5.01021307e-01, 5.11130747e-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,  0.14969994,  1.90909574, -0.03764159,  2.72704375,
   0.88583612,-27.7540454 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006403305471673476
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.16728499e-14,  4.33456997e-14,  1.00000000e+00,  9.39424842e-28,
        1.00000000e+00, -4.33456997e-14, -1.00000000e+00,  0.00000000e+00,
       -2.16728499e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09195529, -0.08828439,  0.06198169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.23057661e-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,
  2.49520262e-07, 1.77531369e-06,-4.90502184e+00,-1.84378453e-03,
  4.12612473e-05,-2.22200035e-03]


--- 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,
  9.36555041e-02,-7.02068146e-02, 1.30633178e-01, 4.98938598e-01,
  4.88645219e-01, 5.01215535e-01, 5.10949227e-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,
  1.48982200e-01, 1.88704304e+00,-1.66185561e-01, 2.74695529e+00,
  8.43746030e-01,-2.74267088e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006281356083746165
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.83744696e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.83744696e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09195482, -0.08828784,  0.06198204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.47442665e-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,
  1.29933825e-06, 4.55240664e-06,-4.90503471e+00,-1.84507538e-03,
  3.78641781e-05,-2.21958892e-03]


--- 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,
  9.36652629e-02,-7.01871203e-02, 1.30635862e-01, 4.98966813e-01,
  4.88598170e-01, 5.01332968e-01, 5.10851449e-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, -1.70337387, -3.60287334, -0.33710222,-29.43626019,
   3.30024607, 51.14369583]

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: -0.0006417839123718655
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.64950806e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.64950806e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10920526, -0.03406261,  0.06198166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.86358420e-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,
  2.38703864e-06, 8.53530900e-06,-4.90505145e+00,-1.84641665e-03,
  3.40936380e-05,-2.21648439e-03]


--- 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,
  9.36684095e-02,-7.01814011e-02, 1.30636058e-01, 4.98968895e-01,
  4.88569042e-01, 5.01376269e-01, 5.10834777e-01]

qacc:
[  7.19621976,  0.1812861 , -0.2203051 , -2.03617022, -2.31800874,
   3.01664565,-10.78538329, 16.13091274, -7.36794473,  1.6919842 ,
  -7.81585179, 15.5590702 , -1.0576898 ,  1.75524775,-16.55139693,
  54.85108624, -1.65304176, -3.49374447, -0.6218591 ,-28.40995193,
   3.29265611, 49.51219989]

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([ 6.86304806, -4.96865944,  4.73432699, -4.96865944, 27.99730853,
       22.18033166,  4.73432699, 22.18033166, 30.14122773,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006519081327808068
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.25759002e-14,  8.51518004e-14,  1.00000000e+00, -3.62541456e-27,
        1.00000000e+00, -8.51518004e-14, -1.00000000e+00,  0.00000000e+00,
        4.25759002e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10920207, -0.0340676 ,  0.06198137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.21447014e-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,
 -4.50201886e-07, 3.65512018e-06,-4.90501774e+00,-1.84708320e-03,
  3.91659567e-05,-2.21447413e-03]


--- 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,
  9.36651159e-02,-7.01892841e-02, 1.30632780e-01, 4.98945436e-01,
  4.88557339e-01, 5.01347663e-01, 5.10896956e-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, -1.61005575, -3.40055503, -0.8683561 ,-27.54725643,
   3.27514392, 48.13018762]

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([ 6.89248645, -5.18322099,  4.54319156, -5.18322099, 31.35751695,
       27.9115811 ,  4.54319156, 27.9115811 , 38.7361565 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006555017758904241
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.23424873e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.23424873e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1092006 , -0.03406921,  0.06198127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.03656910e-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,
 -8.22313163e-07, 7.36262378e-07,-4.90500182e+00,-1.84806161e-03,
  4.15676125e-05,-2.21411256e-03]


--- 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,
  9.36555279e-02,-7.02104530e-02, 1.30625178e-01, 4.98896929e-01,
  4.88562629e-01, 5.01248987e-01, 5.11036070e-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, -1.57360509, -3.32147814, -1.08106539,-26.8266427 ,
   3.2504253 , 46.96746793]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006538118121735825
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1092005 , -0.0340681 ,  0.06198132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  1.08148909e-06,-4.17634163e-07,-4.90500206e+00,-1.84931689e-03,
  4.15880745e-05,-2.21533901e-03]


--- 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,
  9.36397683e-02,-7.02446409e-02, 1.30612519e-01, 4.98823784e-01,
  4.88584541e-01, 5.01081744e-01, 5.11250492e-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, -1.54290421, -3.25476048, -1.26432506,-26.22899451,
   3.22035219, 45.99647142]

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: -0.0006478988316750839
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.28393667e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.28393667e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10920149, -0.03406483,  0.06198148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.33799247e-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,
  5.11794254e-06, 5.78353851e-08,-4.90501718e+00,-1.85081828e-03,
  3.94497538e-05,-2.21810249e-03]


--- 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,
  9.36244592e-02,-7.02699157e-02, 1.30605810e-01, 4.98777278e-01,
  4.88581717e-01, 5.00950983e-01, 5.11426677e-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,  0.11262935,  2.22828191,  1.48751548,  6.22803648,
  -0.59281297,-31.45608613]

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([  6.80467384,   1.76206335,   6.57257322,   1.76206335,
        63.65558811, -15.24135359,   6.57257322, -15.24135359,
        10.89077979,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006448056836740323
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.72179472e-13, -4.30448681e-14,  1.00000000e+00, -7.41144269e-27,
        1.00000000e+00,  4.30448681e-14, -1.00000000e+00,  0.00000000e+00,
       -1.72179472e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09197122, -0.08828837,  0.06198157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.03216723e-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,
  1.11823143e-05, 2.07694979e-06,-4.90504622e+00,-1.85253912e-03,
  3.53212388e-05,-2.22236044e-03]


--- 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,
  9.36096182e-02,-7.02865741e-02, 1.30603669e-01, 4.98756937e-01,
  4.88554012e-01, 5.00855397e-01, 5.11566581e-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,  0.11701123,  2.15411328,  1.14193088,  5.48602906,
  -0.28250223,-30.56353091]

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([ 6.91594084,  0.14188514, -6.91448526,  0.14188514, 47.63807683,
        0.83561764, -6.91448526,  0.83561764,  6.93308771,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006583711616806875
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05394864e-13,  1.68631782e-13,  1.00000000e+00, -1.77729238e-26,
        1.00000000e+00, -1.68631782e-13, -1.00000000e+00,  0.00000000e+00,
        1.05394864e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0919757 , -0.08828599,  0.06198118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.23123992e-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,
  7.00741497e-06,-1.12680230e-06,-4.90502810e+00,-1.84860515e-03,
  3.96702451e-05,-2.22414878e-03]


--- 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,
  9.35952565e-02,-7.02948692e-02, 1.30604896e-01, 4.98762324e-01,
  4.88501371e-01, 5.00793877e-01, 5.11671817e-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,  0.11984647,  2.09081343,  0.84218927,  4.89111189,
  -0.03787372,-29.79263996]

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([ 6.97070473,  0.46641055, -6.95508344,  0.46641055, 61.92228596,
        3.68507404, -6.95508344,  3.68507404,  7.2178272 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006650943362168787
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.17317877e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.17317877e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09197915, -0.08828523,  0.06198099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  3.39608663e-06,-2.93624079e-06,-4.90501569e+00,-1.84510147e-03,
  4.32119637e-05,-2.22524362e-03]


--- 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,
  9.35813810e-02,-7.02950153e-02, 1.30608459e-01, 4.98793049e-01,
  4.88423786e-01, 5.00765484e-01, 5.11743715e-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,  0.12154307,  2.03724782,  0.58384101,  4.4137416 ,
   0.15544683,-29.13322634]

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: -0.0006662414754420865
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.08299668e-14,  4.16599336e-14,  1.00000000e+00,  8.67775033e-28,
        1.00000000e+00, -4.16599336e-14, -1.00000000e+00,  0.00000000e+00,
       -2.08299668e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0919818 , -0.08828578,  0.06198096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  2.07161846e-07,-3.39545875e-06,-4.90500849e+00,-1.84192382e-03,
  4.60589059e-05,-2.22564285e-03]


--- 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,
  9.35679951e-02,-7.02871922e-02, 1.30613471e-01, 4.98848767e-01,
  4.88321280e-01, 5.00769429e-01, 5.11783366e-01]

qacc:
[  2.72217546, -2.07030944,  8.56553307,-13.28287295,  1.90825346,
  -0.5636193 , -0.58214312,  7.01179758, -1.42129106, -0.21825462,
  -2.36672742, 13.45601445, -0.93094321,  1.40116517, -3.5428542 ,
   9.65524765,  0.12240758,  1.99230233,  0.3622891 ,  4.03033908,
   0.30870448,-28.57460098]

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: -0.000662900960359869
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04674670e-13,  4.18698679e-14,  1.00000000e+00,  4.38271459e-27,
        1.00000000e+00, -4.18698679e-14, -1.00000000e+00,  0.00000000e+00,
       -1.04674670e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09198381, -0.0882874 ,  0.06198105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.58401242e-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,
 -2.66392784e-06,-2.54971980e-06,-4.90500608e+00,-1.83899484e-03,
  4.82961422e-05,-2.22534762e-03]


--- 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,
  9.35550999e-02,-7.02715493e-02, 1.30619176e-01, 4.98929177e-01,
  4.88193888e-01, 5.00805055e-01, 5.11791658e-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,
  1.22670455e-01, 1.95493568e+00, 1.73092567e-01, 3.72210535e+00,
  4.30697899e-01,-2.81063640e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006560029204766282
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.90395631e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.90395631e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09198533, -0.08828985,  0.06198125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00300973e-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,
 -5.29457801e-06,-4.41731393e-07,-4.90500817e+00,-1.83625692e-03,
  4.99880214e-05,-2.22436080e-03]


--- 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,
  9.35426948e-02,-7.02482097e-02, 1.30624929e-01, 4.99034022e-01,
  4.88041643e-01, 5.00871812e-01, 5.11769310e-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,
  1.22504874e-01, 1.92420363e+00, 1.21252962e-02, 3.47406276e+00,
  5.28312227e-01,-2.77188186e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006463381171502719
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -4.2942811e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  4.2942811e-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([ 0.09198645, -0.08829296,  0.06198152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -7.74210203e-06, 2.89015602e-06,-4.90501449e+00,-1.83366691e-03,
  5.11832322e-05,-2.22268589e-03]


--- 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,
  9.35307778e-02,-7.02172729e-02, 1.30630184e-01, 4.99163087e-01,
  4.87864570e-01, 5.00969249e-01, 5.11716900e-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,  0.12204071,  1.89926635, -0.12435442,  3.27428269,
   0.60693507,-27.40315489]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006345754307003904
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.74776245e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.74776245e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09198727, -0.08829656,  0.06198186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.13687627e-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,
 -1.00490241e-05, 7.41262084e-06,-4.90502486e+00,-1.83119233e-03,
  5.19186024e-05,-2.22032648e-03]


--- 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,
  9.35237892e-02,-7.02012534e-02, 1.30633380e-01, 4.99226139e-01,
  4.87765541e-01, 5.01023257e-01, 5.11696917e-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,  1.23209735, -3.72930496, -0.51492563, 16.34656115,
  -6.36181321, 55.1261094 ]

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: -0.0006452207240754265
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.60343587e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.60343587e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08169467, -0.03193044,  0.06198156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.77688367e-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,
 -1.22470091e-05, 1.30973984e-05,-4.90503915e+00,-1.82880845e-03,
  5.22219473e-05,-2.21728579e-03]


--- 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,
  9.35215647e-02,-7.01997327e-02, 1.30633454e-01, 4.99224628e-01,
  4.87742095e-01, 5.01035892e-01, 5.11708369e-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,  1.19104192, -3.62469767, -0.78026002, 16.15277344,
  -5.82534244, 53.38954327]

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([ 6.86558358, -5.3334874 ,  4.32321061, -5.3334874 , 19.4769554 ,
       15.55848161,  4.32321061, 15.55848161, 26.05987531,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006522173235618128
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0816925 , -0.03193516,  0.06198136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -4.39535799e-06, 3.35252367e-06,-4.90501083e+00,-1.83185388e-03,
  4.84768937e-05,-2.21527104e-03]


--- 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,
  9.35239664e-02,-7.02123540e-02, 1.30629491e-01, 4.99159797e-01,
  4.87792147e-01, 5.01008827e-01, 5.11750402e-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,  1.15653715, -3.53549766, -1.00944821, 15.96923081,
  -5.39285895, 51.9283644 ]

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([ 6.87443451, -5.64466275,  3.92372683, -5.64466275, 20.81453846,
       20.05419567,  3.92372683, 20.05419567, 35.7243459 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006532971170648549
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.49707580e-14,  4.24853790e-14,  1.00000000e+00, -3.61001486e-27,
        1.00000000e+00, -4.24853790e-14, -1.00000000e+00,  0.00000000e+00,
        8.49707580e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08169003, -0.03193641,  0.06198133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.57269259e-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,
 -3.49244483e-07, 1.81527187e-08,-4.90500016e+00,-1.83392216e-03,
  4.70745984e-05,-2.21478358e-03]


--- 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,
  9.35308788e-02,-7.02388149e-02, 1.30620701e-01, 4.99032692e-01,
  4.87913932e-01, 5.00943419e-01, 5.11822291e-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,  1.12767905, -3.45990244, -1.20693791, 15.80126425,
  -5.04338524, 50.70688426]

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([ 6.84422908, -5.9212257 ,  3.43257308, -5.9212257 , 20.82393753,
       24.11514832,  3.43257308, 24.11514832, 48.44312083,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006496151377310133
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.54523671e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.54523671e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08168731, -0.03193487,  0.06198143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.58955224e-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,
  2.99816117e-07, 2.58110461e-06,-4.90500564e+00,-1.83524984e-03,
  4.78754718e-05,-2.21575719e-03]


--- 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,
  9.35422059e-02,-7.02788606e-02, 1.30606402e-01, 4.98844181e-01,
  4.88105966e-01, 5.00840757e-01, 5.11923417e-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,  1.10366191, -3.39620338, -1.37694488, 15.65190572,
  -4.76011063, 49.69337921]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006421516104399005
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0816844 , -0.03193113,  0.06198164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.40347523e-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,
 -2.14394186e-06, 1.06607892e-05,-4.90502612e+00,-1.83600890e-03,
  5.07663586e-05,-2.21813871e-03]


--- 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,
  9.35542170e-02,-7.03099493e-02, 1.30598760e-01, 4.98685182e-01,
  4.88266335e-01, 5.00773953e-01, 5.11990746e-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 ,  0.17101622,  2.23925731,  1.66406166,  2.54164158,
   1.41086741,-32.66489516]

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: -0.0006609153946832841
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.29934841e-14,  1.25986968e-13,  1.00000000e+00, -7.93635808e-27,
        1.00000000e+00, -1.25986968e-13, -1.00000000e+00,  0.00000000e+00,
        6.29934841e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09198668, -0.0882907 ,  0.06198111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -7.45735565e-06, 2.39858400e-05,-4.90506069e+00,-1.83632429e-03,
  5.56574556e-05,-2.22188543e-03]


--- 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,
  9.35668869e-02,-7.03323865e-02, 1.30596275e-01, 4.98554606e-01,
  4.88396393e-01, 5.00741847e-01, 5.12025264e-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,  0.16467608,  2.16285607,  1.28947114,  2.60085449,
   1.28366193,-31.51736104]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006764537625187222
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.05155010e-14,  1.23093006e-13,  1.00000000e+00, -2.52531468e-27,
        1.00000000e+00, -1.23093006e-13, -1.00000000e+00,  0.00000000e+00,
        2.05155010e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09198591, -0.08828673,  0.06198067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.63487985e-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,
 -6.24369835e-06, 1.55782011e-05,-4.90503903e+00,-1.83760751e-03,
  5.48667296e-05,-2.22477917e-03]


--- 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,
  9.35801951e-02,-7.03464346e-02, 1.30597649e-01, 4.98451527e-01,
  4.88497283e-01, 5.00743439e-01, 5.12027821e-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,  0.15959416,  2.09728849,  0.96462951,  2.64360159,
   1.17835852,-30.53827908]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006845150741864731
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01369483e-13,  4.05477931e-14,  1.00000000e+00, -4.11030882e-27,
        1.00000000e+00, -4.05477931e-14, -1.00000000e+00,  0.00000000e+00,
        1.01369483e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09198523, -0.08828477,  0.06198044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.12975329e-06, 9.17634892e-06,-4.90502353e+00,-1.83883962e-03,
  5.37081375e-05,-2.22687542e-03]


--- 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,
  9.35941257e-02,-7.03523166e-02, 1.30601762e-01, 4.98375156e-01,
  4.88569961e-01, 5.00777874e-01, 5.11999139e-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,  0.15559386,  2.04152335,  0.68477829,  2.67516543,
   1.0907096 ,-29.70877404]

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: -0.0006864775178224564
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.04318785e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.04318785e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09198462, -0.08828445,  0.06198038])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.07464833e-06, 4.57531365e-06,-4.90501356e+00,-1.84005053e-03,
  5.21802386e-05,-2.22819948e-03]


--- 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,
  9.36086663e-02,-7.03502206e-02, 1.30607655e-01, 4.98324830e-01,
  4.88615227e-01, 5.00844428e-01, 5.11939824e-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,  0.15251988,  1.99449992,  0.44493319,  2.69941793,
   1.01726933,-29.01095043]

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: -0.0006835251459231945
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21819552e-13,  4.06065172e-14,  1.00000000e+00,  4.94666772e-27,
        1.00000000e+00, -4.06065172e-14, -1.00000000e+00,  0.00000000e+00,
       -1.21819552e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09198405, -0.08828543,  0.06198047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.04853956e-06, 1.61030607e-06,-4.90500861e+00,-1.84126237e-03,
  5.02827870e-05,-2.22877268e-03]


--- 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,
  9.36238080e-02,-7.03403038e-02, 1.30614509e-01, 4.98299989e-01,
  4.88633740e-01, 5.00942492e-01, 5.11850377e-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,  0.15023795,  1.95520072,  0.24025257,  2.71919282,
   0.95525156,-28.42849605]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006766694021326236
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.20358525e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.20358525e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09198352, -0.08828746,  0.06198066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.02945613e-06, 1.49424297e-07,-4.90500830e+00,-1.84249165e-03,
  4.80159154e-05,-2.22861292e-03]


--- 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,
  9.36395441e-02,-7.03226962e-02, 1.30621628e-01, 4.98300166e-01,
  4.88626045e-01, 5.01071556e-01, 5.11731207e-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,  0.14863335,  1.92268818,  0.06623051,  2.73655703,
   0.90240844,-27.94690185]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000666769893565608
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.16269179e-14,  8.32538358e-14,  1.00000000e+00,  3.46560059e-27,
        1.00000000e+00, -8.32538358e-14, -1.00000000e+00,  0.00000000e+00,
       -4.16269179e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09198301, -0.08829029,  0.06198094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.81699400e-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,
 -1.00104095e-06, 8.73943182e-08,-4.90501234e+00,-1.84375085e-03,
  4.53796322e-05,-2.22773507e-03]


--- 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,
  9.36558707e-02,-7.02975042e-02, 1.30628422e-01, 4.98324975e-01,
  4.88592584e-01, 5.01231198e-01, 5.11582634e-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,
  1.47608810e-01, 1.89611955e+00,-8.12178182e-02, 2.75300940e+00,
  8.56928664e-01,-2.75534629e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006545536336188817
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.36057326e-14, -4.24038218e-14,  1.00000000e+00, -2.69712615e-27,
        1.00000000e+00,  4.24038218e-14, -1.00000000e+00,  0.00000000e+00,
       -6.36057326e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09198253, -0.08829374,  0.06198129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
  4.90665302e-08, 1.34034970e-06,-4.90502048e+00,-1.84504956e-03,
  4.23735206e-05,-2.22615137e-03]


--- 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,
  9.36727856e-02,-7.02648132e-02, 1.30634393e-01, 4.98374095e-01,
  4.88533714e-01, 5.01421074e-01, 5.11404907e-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,  0.14708232,  1.87474925, -0.2057343 ,  2.76962681,
   0.81735323,-27.23716408]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006406324244038891
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.51638461e-13,  8.66505489e-14,  1.00000000e+00, -1.31395558e-26,
        1.00000000e+00, -8.66505489e-14, -1.00000000e+00,  0.00000000e+00,
        1.51638461e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09198206, -0.08829764,  0.06198169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.14333629e-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,
  1.13038796e-06, 3.84155125e-06,-4.90503256e+00,-1.84639533e-03,
  3.89965661e-05,-2.22387173e-03]


--- 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,
  9.36902885e-02,-7.02246905e-02, 1.30639122e-01, 4.98447267e-01,
  4.88449712e-01, 5.01640906e-01, 5.11198203e-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,  0.1469849 ,  1.85792435, -0.31053155,  2.78717223,
   0.78250651,-26.98851255]

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: -0.0006255183083950927
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.77488494e-13,  4.43721235e-14,  1.00000000e+00, -7.87554137e-27,
        1.00000000e+00, -4.43721235e-14, -1.00000000e+00,  0.00000000e+00,
        1.77488494e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0919816 , -0.08830188,  0.06198212])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.51043062e-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,
  2.25043455e-06, 7.53790988e-06,-4.90504847e+00,-1.84779427e-03,
  3.52470678e-05,-2.22090408e-03]


--- 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,
  9.37009367e-02,-7.01991470e-02, 1.30642912e-01, 4.98493116e-01,
  4.88384479e-01, 5.01783246e-01, 5.11076108e-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, -1.71365442, -3.64482994, -0.23470869,-29.67807096,
   3.40716713, 51.70296562]

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: -0.0006396115021696236
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.67888571e-14, -8.67888571e-14,  1.00000000e+00,  7.53230571e-27,
        1.00000000e+00,  8.67888571e-14, -1.00000000e+00,  0.00000000e+00,
        8.67888571e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10915876, -0.03405135,  0.06198172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.54913121e-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,
  3.41529966e-06, 1.23871730e-05,-4.90506811e+00,-1.84925149e-03,
  3.11225997e-05,-2.21725456e-03]


--- 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,
  9.37049416e-02,-7.01877221e-02, 1.30644568e-01, 4.98512411e-01,
  4.88337408e-01, 5.01850882e-01, 5.11035854e-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, -1.66082698, -3.52962581, -0.5333596 ,-28.61146642,
   3.38617916, 49.98360377]

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([ 6.8632    , -5.0602084 ,  4.63657257, -5.0602084 , 26.13995294,
       21.03803737,  4.63657257, 21.03803737, 29.82344741,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006519266601500706
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.25746902e-14,  8.51493805e-14,  1.00000000e+00, -3.62520850e-27,
        1.00000000e+00, -8.51493805e-14, -1.00000000e+00,  0.00000000e+00,
        4.25746902e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10915513, -0.03405747,  0.06198137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.98271360e-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,
 -2.46811685e-07, 6.09318394e-06,-4.90502779e+00,-1.84974949e-03,
  3.69510358e-05,-2.21465285e-03]


--- 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,
  9.37024840e-02,-7.01900215e-02, 1.30643057e-01, 4.98505804e-01,
  4.88307977e-01, 5.01846146e-01, 5.11075072e-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, -1.61565243, -3.43107886, -0.79210467,-27.71286495,
   3.35724587, 48.52406208]

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([ 6.9069984 , -5.27351058,  4.46057317, -5.27351058, 29.41275397,
       26.60741917,  4.46057317, 26.60741917, 38.36360747,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006572764775684276
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.2228159e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        4.2228159e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1091533 , -0.03405997,  0.06198122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20979876e-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,
 -1.35994557e-06, 1.86039628e-06,-4.90500583e+00,-1.85059615e-03,
  4.00197883e-05,-2.21372555e-03]


--- 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,
  9.36937171e-02,-7.02057103e-02, 1.30637483e-01, 4.98473846e-01,
  4.88295732e-01, 5.01770971e-01, 5.11191740e-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, -1.57730634, -3.34732974, -1.01545781,-26.96059207,
   3.32278247, 47.29336761]

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([ 6.90452715, -5.44890803,  4.24050662, -5.44890803, 32.01667151,
       32.26825876,  4.24050662, 32.26825876, 48.36815162,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006569741088845449
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.26742783e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.26742783e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10915292, -0.03405957,  0.06198123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.08048077e-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,
 -1.34750980e-07,-5.33573047e-07,-4.90500046e+00,-1.85174858e-03,
  4.06390310e-05,-2.21440697e-03]


--- 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,
  9.36787702e-02,-7.02345053e-02, 1.30627078e-01, 4.98416991e-01,
  4.88300281e-01, 5.01626946e-01, 5.11384146e-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, -1.54497888, -3.27656872, -1.20786729,-26.33521664,
   3.28437439, 46.26297064]

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: -0.0006521379875889521
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.27682681e-13,  8.51217875e-14,  1.00000000e+00, -1.08685781e-26,
        1.00000000e+00, -8.51217875e-14, -1.00000000e+00,  0.00000000e+00,
        1.27682681e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10915368, -0.03405684,  0.06198136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  3.26813566e-06,-1.24604225e-06,-4.90501032e+00,-1.85316986e-03,
  3.90479847e-05,-2.21664203e-03]


--- 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,
  9.36577518e-02,-7.02761687e-02, 1.30611179e-01, 4.98335612e-01,
  4.88321285e-01, 5.01415355e-01, 5.11650839e-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, -1.51791216, -3.21711203, -1.37351035,-25.81966238,
   3.24302806, 45.40726812]

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: -0.0006437158943926602
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.31177416e-14,  8.62354833e-14,  1.00000000e+00, -3.71827929e-27,
        1.00000000e+00, -8.62354833e-14, -1.00000000e+00,  0.00000000e+00,
        4.31177416e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10915536, -0.03405228,  0.0619816 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.35880460e-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,
  8.72985457e-06,-3.81048871e-07,-4.90503436e+00,-1.85482852e-03,
  3.54288054e-05,-2.22038480e-03]


--- 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,
  9.36371468e-02,-7.03086994e-02, 1.30602311e-01, 4.98281122e-01,
  4.88317915e-01, 5.01241153e-01, 5.11877763e-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,  0.10338301,  2.28320754,  1.7578182 ,  6.89682459,
  -0.90004153,-32.02800585]

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([  6.85455981,   1.80368599,   6.61299531,   1.80368599,
        63.18549376, -15.36419003,   6.61299531, -15.36419003,
        11.04512294,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006508734813456679
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.26435804e-14,  4.26435804e-14,  1.00000000e+00, -1.81847495e-27,
        1.00000000e+00, -4.26435804e-14, -1.00000000e+00,  0.00000000e+00,
        4.26435804e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09200506, -0.08830192,  0.06198139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  1.61663810e-05, 2.00153891e-06,-4.90507177e+00,-1.85669777e-03,
  2.99178927e-05,-2.22559718e-03]


--- 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,
  9.36169771e-02,-7.03324322e-02, 1.30598931e-01, 4.98253029e-01,
  4.88289914e-01, 5.01102864e-01, 5.12067182e-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,  0.10879618,  2.19943422,  1.37209539,  6.00946706,
  -0.52093808,-31.04162461]

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([ 6.99910999, -0.16159937, -6.99724419, -0.16159937, 37.95678206,
       -0.71495866, -6.99724419, -0.71495866,  7.01562175,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000668595554803017
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.07566259e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.07566259e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09201045, -0.08829868,  0.06198089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.08537356e-05,-1.80653208e-06,-4.90504834e+00,-1.85164903e-03,
  3.57481541e-05,-2.22785371e-03]


--- 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,
  9.35972565e-02,-7.03476543e-02, 1.30599699e-01, 4.98250875e-01,
  4.88237144e-01, 5.00999236e-01, 5.12220971e-01]

qacc:
[ 5.52663521e-01, 1.07855230e+00,-3.53159364e+00, 3.55267252e+00,
  5.21589406e+00, 1.51440025e+00,-6.50904335e+00, 1.30452277e+01,
  1.75579300e+00, 1.50340148e+00,-4.85169701e+00, 5.25317752e+00,
 -2.77623929e-01,-2.72710831e-02,-3.05076684e+00, 8.51722527e+00,
  1.12295075e-01, 2.12771294e+00, 1.03688136e+00, 5.29787753e+00,
 -2.21643758e-01,-3.01853856e+01]

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([ 7.07908095,  0.09575561, -7.0784333 ,  0.09575561, 49.65685285,
        0.57598349, -7.0784333 ,  0.57598349,  7.08687274,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006785105770396871
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02266555e-13,  4.09066219e-14,  1.00000000e+00, -4.18337928e-27,
        1.00000000e+00, -4.09066219e-14, -1.00000000e+00,  0.00000000e+00,
        1.02266555e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09201463, -0.08829726,  0.06198061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.23965672e-06,-4.24551822e-06,-4.90503110e+00,-1.84714350e-03,
  4.06467981e-05,-2.22944091e-03]


--- 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,
  9.35779934e-02,-7.03546090e-02, 1.30603458e-01, 4.98274244e-01,
  4.88159545e-01, 5.00929205e-01, 5.12340676e-01]

qacc:
[ 4.30575228e-01, 1.46344968e+00,-7.78354109e+00, 1.89594542e+01,
  3.29103968e+00, 1.22358899e+00,-5.33866271e+00, 1.01722947e+01,
  1.17755486e+00, 2.92329438e-01,-2.38794746e+00, 8.26776864e+00,
 -2.24178344e-01,-2.83434772e-01, 3.14089119e+00,-1.14874897e+01,
  1.14375328e-01, 2.06683119e+00, 7.47612536e-01, 4.72660906e+00,
  1.53056290e-02,-2.94493827e+01]

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([ 7.10734121,  0.45098137, -7.09301874,  0.45098137, 65.12743339,
        3.68897663, -7.09301874,  3.68897663,  7.34189011,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006820368081365408
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.03475643e-14,  4.06951286e-14,  1.00000000e+00,  8.28046746e-28,
        1.00000000e+00, -4.06951286e-14, -1.00000000e+00,  0.00000000e+00,
       -2.03475643e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09201785, -0.08829733,  0.06198051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.14806932e-06,-5.34586307e-06,-4.90501944e+00,-1.84304750e-03,
  4.47562308e-05,-2.23034950e-03]


--- 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,
  9.35591920e-02,-7.03535014e-02, 1.30609214e-01, 4.98322764e-01,
  4.88057102e-01, 5.00891878e-01, 5.12427570e-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 ,  0.11540913,  2.01556468,  0.49936524,  4.2673634 ,
   0.20357284,-28.82255953]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006803953312471273
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.11899605e-14,  1.22379921e-13,  1.00000000e+00, -7.48842252e-27,
        1.00000000e+00, -1.22379921e-13, -1.00000000e+00,  0.00000000e+00,
        6.11899605e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09202031, -0.08829861,  0.06198055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.55197075e-06,-5.14513922e-06,-4.90501287e+00,-1.83926170e-03,
  4.81844834e-05,-2.23057585e-03]


--- 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,
  9.35408533e-02,-7.03445029e-02, 1.30616119e-01, 4.98396111e-01,
  4.87929826e-01, 5.00886505e-01, 5.12482693e-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,  0.11567648,  1.97275251,  0.28727967,  3.89758105,
   0.35384868,-28.29383371]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000674631130050618
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.17127814e-14,  1.23425563e-13,  1.00000000e+00,  7.61693476e-27,
        1.00000000e+00, -1.23425563e-13, -1.00000000e+00,  0.00000000e+00,
       -6.17127814e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09202217, -0.08830085,  0.06198072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.95775830e-06,-3.68195868e-06,-4.90501101e+00,-1.83571196e-03,
  5.10136051e-05,-2.23011969e-03]


--- 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,
  9.35229761e-02,-7.03277550e-02, 1.30623451e-01, 4.98494004e-01,
  4.87777734e-01, 5.00912459e-01, 5.12506896e-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,  0.11538811,  1.93733395,  0.10678886,  3.59929491,
   0.47449958,-27.85270607]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006656337823011671
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.08489836e-14,  4.16979672e-14,  1.00000000e+00,  8.69360234e-28,
        1.00000000e+00, -4.16979672e-14, -1.00000000e+00,  0.00000000e+00,
       -2.08489836e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09202357, -0.08830384,  0.06198098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.63365165e-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,
 -8.14164070e-06,-9.92699601e-07,-4.90501355e+00,-1.83234270e-03,
  5.33060100e-05,-2.22898251e-03]


--- 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,
  9.35067643e-02,-7.03033057e-02, 1.30630619e-01, 4.98611110e-01,
  4.87604999e-01, 5.00974289e-01, 5.12496914e-01]

qacc:
[ 1.47018972e+00,-2.30028080e+00, 1.54344249e+01,-4.15801888e+01,
 -3.19156330e+00,-9.77138435e-01, 4.95231274e+00,-1.00021021e+01,
 -1.12785834e+00, 3.44838457e+00,-1.29519771e+01, 2.03749825e+01,
 -9.23226554e-02,-7.96497503e-01, 1.99573342e+00,-9.40370387e+00,
  4.16347448e-01, 1.92533172e+00,-4.11312506e-02, 7.92355084e+00,
  1.08262520e+00,-2.73637724e+01]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006542584256734713
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.55884742e-07, -3.97715201e-14,  1.00000000e+00, -1.01769252e-20,
        1.00000000e+00,  3.97715201e-14, -1.00000000e+00,  0.00000000e+00,
       -2.55884742e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08933531, -0.08840728,  0.0619813 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.11575472e-05, 2.89008313e-06,-4.90502026e+00,-1.82911192e-03,
  5.51092549e-05,-2.22716661e-03]


--- 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,
  9.34934179e-02,-7.02712015e-02, 1.30637014e-01, 4.98742096e-01,
  4.87415872e-01, 5.01076504e-01, 5.12449439e-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,  0.71635166,  1.91376868, -0.19314236, 12.26973021,
   1.65068574,-26.85621299]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006421475747150213
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.64460965e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.64460965e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08656783, -0.0885143 ,  0.06198164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.16398379e-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,
 -1.34157852e-05, 7.87361479e-06,-4.90502971e+00,-1.82599786e-03,
  5.59537357e-05,-2.22457693e-03]


--- 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,
  9.34829049e-02,-7.02315292e-02, 1.30642167e-01, 4.98886927e-01,
  4.87210196e-01, 5.01218683e-01, 5.12364997e-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,  0.70834533,  1.89197781, -0.3104168 , 12.00052203,
   1.72883958,-26.65126224]

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: -0.0006283653260923949
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.65026485e-13,  6.62566213e-14,  1.00000000e+00, -1.75597594e-26,
        1.00000000e+00, -6.62566213e-14, -1.00000000e+00,  0.00000000e+00,
        2.65026485e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08656729, -0.08851881,  0.06198204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.78793952e-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,
 -1.48633145e-05, 1.36785455e-05,-4.90504227e+00,-1.82300359e-03,
  5.54176848e-05,-2.22120574e-03]


--- 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,
  9.34774676e-02,-7.02070683e-02, 1.30645977e-01, 4.98965979e-01,
  4.87083882e-01, 5.01315459e-01, 5.12313433e-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, 1.26891751,-3.80282605,
 -0.33591232,15.94911671,-7.16314432,56.00159604]

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([ 6.78253714,  0.67660351, -6.7487049 ,  0.67660351, 69.48493366,
        6.28634115, -6.7487049 ,  6.28634115,  7.41278554,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006421197107800009
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.64498477e-14,  8.64498477e-14,  1.00000000e+00, -7.47357618e-27,
        1.00000000e+00, -8.64498477e-14, -1.00000000e+00,  0.00000000e+00,
        8.64498477e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08162958, -0.03196391,  0.06198165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.43503099e-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,
 -1.61686790e-05, 2.03016211e-05,-4.90505933e+00,-1.82016760e-03,
  5.38819660e-05,-2.21715329e-03]


--- 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,
  9.34769188e-02,-7.01973529e-02, 1.30647281e-01, 4.98980600e-01,
  4.87034280e-01, 5.01369273e-01, 5.12293688e-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,  1.22213514, -3.68637419, -0.62643129, 15.84971418,
  -6.46884307, 54.13443263]

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([ 6.86964831, -4.3804827 ,  5.29182759, -4.3804827 , 21.30393027,
       11.94844715,  5.29182759, 11.94844715, 16.76036471,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006527131190999652
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.70093567e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.70093567e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08162674, -0.03197051,  0.06198135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -6.87241686e-06, 7.49937086e-06,-4.90502225e+00,-1.82480377e-03,
  4.98002506e-05,-2.21432660e-03]


--- 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,
  9.34811015e-02,-7.02019850e-02, 1.30645075e-01, 4.98931967e-01,
  4.87059136e-01, 5.01382118e-01, 5.12304853e-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,  1.18286522, -3.58686688, -0.87766269, 15.73686097,
  -5.9098818 , 52.55610499]

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([ 6.90205006, -4.75271873,  5.00499347, -4.75271873, 24.69842681,
       16.89935736,  5.00499347, 16.89935736, 22.94960193,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006566710893309013
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.45341787e-14,  8.45341787e-14,  1.00000000e+00, -7.14602737e-27,
        1.00000000e+00, -8.45341787e-14, -1.00000000e+00,  0.00000000e+00,
        8.45341787e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08162374, -0.03197324,  0.06198124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.69030010e-06, 1.34279276e-06,-4.90500362e+00,-1.82815419e-03,
  4.80434543e-05,-2.21306634e-03]


--- 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,
  9.34898844e-02,-7.02206265e-02, 1.30638491e-01, 4.98821093e-01,
  4.87156538e-01, 5.01355610e-01, 5.12346150e-01]

qacc:
[ 5.56862136e+00,-2.43448406e-02,-2.99455650e+00, 1.42590228e+01,
 -4.03457998e-01,-1.90922407e+00, 9.49875311e+00,-2.08743366e+01,
  3.01264293e+00, 1.31770982e+00,-4.56993490e+00, 8.13109932e+00,
 -6.53251104e-01, 8.76726299e-01,-4.04094303e+00, 1.18174334e+01,
  1.15006578e+00,-3.50237291e+00,-1.09423113e+00, 1.56216762e+01,
 -5.45882243e+00, 5.12305053e+01]

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([ 6.89048461, -5.13000709,  4.60019623, -5.13000709, 27.21520835,
       22.66554983,  4.60019623, 22.66554983, 32.16645667,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006552571345535552
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.69433184e-13,  8.47165919e-14,  1.00000000e+00, -1.43538019e-26,
        1.00000000e+00, -8.47165919e-14, -1.00000000e+00,  0.00000000e+00,
        1.69433184e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08162061, -0.03197288,  0.06198128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.24943331e-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,
 -1.32195355e-07, 1.26229324e-06,-4.90500179e+00,-1.83054114e-03,
  4.84826948e-05,-2.21329801e-03]


--- 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,
  9.35031586e-02,-7.02529922e-02, 1.30626785e-01, 4.98648828e-01,
  4.87324874e-01, 5.01291055e-01, 5.12416913e-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,  1.12280576, -3.43103239, -1.28061215, 15.51156331,
  -5.09371783, 50.12497103]

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([ 6.84366444, -5.48752164,  4.08935804, -5.48752164, 28.0243362 ,
       28.42240604,  4.08935804, 28.42240604, 44.98377512,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006495463889190783
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.54614115e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.54614115e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08161736, -0.03197004,  0.06198144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.58865528e-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,
 -1.83259521e-06, 6.82896702e-06,-4.90501545e+00,-1.83219913e-03,
  5.10103772e-05,-2.21496169e-03]


--- 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,
  9.35208338e-02,-7.02988424e-02, 1.30609315e-01, 4.98415869e-01,
  4.87562785e-01, 5.01189496e-01, 5.12516577e-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,  1.10026893, -3.37112546, -1.44096236, 15.41133163,
  -4.79702226, 49.21059042]

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: -0.0006404491254276973
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.66753486e-14,  8.66753486e-14,  1.00000000e+00, -7.51261606e-27,
        1.00000000e+00, -8.66753486e-14, -1.00000000e+00,  0.00000000e+00,
        8.66753486e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08161402, -0.03196527,  0.06198169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -6.52222278e-06, 1.77300567e-05,-4.90504358e+00,-1.83329882e-03,
  5.55390576e-05,-2.21800922e-03]


--- 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,
  9.35405665e-02,-7.03355664e-02, 1.30599121e-01, 4.98207127e-01,
  4.87772905e-01, 5.01130272e-01, 5.12577509e-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,  0.51434486,  2.28153536,  1.81877242,  7.72454463,
   2.16099844,-33.14222081]

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: -0.0006603430792870635
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.96512164e-13,  7.07094268e-07,  1.00000000e+00, -1.38952625e-19,
        1.00000000e+00, -7.07094268e-07, -1.00000000e+00,  0.00000000e+00,
        1.96512164e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08942307, -0.08840412,  0.06198112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.40064530e-05, 3.37491106e-05,-4.90508543e+00,-1.83396448e-03,
  6.19996290e-05,-2.22240187e-03]


--- 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,
  9.35609485e-02,-7.03634993e-02, 1.30594863e-01, 4.98027394e-01,
  4.87951951e-01, 5.01106312e-01, 5.12605182e-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,  0.16235612,  2.19778792,  1.48428007,  2.55671972,
   1.36793426,-32.10633751]

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: -0.000680057046116872
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.12203986e-14,  1.22440797e-13,  1.00000000e+00, -7.49587441e-27,
        1.00000000e+00, -1.22440797e-13, -1.00000000e+00,  0.00000000e+00,
        6.12203986e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09202352, -0.08830081,  0.06198056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.30563585e-05, 2.40846721e-05,-4.90506179e+00,-1.83625118e-03,
  6.10876706e-05,-2.22576234e-03]


--- 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,
  9.35819616e-02,-7.03829272e-02, 1.30595127e-01, 4.97875636e-01,
  4.88101219e-01, 5.01116520e-01, 5.12600512e-01]

qacc:
[  0.66695999,  0.06499625,  2.84375619,-15.33216584,  1.24950172,
   0.85632921, -2.95041788,  4.90515633, -2.59956436, -0.36098593,
   0.96801683,  1.6327915 , -0.51002301,  0.39347677, -3.24809069,
   9.55693948,  0.15777656,  2.12624562,  1.13045394,  2.62042755,
   1.24079801,-31.02118345]

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: -0.0006911954878156823
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.02338472e-14,  4.01558982e-14,  1.00000000e+00,  2.41874424e-27,
        1.00000000e+00, -4.01558982e-14, -1.00000000e+00,  0.00000000e+00,
       -6.02338472e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09202278, -0.08829795,  0.06198025])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.11925324e-05, 1.57582485e-05,-4.90504276e+00,-1.83819895e-03,
  5.88668628e-05,-2.22839682e-03]


--- 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,
  9.36035920e-02,-7.03940944e-02, 1.30598692e-01, 4.97750973e-01,
  4.88221796e-01, 5.01159959e-01, 5.12564281e-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,  0.15430549,  2.06517592,  0.82509868,  2.66950075,
   1.13435501,-30.09996934]

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: -0.0006955319304754598
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.98110752e-14,  3.99055376e-14,  1.00000000e+00, -3.18490387e-27,
        1.00000000e+00, -3.99055376e-14, -1.00000000e+00,  0.00000000e+00,
        7.98110752e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09202212, -0.08829694,  0.06198012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.44697228e-06, 9.36408636e-06,-4.90502961e+00,-1.84010736e-03,
  5.63162015e-05,-2.23024993e-03]


--- 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,
  9.36258295e-02,-7.03972077e-02, 1.30604509e-01, 4.97652664e-01,
  4.88314592e-01, 5.01235831e-01, 5.12497148e-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,  0.15178572,  2.01348745,  0.56306444,  2.70875383,
   1.04452093,-29.32310578]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006943608330736845
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.99864208e-14,  7.99456833e-14,  1.00000000e+00, -1.59782807e-27,
        1.00000000e+00, -7.99456833e-14, -1.00000000e+00,  0.00000000e+00,
        1.99864208e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09202152, -0.0882974 ,  0.06198016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.77710636e-06, 4.70925185e-06,-4.90502178e+00,-1.84200498e-03,
  5.34280330e-05,-2.23134503e-03]


--- 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,
  9.36486674e-02,-7.03924405e-02, 1.30611683e-01, 4.97580081e-01,
  4.88380367e-01, 5.01343464e-01, 5.12399660e-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,  0.15008093,  1.97010835,  0.33922996,  2.74172829,
   0.96799311,-28.6725778 ]

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: -0.0006887897198295662
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.20888458e-13,  8.05923051e-14,  1.00000000e+00, -9.74267946e-27,
        1.00000000e+00, -8.05923051e-14, -1.00000000e+00,  0.00000000e+00,
        1.20888458e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09202096, -0.08829904,  0.06198032])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.15102446e-06, 1.63895525e-06,-4.90501879e+00,-1.84391328e-03,
  5.01963253e-05,-2.23170177e-03]


--- 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,
  9.36721015e-02,-7.03799372e-02, 1.30619452e-01, 4.97532699e-01,
  4.88419751e-01, 5.01482296e-01, 5.12272259e-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,  0.14907442,  1.93403777,  0.14876702,  2.77102238,
   0.90210889,-28.13228812]

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: -0.0006797612345813275
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.12470399e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.12470399e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09202042, -0.08830161,  0.06198058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.07808316e-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,
 -4.54451444e-06, 2.93615895e-08,-4.90502030e+00,-1.84584864e-03,
  4.66158936e-05,-2.23133662e-03]


--- 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,
  9.36961303e-02,-7.03598164e-02, 1.30627169e-01, 4.97510081e-01,
  4.88433260e-01, 5.01651859e-01, 5.12115302e-01]

qacc:
[ 8.66803727e-01,-1.59204565e+00, 8.19468495e+00,-1.75907349e+01,
  6.04037006e+00,-1.26762752e+00, 4.46099352e+00,-8.76718583e+00,
  4.79757601e-01, 8.32549570e-01,-1.23093746e+00,-3.81134415e+00,
 -3.04742849e-01,-9.62371196e-02,-9.09720037e+00, 2.94662148e+01,
  1.48667177e-01, 1.90436909e+00,-1.27336836e-02, 2.79853334e+00,
  8.44725590e-01,-2.76881132e+01]

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: -0.0006680738192293978
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.23185077e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.23185077e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09201991, -0.08830489,  0.06198091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.93892072e-06,-2.18451147e-07,-4.90502604e+00,-1.84782385e-03,
  4.26818879e-05,-2.23026323e-03]


--- 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,
  9.37207542e-02,-7.03321744e-02, 1.30634291e-01, 4.97511864e-01,
  4.88421318e-01, 5.01851770e-01, 5.11929060e-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,  0.14877566,  1.88029666, -0.14921936,  2.8256362 ,
   0.79412056,-27.3278044 ]

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: -0.000654400521416007
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.48274862e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.48274862e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09201942, -0.0883087 ,  0.0619813 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.31959654e-06, 8.16537254e-07,-4.90503580e+00,-1.84984911e-03,
  3.83894577e-05,-2.22849279e-03]


--- 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,
  9.37459754e-02,-7.02970879e-02, 1.30640355e-01, 4.97537750e-01,
  4.88384265e-01, 5.02081717e-01, 5.11713735e-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,  0.14932966,  1.8611132 , -0.26417903,  2.85331629,
   0.74890898,-27.04081514]

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: -0.0006393057761866494
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.34151804e-14,  8.68303608e-14,  1.00000000e+00, -3.76975578e-27,
        1.00000000e+00, -8.68303608e-14, -1.00000000e+00,  0.00000000e+00,
        4.34151804e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09201894, -0.0883129 ,  0.06198173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.57189042e-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,
  3.25215249e-07, 3.07124908e-06,-4.90504943e+00,-1.85193285e-03,
  3.37335347e-05,-2.22603437e-03]


--- 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,
  9.37717977e-02,-7.02546167e-02, 1.30644977e-01, 4.97587497e-01,
  4.88322368e-01, 5.02341455e-01, 5.11469462e-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,  0.15027024,  1.84620265, -0.3606722 ,  2.88226793,
   0.70797688,-26.81810125]

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: -0.00062326019787666
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.90657729e-14,  8.90657729e-14,  1.00000000e+00, -7.93271190e-27,
        1.00000000e+00, -8.90657729e-14, -1.00000000e+00,  0.00000000e+00,
        8.90657729e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09201848, -0.08831736,  0.06198218])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.08853604e-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,
  2.00519180e-06, 6.49524453e-06,-4.90506682e+00,-1.85408228e-03,
  2.87086953e-05,-2.22289514e-03]


--- 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,
  9.37907393e-02,-7.02269559e-02, 1.30649206e-01, 4.97609420e-01,
  4.88279630e-01, 5.02522662e-01, 5.11310905e-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, -1.72018534, -3.70262814, -0.09812563,-30.05266893,
   3.47952592, 52.42855238]

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: -0.0006420500724164113
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.72918449e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.72918449e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10908868, -0.03403384,  0.06198165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
  3.72851572e-06, 1.10480885e-05,-4.90508792e+00,-1.85630378e-03,
  2.33090762e-05,-2.21908063e-03]


--- 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,
  9.38030264e-02,-7.02136122e-02, 1.30651769e-01, 4.97604307e-01,
  4.88255410e-01, 5.02628341e-01, 5.11235131e-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 , -1.66361193, -3.57924623, -0.4165517 ,-28.90099668,
   3.47813368, 50.60008742]

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([ 6.90403617, -4.84476384,  4.91873752, -4.84476384, 25.94064725,
       18.75031646,  4.91873752, 18.75031646, 25.37236365,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006569140434010551
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.45029145e-14, -8.45029145e-14,  1.00000000e+00,  7.14074256e-27,
        1.00000000e+00,  8.45029145e-14, -1.00000000e+00,  0.00000000e+00,
        8.45029145e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10908436, -0.0340412 ,  0.06198123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.38981406e-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,
 -1.98879215e-07, 5.64639321e-06,-4.90504037e+00,-1.85758684e-03,
  3.09281694e-05,-2.21610794e-03]


--- 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,
  9.38088532e-02,-7.02141627e-02, 1.30651561e-01, 4.97572831e-01,
  4.88249149e-01, 5.02661015e-01, 5.11239622e-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, -1.61507885, -3.47357607, -0.6926277 ,-27.92888467,
   3.46573626, 49.04503713]

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([ 6.96375475, -5.09488482,  4.74721275, -5.09488482, 29.75966892,
       24.46542071,  4.74721275, 24.46542071, 33.22095182,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006642391932858011
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.35710265e-14, -8.35710265e-14,  1.00000000e+00,  6.98411647e-27,
        1.00000000e+00,  8.35710265e-14, -1.00000000e+00,  0.00000000e+00,
        8.35710265e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10908198, -0.03404467,  0.06198103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.51838120e-06, 2.36076164e-06,-4.90501195e+00,-1.85924060e-03,
  3.56310468e-05,-2.21483912e-03]


--- 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,
  9.38083850e-02,-7.02282480e-02, 1.30647630e-01, 4.97515559e-01,
  4.88260365e-01, 5.02622782e-01, 5.11322231e-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, -1.57374446, -3.38369335, -0.93097606,-27.11318913,
   3.44565908, 47.73145948]

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([ 6.97343385, -5.30892313,  4.52151688, -5.30892313, 32.93596971,
       30.48382012,  4.52151688, 30.48382012, 42.76590397,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006654302935754641
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.34214369e-14,  8.34214369e-14,  1.00000000e+00, -6.95913613e-27,
        1.00000000e+00, -8.34214369e-14, -1.00000000e+00,  0.00000000e+00,
        8.34214369e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10908117, -0.03404499,  0.06198099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -4.54674942e-07, 9.48643897e-07,-4.90500070e+00,-1.86122645e-03,
  3.77647895e-05,-2.21520587e-03]


--- 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,
  9.38017618e-02,-7.02555641e-02, 1.30639153e-01, 4.97432962e-01,
  4.88288642e-01, 5.02515372e-01, 5.11481135e-01]

qacc:
[ -4.5223841 ,  2.84336022,-12.42632898, 24.53525705, -1.06056721,
  -0.32382885,  1.34702456, -2.40615516, -1.50118609, -1.01322201,
   7.51898194,-21.6696139 , -0.76267093,  1.10288068,  3.03471984,
 -11.71549275, -1.53876702, -3.30769492, -1.13623745,-26.43304858,
   3.42015735, 46.62953773]

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: -0.0006616852276847274
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.38935931e-14, -8.38935931e-14,  1.00000000e+00,  7.03813496e-27,
        1.00000000e+00,  8.38935931e-14, -1.00000000e+00,  0.00000000e+00,
        8.38935931e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10908161, -0.03404278,  0.0619811 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.63622175e-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,
  2.81952851e-06, 1.23729340e-06,-4.90500512e+00,-1.86351073e-03,
  3.75983815e-05,-2.21715075e-03]


--- 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,
  9.37891011e-02,-7.02958554e-02, 1.30625425e-01, 4.97325424e-01,
  4.88333621e-01, 5.02340193e-01, 5.11714791e-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 , -1.50935134, -3.24379475, -1.31281399,-25.87007761,
   3.3907311 , 45.71232926]

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: -0.000654020202086325
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.48768143e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.48768143e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10908304, -0.03403857,  0.06198131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.60407343e-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,
  8.17511722e-06, 3.11073270e-06,-4.90502404e+00,-1.86606478e-03,
  3.53379321e-05,-2.22062579e-03]


--- 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,
  9.37705014e-02,-7.03489082e-02, 1.30605839e-01, 4.97193250e-01,
  4.88394990e-01, 5.02098376e-01, 5.12021901e-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, -1.48477088, -3.19036831, -1.46474332,-25.40830916,
   3.35834594, 44.95598323]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006432931814754073
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.72584299e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.72584299e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10908523, -0.03403281,  0.06198161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.42143965e-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,
  1.55193917e-05, 6.49967282e-06,-4.90505655e+00,-1.86886447e-03,
  3.11391481e-05,-2.22559125e-03]


--- 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,
  9.37523242e-02,-7.03925468e-02, 1.30594774e-01, 4.97088244e-01,
  4.88432517e-01, 5.01895207e-01, 5.12287181e-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 ,  0.10564146,  2.35352802,  2.13052729,  7.83431872,
  -1.32327127,-32.77731322]

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([  7.00455559,   1.8664207 ,   6.75131638,   1.8664207 ,
        63.5257192 , -15.62543713,   6.75131638, -15.62543713,
        11.32425232,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006692679433098481
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.22073175e-14,  4.14715450e-14,  1.00000000e+00, -2.57983356e-27,
        1.00000000e+00, -4.14715450e-14, -1.00000000e+00,  0.00000000e+00,
        6.22073175e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09205087, -0.08831422,  0.06198087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  2.47900985e-05, 1.13738269e-05,-4.90510199e+00,-1.87188953e-03,
  2.51173666e-05,-2.23201432e-03]


--- 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,
  9.37345976e-02,-7.04271609e-02, 1.30590456e-01, 4.97009856e-01,
  4.88445872e-01, 5.01728986e-01, 5.12513276e-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  ,  0.11262942,  2.25614447,  1.68662646,  6.78884835,
  -0.87484702,-31.64664055]

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([ 7.18670881, -0.43244168, -7.17368648, -0.43244168, 28.9115397 ,
       -1.30960872, -7.17368648, -1.30960872,  7.26565419,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006920111605324963
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.40379983e-13,  4.01085664e-14,  1.00000000e+00, -5.63043986e-27,
        1.00000000e+00, -4.01085664e-14, -1.00000000e+00,  0.00000000e+00,
        1.40379983e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09205732, -0.08830993,  0.06198022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.85158420e-05, 5.45746845e-06,-4.90507133e+00,-1.86615243e-03,
  3.15601870e-05,-2.23513610e-03]


--- 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,
  9.37173403e-02,-7.04530846e-02, 1.30591340e-01, 4.96957572e-01,
  4.88434876e-01, 5.01598265e-01, 5.12702374e-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,  0.11734163,  2.17257809,  1.30054956,  5.95156483,
  -0.521751  ,-30.66188044]

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([ 7.29361   , -0.23542942, -7.28980932, -0.23542942, 38.15555381,
       -0.99670778, -7.28980932, -0.99670778,  7.32579937,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007056364665245368
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.90011506e-14,  3.93341004e-14,  1.00000000e+00,  2.32075718e-27,
        1.00000000e+00, -3.93341004e-14, -1.00000000e+00,  0.00000000e+00,
       -5.90011506e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09206232, -0.08830776,  0.06197984])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.31687058e-05, 9.49871261e-07,-4.90504745e+00,-1.86113323e-03,
  3.69189099e-05,-2.23760609e-03]


--- 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,
  9.37005645e-02,-7.04706024e-02, 1.30596094e-01, 4.96930921e-01,
  4.88399447e-01, 5.01501817e-01, 5.12856283e-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,
  1.20369962e-01, 2.10148146e+00, 9.67416276e-01, 5.28057683e+00,
 -2.43198378e-01,-2.98126153e+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([ 7.34117303,  0.05260454, -7.34098456,  0.05260454, 50.93770146,
        0.31240705, -7.34098456,  0.31240705,  7.3434117 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000711780227902914
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.89945864e-14,  7.79891729e-14,  1.00000000e+00, -3.04115554e-27,
        1.00000000e+00, -7.79891729e-14, -1.00000000e+00,  0.00000000e+00,
        3.89945864e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09206616, -0.08830732,  0.06197966])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.51876849e-06,-2.17730160e-06,-4.90502959e+00,-1.85665929e-03,
  4.13725032e-05,-2.23940902e-03]


--- 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,
  9.36842773e-02,-7.04799544e-02, 1.30603575e-01, 4.96929481e-01,
  4.88339567e-01, 5.01438608e-01, 5.12976491e-01]

qacc:
[ 3.09964436e+00, 4.74155763e-01,-1.99550202e+00, 3.53366140e+00,
 -3.54565342e-01, 3.65824181e-02,-3.93766433e-02, 4.51193350e-01,
  1.31749349e+00, 2.37133182e+00,-1.08068372e+01, 2.18429757e+01,
 -1.37399796e+00, 2.47028994e+00,-4.17499612e+00, 1.29558068e+01,
  1.22156999e-01, 2.04145026e+00, 6.81690673e-01, 4.74238974e+00,
 -2.29287100e-02,-2.90864953e+01]

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([ 7.3417259 ,  0.44453641, -7.32825536,  0.44453641, 67.7634573 ,
        3.66521887, -7.32825536,  3.66521887,  7.5640603 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007118519667526912
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.79813133e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.79813133e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09206911, -0.08830828,  0.06197966])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.39456021e-06,-3.96452453e-06,-4.90501716e+00,-1.85260230e-03,
  4.50562939e-05,-2.24053779e-03]


--- 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,
  9.36684823e-02,-7.04813419e-02, 1.30612807e-01, 4.96952879e-01,
  4.88255253e-01, 5.01407770e-01, 5.13064218e-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,  0.12303473,  1.99113396,  0.43779164,  4.31027331,
   0.15178292,-28.47084769]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007070581203670739
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.92550129e-14,  7.85100257e-14,  1.00000000e+00, -3.08191207e-27,
        1.00000000e+00, -7.85100257e-14, -1.00000000e+00,  0.00000000e+00,
        3.92550129e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09207135, -0.08831036,  0.0619798 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.68429664e-07,-4.45569468e-06,-4.90500969e+00,-1.84886661e-03,
  4.80726598e-05,-2.24099019e-03]


--- 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,
  9.36531802e-02,-7.04749322e-02, 1.30622960e-01, 4.97000792e-01,
  4.88146539e-01, 5.01408576e-01, 5.13120463e-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 ,  0.1232526 ,  1.94929106,  0.2304256 ,  3.96292396,
   0.29089754,-27.95355186]

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: -0.0006984258456357167
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.94803795e-14,  7.94803795e-14,  1.00000000e+00,  6.31713072e-27,
        1.00000000e+00, -7.94803795e-14, -1.00000000e+00,  0.00000000e+00,
       -7.94803795e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09207303, -0.08831333,  0.06198005])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.75462853e-06,-3.69337218e-06,-4.90500680e+00,-1.84538069e-03,
  5.04991288e-05,-2.24076679e-03]


--- 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,
  9.36383702e-02,-7.04608633e-02, 1.30633333e-01, 4.97072940e-01,
  4.88013462e-01, 5.01440421e-01, 5.13146038e-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,  0.12299815,  1.91481142,  0.05474746,  3.68337791,
   0.40221427,-27.52346766]

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: -0.0006868255062107281
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.04113932e-14,  1.61645573e-13,  1.00000000e+00, -6.53232281e-27,
        1.00000000e+00, -1.61645573e-13, -1.00000000e+00,  0.00000000e+00,
        4.04113932e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09207428, -0.08831697,  0.06198038])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.94540213e-06,-1.71637220e-06,-4.90500821e+00,-1.84209074e-03,
  5.23944773e-05,-2.23986964e-03]


--- 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,
  9.36240498e-02,-7.04392475e-02, 1.30643331e-01, 4.97169089e-01,
  4.87856055e-01, 5.01502809e-01, 5.13141598e-01]

qacc:
[ -1.11631417, -0.41485593,  1.06500754, -0.59706592,  0.58691862,
  -0.08369919,  0.09856155,  1.5207793 , -1.60795588, -1.40712745,
   3.38065085, -1.57338324, -0.20918516, -0.26015911,  0.33788188,
  -3.04827184,  0.12241213,  1.88671958, -0.09358058,  3.45813378,
   0.49184   ,-27.17059836]

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: -0.000672991193476774
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.12421082e-14,  8.24842164e-14,  1.00000000e+00, -3.40182298e-27,
        1.00000000e+00, -8.24842164e-14, -1.00000000e+00,  0.00000000e+00,
        4.12421082e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09207518, -0.08832112,  0.06198077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.95676839e-06, 1.44126722e-06,-4.90501369e+00,-1.83895606e-03,
  5.38033023e-05,-2.23830135e-03]


--- 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,
  9.36102158e-02,-7.04101750e-02, 1.30652455e-01, 4.97289044e-01,
  4.87674335e-01, 5.01595330e-01, 5.13107664e-01]

qacc:
[-5.47226116e-01, 1.05363612e+00,-3.71563842e+00, 4.55211167e+00,
  3.84372015e-01, 2.47669930e+00,-9.53189790e+00, 1.67638161e+01,
 -1.02421495e+00, 4.70980027e-01,-4.41312643e+00, 1.24242676e+01,
 -3.07530201e-01, 2.01373105e-02,-4.31984518e+00, 1.33384550e+01,
  1.21599941e-01, 1.86416795e+00,-2.18388430e-01, 3.27644787e+00,
  5.64556216e-01,-2.68861048e+01]

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: -0.0006575390552847754
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.11056479e-14,  4.22112959e-14,  1.00000000e+00, -8.90896750e-28,
        1.00000000e+00, -4.22112959e-14, -1.00000000e+00,  0.00000000e+00,
        2.11056479e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09207583, -0.08832564,  0.06198121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.18283880e-05, 5.75053016e-06,-4.90502308e+00,-1.83594557e-03,
  5.47594450e-05,-2.23606457e-03]


--- 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,
  9.35968644e-02,-7.03737169e-02, 1.30660288e-01, 4.97432647e-01,
  4.87468307e-01, 5.01717653e-01, 5.13044645e-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 ,  0.12064012,  1.84642524, -0.32302835,  3.12977009,
   0.62410576,-26.6622409 ]

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: -0.0006409834454472602
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.33015483e-14,  8.66030966e-14,  1.00000000e+00, -3.75004817e-27,
        1.00000000e+00, -8.66030966e-14, -1.00000000e+00,  0.00000000e+00,
        4.33015483e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09207627, -0.08833041,  0.06198168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.61916919e-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,
 -1.45901852e-05, 1.11872318e-05,-4.90503625e+00,-1.83303530e-03,
  5.52885537e-05,-2.23316168e-03]


--- 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,
  9.35839913e-02,-7.03299272e-02, 1.30666478e-01, 4.97599773e-01,
  4.87237953e-01, 5.01869515e-01, 5.12952856e-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 ,  0.1195908 ,  1.83286308, -0.41041934,  3.01129391,
   0.67341711,-26.49225362]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006237510323019446
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.11244608e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.11244608e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09207655, -0.08833533,  0.06198217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.58897160e-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,
 -1.72649205e-05, 1.77315985e-05,-4.90505311e+00,-1.83020653e-03,
  5.54100025e-05,-2.22959452e-03]


--- 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,
  9.35715923e-02,-7.02788458e-02, 1.30670737e-01, 4.97790330e-01,
  4.86983235e-01, 5.02050712e-01, 5.12832525e-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,  0.11849465,  1.82294262, -0.48309622,  2.91559791,
   0.71478006,-26.37027015]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006061930615322009
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  9.1573386e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -9.1573386e-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([ 0.09207672, -0.08834031,  0.06198267])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.98700890e-05, 2.53677400e-05,-4.90507363e+00,-1.82744442e-03,
  5.51383312e-05,-2.22536435e-03]


--- 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,
  9.35596627e-02,-7.02204996e-02, 1.30672822e-01, 4.98004250e-01,
  4.86704092e-01, 5.02261089e-01, 5.12683813e-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,  0.11738258,  1.81620204, -0.54325792,  2.83836083,
   0.74998336,-26.29118715]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005885959855419232
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.35777820e-14,  4.71555639e-14,  1.00000000e+00,  1.11182360e-27,
        1.00000000e+00, -4.71555639e-14, -1.00000000e+00,  0.00000000e+00,
       -2.35777820e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09207679, -0.08834529,  0.06198317])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -2.24193195e-05, 3.40830813e-05,-4.90509777e+00,-1.82473698e-03,
  5.44843263e-05,-2.22047174e-03]


--- 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,
  9.35531502e-02,-7.01780855e-02, 1.30675446e-01, 4.98149072e-01,
  4.86508404e-01, 5.02423733e-01, 5.12569476e-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,  1.35426635, -3.98300967,  0.13460159, 16.72795842,
  -7.56036582, 58.84588793]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006134450257948981
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.04908328e-14,  9.04908328e-14,  1.00000000e+00, -8.18859081e-27,
        1.00000000e+00, -9.04908328e-14, -1.00000000e+00,  0.00000000e+00,
        9.04908328e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0815213 , -0.03199706,  0.06198247])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -2.49234030e-05, 4.38677933e-05,-4.90512553e+00,-1.82207434e-03,
  5.34558370e-05,-2.21491656e-03]


--- 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,
  9.35518292e-02,-7.01510348e-02, 1.30677205e-01, 4.98226578e-01,
  4.86392944e-01, 5.02541533e-01, 5.12488233e-01]

qacc:
[ -1.71265372, -0.40876514,  0.86817723, -0.22198876,  0.59171895,
  -3.11890515, 17.19549744,-41.41929577, -2.13623481,  3.32997247,
 -12.83237744, 22.41860855, -0.74297056,  0.98774651,  1.41497452,
  -6.64086799,  1.2978745 , -3.84086736, -0.21614485, 16.55037557,
  -6.77017561, 56.557807  ]

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([ 6.72786438, -4.34858463,  5.13361186, -4.34858463, 17.28699745,
        8.94444011,  5.13361186,  8.94444011, 14.30452889,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006355013627429851
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.73501687e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.73501687e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08151993, -0.03201007,  0.06198184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.00688197e-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,
 -1.24525841e-05, 2.24820826e-05,-4.90506542e+00,-1.82809093e-03,
  4.73028587e-05,-2.21039215e-03]


--- 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,
  9.35555085e-02,-7.01388564e-02, 1.30676877e-01, 4.98238349e-01,
  4.86354943e-01, 5.02616863e-01, 5.12438978e-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,  1.25006995, -3.71807965, -0.52194482, 16.36247061,
  -6.13172518, 54.60478215]

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([ 6.83806287, -4.71375141,  4.95375125, -4.71375141, 20.33271085,
       12.84085791,  4.95375125, 12.84085791, 19.05680559,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006488645129562598
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.71102442e-13,  8.55512208e-14,  1.00000000e+00, -1.46380228e-26,
        1.00000000e+00, -8.55512208e-14, -1.00000000e+00,  0.00000000e+00,
        1.71102442e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08151813, -0.03201804,  0.06198147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05990421e-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,
 -4.73401676e-06, 8.72972060e-06,-4.90502650e+00,-1.83252939e-03,
  4.37124373e-05,-2.20751618e-03]


--- 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,
  9.35640270e-02,-7.01411294e-02, 1.30673400e-01, 4.98185758e-01,
  4.86392040e-01, 5.02651670e-01, 5.12420758e-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,  1.20980682, -3.6128618 , -0.78700769, 16.17746998,
  -5.61463691, 52.94909699]

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([ 6.88911518, -5.0892692 ,  4.64319361, -5.0892692 , 23.08229224,
       17.74886948,  4.64319361, 17.74886948, 26.34313378,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006550898015653533
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08151597, -0.03202191,  0.06198129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.41779240e-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,
 -1.12363196e-06, 1.81246941e-06,-4.90500653e+00,-1.83579835e-03,
  4.25103023e-05,-2.20619786e-03]


--- 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,
  9.35772499e-02,-7.01574957e-02, 1.30665860e-01, 4.98069978e-01,
  4.86502226e-01, 5.02647543e-01, 5.12432756e-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,  1.17609195, -3.52329364, -1.01590092, 16.00371945,
  -5.19449029, 51.55465086]

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([ 6.89256537, -5.45548068,  4.21250376, -5.45548068, 24.75197996,
       23.1291642 ,  4.21250376, 23.1291642 , 36.84641598,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006555114210030355
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.46837285e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.46837285e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08151349, -0.03202247,  0.06198128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.13539592e-06, 1.11312282e-06,-4.90500374e+00,-1.83819640e-03,
  4.35494704e-05,-2.20636385e-03]


--- 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,
  9.35950649e-02,-7.01876519e-02, 1.30653467e-01, 4.97891992e-01,
  4.86683802e-01, 5.02605771e-01, 5.12474273e-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, 1.14801931,-3.44748665,
 -1.21314663,15.84627165,-4.85168543,50.38832397]

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([ 6.85778995, -5.78554319,  3.68195233, -5.78554319, 24.67310111,
       27.99364114,  3.68195233, 27.99364114, 50.84489391,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006512671314013313
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.52356100e-14,  4.26178050e-14,  1.00000000e+00, -3.63255461e-27,
        1.00000000e+00, -4.26178050e-14, -1.00000000e+00,  0.00000000e+00,
        8.52356100e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08151075, -0.03202038,  0.0619814 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -4.40593621e-06, 6.16454917e-06,-4.90501672e+00,-1.83994185e-03,
  4.67091741e-05,-2.20795491e-03]


--- 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,
  9.36173790e-02,-7.02313428e-02, 1.30635542e-01, 4.97652607e-01,
  4.86935334e-01, 5.02527394e-01, 5.12544712e-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,
  1.12478293e+00,-3.38367248e+00,-1.38300249e+00, 1.57079663e+01,
 -4.57050670e+00, 4.94205229e+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: -0.0006433221806636941
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.62882594e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.62882594e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08150779, -0.03201621,  0.06198162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.91551733e-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,
 -1.06671520e-05, 1.66236503e-05,-4.90504440e+00,-1.84119449e-03,
  5.18925507e-05,-2.21092321e-03]


--- 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,
  9.36334755e-02,-7.02883425e-02, 1.30613346e-01, 4.97388219e-01,
  4.87204074e-01, 5.02377679e-01, 5.12692713e-01]

qacc:
[ 1.12605152e+00, 8.23257968e-01,-5.65189401e+00, 1.59027524e+01,
 -2.11424640e+00, 6.37059414e-01, 4.51866282e-02,-5.82895088e+00,
 -4.80741911e-02,-1.83031394e+00, 7.76049034e+00,-1.31394055e+01,
 -1.00138236e+00, 1.68538385e+00,-9.21639053e+00, 3.05361890e+01,
 -1.55439152e+00,-3.32722742e+00,-1.06773550e+00,-2.74005305e+01,
  3.00564972e+00, 4.73994769e+01]

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: -0.000635322048838774
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.36874112e-14,  8.73748225e-14,  1.00000000e+00, -3.81717980e-27,
        1.00000000e+00, -8.73748225e-14, -1.00000000e+00,  0.00000000e+00,
        4.36874112e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10900366, -0.03400562,  0.06198184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.55673958e-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,
 -1.97251887e-05, 3.22500529e-05,-4.90508593e+00,-1.84207163e-03,
  5.90239051e-05,-2.21523003e-03]


--- 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,
  9.36502735e-02,-7.03359511e-02, 1.30599923e-01, 4.97154473e-01,
  4.87440195e-01, 5.02265586e-01, 5.12804805e-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,  0.17538267,  2.34780246,  2.19306482,  3.08672135,
   1.27354997,-34.14357193]

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: -0.0006467797550842869
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.28740466e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.28740466e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09207134, -0.08833052,  0.06198151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.99126829e-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,
 -1.39857669e-05, 4.78235961e-05,-4.90512138e+00,-1.84519239e-03,
  5.84063793e-05,-2.22019930e-03]


--- 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,
  9.36677498e-02,-7.03745406e-02, 1.30593488e-01, 4.96950107e-01,
  4.87645219e-01, 5.02189689e-01, 5.12882294e-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,  0.16955564,  2.2547812 ,  1.74717402,  3.08084705,
   1.15940288,-32.76609862]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006723534543865428
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.25624541e-14,  4.12812271e-14,  1.00000000e+00, -3.40827942e-27,
        1.00000000e+00, -4.12812271e-14, -1.00000000e+00,  0.00000000e+00,
        8.25624541e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09207107, -0.08832399,  0.06198078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.24445038e-05, 3.51439360e-05,-4.90508815e+00,-1.84680026e-03,
  5.76249369e-05,-2.22463688e-03]


--- 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,
  9.36858855e-02,-7.04044334e-02, 1.30592483e-01, 4.96774033e-01,
  4.87820446e-01, 5.02148759e-01, 5.12926308e-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,  0.16485828,  2.17416547,  1.35753797,  3.07010898,
   1.0631614 ,-31.5803444 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006885052805720854
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.06255998e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.06255998e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09207079, -0.08831998,  0.06198032])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.09894385e-05, 2.47849195e-05,-4.90506212e+00,-1.84838596e-03,
  5.64437650e-05,-2.22824628e-03]


--- 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,
  9.37046659e-02,-7.04259062e-02, 1.30595559e-01, 4.96625320e-01,
  4.87966979e-01, 5.02141736e-01, 5.12937810e-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 ,  0.16116685,  2.10500037,  1.02004426,  3.05801179,
   0.98148801,-30.56739448]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006968943833957492
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.19482563e-13,  3.98275209e-14,  1.00000000e+00, -4.75869426e-27,
        1.00000000e+00, -3.98275209e-14, -1.00000000e+00,  0.00000000e+00,
        1.19482563e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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 , -0.08831804,  0.06198009])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.58567571e-06, 1.64850031e-05,-4.90504245e+00,-1.84997531e-03,
  5.48696940e-05,-2.23105818e-03]


--- 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,
  9.37240797e-02,-7.04391943e-02, 1.30601553e-01, 4.96503176e-01,
  4.88085750e-01, 5.02167718e-01, 5.12917615e-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,  0.15836126,  2.04616665,  0.72965225,  3.04686896,
   0.91161321,-29.70787941]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006989548692172831
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.95651669e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.95651669e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09207018, -0.08831777,  0.06198003])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.20714100e-06, 1.00308334e-05,-4.90502847e+00,-1.85158759e-03,
  5.29085108e-05,-2.23309872e-03]


--- 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,
  9.37441189e-02,-7.04444963e-02, 1.30609472e-01, 4.96406930e-01,
  4.88177542e-01, 5.02225942e-01, 5.12866405e-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,  0.15633056,  1.99652048,  0.48108874,  3.03817428,
   0.85125929,-28.98335863]

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: -0.0006959177978119319
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.99417055e-14, -3.98834111e-14,  1.00000000e+00, -7.95343240e-28,
        1.00000000e+00,  3.98834111e-14, -1.00000000e+00,  0.00000000e+00,
       -1.99417055e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09206984, -0.08831883,  0.06198012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.83408861e-06, 5.24965954e-06,-4.90501964e+00,-1.85323737e-03,
  5.05646809e-05,-2.23439004e-03]


--- 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,
  9.37600430e-02,-7.04413688e-02, 1.30618285e-01, 4.96358437e-01,
  4.88224776e-01, 5.02297853e-01, 5.12797950e-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, -1.02875706,  2.10738539,  0.22359661,-14.87475273,
  -1.37685296,-31.05602701]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006888730018901095
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.97858150e-08, -4.97857601e-08,  1.00000000e+00,  2.47862464e-15,
        1.00000000e+00,  4.97857601e-08, -1.00000000e+00, -3.94430453e-31,
        4.97858150e-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([ 0.10235924, -0.08985744,  0.06198032])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.45130531e-06, 2.00226710e-06,-4.90501556e+00,-1.85493589e-03,
  4.78412664e-05,-2.23495080e-03]


--- 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,
  9.37717771e-02,-7.04299588e-02, 1.30627161e-01, 4.96357443e-01,
  4.88227850e-01, 5.02382556e-01, 5.12713002e-01]

qacc:
[ 3.87341862e-01, 6.05206265e-01,-3.53318834e+00, 9.30408013e+00,
  5.44622628e+00, 2.42641471e+00,-1.25663666e+01, 2.84010578e+01,
  4.93752410e+00, 3.39821029e+00,-1.24555250e+01, 1.66339447e+01,
 -5.33022572e-01, 5.45148491e-01,-1.46778072e+00, 1.77955663e+00,
 -1.04750012e+00, 2.07061694e+00, 1.59714922e-02,-1.51331328e+01,
 -1.45872855e+00,-3.04848300e+01]

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.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000681246080700873
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.07423637e-14,  4.07423637e-14,  1.00000000e+00,  1.65994020e-27,
        1.00000000e+00, -4.07423637e-14, -1.00000000e+00,  0.00000000e+00,
       -4.07423637e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10272626, -0.08991445,  0.06198054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -2.12228389e-06,-2.52625430e-07,-4.90500946e+00,-1.85627124e-03,
  4.48874275e-05,-2.23497302e-03]


--- 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,
  9.37793964e-02,-7.04104025e-02, 1.30635423e-01, 4.96403108e-01,
  4.88187594e-01, 5.02479848e-01, 5.12611773e-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, -1.02870448,  2.0365991 , -0.15379902,-14.82650519,
  -1.46233073,-29.95940057]

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: -0.0006706099108356317
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.06942778e-14,  8.27771113e-14,  1.00000000e+00,  1.71301254e-27,
        1.00000000e+00, -8.27771113e-14, -1.00000000e+00,  0.00000000e+00,
       -2.06942778e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1027276 , -0.08991767,  0.06198084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
  2.59958830e-07, 5.48967010e-08,-4.90500930e+00,-1.85753567e-03,
  4.28985030e-05,-2.23411955e-03]


--- 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,
  9.37829634e-02,-7.03828109e-02, 1.30642494e-01, 4.96494734e-01,
  4.88104679e-01, 5.02589561e-01, 5.12494425e-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, -1.01309436,  2.00881167, -0.29758026,-14.57346739,
  -1.46511019,-29.53085868]

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: -0.0006576952841222811
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.44025380e-14,  8.44025380e-14,  1.00000000e+00, -7.12378843e-27,
        1.00000000e+00, -8.44025380e-14, -1.00000000e+00,  0.00000000e+00,
        8.44025380e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10272929, -0.08992156,  0.06198121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.82642036e-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,
  1.68644432e-06, 2.81384917e-06,-4.90501497e+00,-1.85873030e-03,
  4.18260337e-05,-2.23239821e-03]


--- 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,
  9.37825292e-02,-7.03472734e-02, 1.30647889e-01, 4.96631749e-01,
  4.87979637e-01, 5.02711556e-01, 5.12361075e-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, -1.00026669,  1.98645785, -0.41901712,-14.36669661,
  -1.46723681,-29.18676624]

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: -0.0006431144641577263
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.31580646e-14,  8.63161293e-14,  1.00000000e+00,  3.72523709e-27,
        1.00000000e+00, -8.63161293e-14, -1.00000000e+00,  0.00000000e+00,
       -4.31580646e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10273124, -0.08992594,  0.06198162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  2.21607890e-06, 7.91029469e-06,-4.90502622e+00,-1.85985307e-03,
  4.16189362e-05,-2.22982360e-03]


--- 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,
  9.37781356e-02,-7.03038606e-02, 1.30651199e-01, 4.96813689e-01,
  4.87812882e-01, 5.02845721e-01, 5.12211804e-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, -0.98986901,  1.96884106, -0.52131432,-14.2000036 ,
  -1.46879214,-28.91645674]

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: -0.0006273785540450438
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.76962221e-13, -8.84811106e-14,  1.00000000e+00,  1.56578139e-26,
        1.00000000e+00,  8.84811106e-14, -1.00000000e+00,  0.00000000e+00,
        1.76962221e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10273336, -0.08993066,  0.06198207])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.43665488e-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,
  1.89546152e-06, 1.52555540e-05,-4.90504283e+00,-1.86090277e-03,
  4.22390111e-05,-2.22640715e-03]


--- 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,
  9.37669795e-02,-7.02748758e-02, 1.30653054e-01, 4.96965391e-01,
  4.87664907e-01, 5.02906203e-01, 5.12146160e-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, -1.69060911, -3.6069898 , -0.36374151,-27.85595755,
   4.88639936, 51.2113278 ]

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: -0.0006188228881740254
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.7940885e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.7940885e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10900605, -0.03399958,  0.06198231])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.92204395e-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,
  7.61422007e-07, 2.47811749e-05,-4.90506469e+00,-1.86187889e-03,
  4.36585640e-05,-2.22215751e-03]


--- 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,
  9.37492645e-02,-7.02598900e-02, 1.30652345e-01, 4.97088216e-01,
  4.87535123e-01, 5.02894997e-01, 5.12161529e-01]

qacc:
[ 1.04160474e+00,-8.67087145e-01, 3.62229154e+00,-6.56433566e+00,
 -1.97895342e+00,-3.54193292e-01, 3.66848580e+00,-1.18161190e+01,
  2.67379989e-02, 1.07664202e+00,-5.52217525e+00, 1.08132269e+01,
 -6.14319647e-01, 6.98093738e-01, 5.05439429e+00,-1.88871826e+01,
 -1.63975120e+00,-3.49978128e+00,-6.40922686e-01,-2.71669155e+01,
  4.54358910e+00, 4.95788214e+01]

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([  6.67969856,  -6.44250661,  -1.7642226 ,  -6.44250661,
        10.26134957, -13.07930772,  -1.7642226 , -13.07930772,
        54.44211033,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006296867347061891
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.81567741e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.81567741e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1090053, -0.0340054,  0.061982 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -4.91140265e-06, 1.39789130e-05,-4.90503426e+00,-1.85808179e-03,
  4.55427091e-05,-2.21933864e-03]


--- 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,
  9.37251623e-02,-7.02585362e-02, 1.30648111e-01, 4.97183289e-01,
  4.87423017e-01, 5.02813790e-01, 5.12255672e-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, -1.59678706, -3.40795993, -0.88132374,-26.57471242,
   4.25537043, 48.1946809 ]

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([  6.71679058,  -6.59755095,  -1.25999889,  -6.59755095,
         8.9710969 , -11.80389994,  -1.25999889, -11.80389994,
        68.52385411,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00063416328586198
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.75344765e-14,  8.75344765e-14,  1.00000000e+00, -7.66228457e-27,
        1.00000000e+00, -8.75344765e-14, -1.00000000e+00,  0.00000000e+00,
        8.75344765e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10900566, -0.03400781,  0.06198188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.18799901e-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,
 -7.69656279e-06, 5.36865004e-06,-4.90502097e+00,-1.85510750e-03,
  4.50464874e-05,-2.21824133e-03]


--- 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,
  9.36948170e-02,-7.02705015e-02, 1.30639521e-01, 4.97251537e-01,
  4.87328145e-01, 5.02663988e-01, 5.12426680e-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, -1.56077105, -3.32980801, -1.08915466,-26.07181855,
   4.01067474, 47.02869916]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006334561498102936
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.76321925e-14,  8.76321925e-14,  1.00000000e+00, -7.67940115e-27,
        1.00000000e+00, -8.76321925e-14, -1.00000000e+00,  0.00000000e+00,
        8.76321925e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10900692, -0.03400746,  0.0619819 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.46669997e-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,
 -7.90075978e-06,-1.27756810e-06,-4.90502340e+00,-1.85277387e-03,
  4.23827042e-05,-2.21877841e-03]


--- 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,
  9.36583484e-02,-7.02955215e-02, 1.30625856e-01, 4.97293722e-01,
  4.87250124e-01, 5.02446747e-01, 5.12672934e-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 , -1.53081658, -3.26366155, -1.26853142,-25.65021125,
   3.80049288, 46.05335806]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006285913186768466
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.83104007e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.83104007e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10900892, -0.03400492,  0.06198203])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.19075430e-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,
 -5.75178117e-06,-6.12370295e-06,-4.90504045e+00,-1.85094158e-03,
  3.77164826e-05,-2.22087968e-03]


--- 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,
  9.36223195e-02,-7.03117170e-02, 1.30617839e-01, 4.97362877e-01,
  4.87146513e-01, 5.02265645e-01, 5.12881726e-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,  0.10991399,  2.20611351,  1.41207348,  5.74210258,
  -0.35632321,-31.46107577]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006347661078940081
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.31177021e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.31177021e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09208198, -0.08833782,  0.06198185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.96932465e-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,
 -1.41517145e-06,-9.28063403e-06,-4.90507124e+00,-1.84950317e-03,
  3.11733423e-05,-2.22448850e-03]


--- 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,
  9.35867319e-02,-7.03193648e-02, 1.30614140e-01, 4.97458484e-01,
  4.87017271e-01, 5.02119412e-01, 5.13054899e-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,  0.11031567,  2.13693856,  1.07924945,  5.06939771,
  -0.0750428 ,-30.57137242]

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([ 6.82895352,  0.84846599, -6.77603953,  0.84846599, 55.93586867,
        6.14895281, -6.77603953,  6.14895281,  7.59889846,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000647756226681187
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.56975957e-14,  1.28546394e-13,  1.00000000e+00, -1.10161169e-26,
        1.00000000e+00, -1.28546394e-13, -1.00000000e+00,  0.00000000e+00,
        8.56975957e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09208573, -0.08833521,  0.06198148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.74900306e-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,
 -6.12054449e-06,-8.96704416e-06,-4.90505650e+00,-1.84446355e-03,
  3.82482652e-05,-2.22533255e-03]


--- 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,
  9.35515827e-02,-7.03187011e-02, 1.30613601e-01, 4.97580082e-01,
  4.86862407e-01, 5.02006967e-01, 5.13193982e-01]

qacc:
[  1.19363386,  0.90058463, -3.2480176 ,  4.91732489, -0.73604125,
   0.44062827, -4.2685946 , 13.13016388, -0.94550246, -0.17240458,
   0.10974985,  1.8312544 , -1.49128847,  2.50007188, 13.10973982,
 -45.99739086,  0.10960886,  2.07787265,  0.79024198,  4.52433226,
   0.15066143,-29.806819  ]

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([ 6.88138209,  1.23045048, -6.77048086,  1.23045048, 71.48310311,
       11.74055731, -6.77048086, 11.74055731,  9.01508199,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006541452351726401
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.36454432e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.36454432e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09208861, -0.08833424,  0.0619813 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.04094496e-05,-7.35064304e-06,-4.90504754e+00,-1.83976172e-03,
  4.45088415e-05,-2.22549429e-03]


--- 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,
  9.35168659e-02,-7.03099258e-02, 1.30615226e-01, 4.97727261e-01,
  4.86681954e-01, 5.01927397e-01, 5.13300240e-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,  0.10810536,  2.02790179,  0.5408364 ,  4.081251  ,
   0.33309655,-29.15611384]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006551532210934963
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.11825072e-14,  4.23650144e-14,  1.00000000e+00,  8.97397221e-28,
        1.00000000e+00, -4.23650144e-14, -1.00000000e+00,  0.00000000e+00,
       -2.11825072e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09209081, -0.0883346 ,  0.06198127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.33300169e-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,
 -1.43905249e-05,-4.46901491e-06,-4.90504384e+00,-1.83530989e-03,
  5.00641487e-05,-2.22497045e-03]


--- 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,
  9.34851291e-02,-7.02930344e-02, 1.30618365e-01, 4.97889116e-01,
  4.86484497e-01, 5.01890927e-01, 5.13366107e-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,  0.74500026,  2.02901764,  0.37838217, 13.39513674,
   1.57843409,-28.57393617]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006525539521236856
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.50675274e-14,  6.38006456e-14,  1.00000000e+00, -5.42736317e-27,
        1.00000000e+00, -6.38006456e-14, -1.00000000e+00,  0.00000000e+00,
        8.50675274e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08663653, -0.08855854,  0.06198135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.44920789e-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,
 -1.81447492e-05,-3.58948964e-07,-4.90504499e+00,-1.83104229e-03,
  5.49988874e-05,-2.22376079e-03]


--- 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,
  9.34563130e-02,-7.02681851e-02, 1.30622213e-01, 4.98065522e-01,
  4.86269907e-01, 5.01896689e-01, 5.13392663e-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,
  7.30182455e-01, 1.98949233e+00, 1.77608784e-01, 1.29012350e+01,
  1.69747745e+00,-2.80935787e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006480214532502554
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.71325042e-13,  8.56625208e-14,  1.00000000e+00, -1.46761349e-26,
        1.00000000e+00, -8.56625208e-14, -1.00000000e+00,  0.00000000e+00,
        1.71325042e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08663746, -0.08856049,  0.06198148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.66864629e-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,
 -1.96337401e-05, 4.59849004e-06,-4.90504471e+00,-1.82698281e-03,
  5.86067196e-05,-2.22187043e-03]


--- 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,
  9.34324633e-02,-7.02583715e-02, 1.30624319e-01, 4.98174283e-01,
  4.86133897e-01, 5.01860057e-01, 5.13451752e-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, 1.24157282,-3.75893137,
 -0.43585803,16.96893229,-5.84335886,55.49359006]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006600306773419939
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.41038957e-14,  8.41038957e-14,  1.00000000e+00, -7.07346527e-27,
        1.00000000e+00, -8.41038957e-14, -1.00000000e+00,  0.00000000e+00,
        8.41038957e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08150515, -0.03203809,  0.06198114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -2.09500351e-05, 1.03954511e-05,-4.90504972e+00,-1.82311568e-03,
  6.10400222e-05,-2.21928112e-03]


--- 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,
  9.34134082e-02,-7.02631523e-02, 1.30623561e-01, 4.98217229e-01,
  4.86073935e-01, 5.01782808e-01, 5.13542342e-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,
  1.19866854e+00,-3.64860964e+00,-7.15759932e-01, 1.66082375e+01,
 -5.46882653e+00, 5.36978604e+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([ 6.99124335, -6.28871106,  3.05443886, -6.28871106, 14.20642476,
       14.85516434,  3.05443886, 14.85516434, 37.57618567,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006676249046182886
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.66294429e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.66294429e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08150425, -0.03204284,  0.06198092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -9.63232853e-06, 9.72510094e-07,-4.90502198e+00,-1.82354668e-03,
  5.44680631e-05,-2.21760612e-03]


--- 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,
  9.33990022e-02,-7.02821517e-02, 1.30618974e-01, 4.98195915e-01,
  4.86087873e-01, 5.01666393e-01, 5.13663548e-01]

qacc:
[ 4.92821849e+00, 1.17968937e+00,-5.27294331e+00, 9.11653897e+00,
 -1.25829092e+00, 1.38961470e+00,-5.80465548e+00, 9.46525278e+00,
  7.92680862e-01, 6.72920249e-01,-2.72264723e+00, 4.35078515e+00,
 -2.74639501e-01,-4.18976676e-02, 5.88879255e-01,-4.67520576e+00,
  1.16228345e+00,-3.55465672e+00,-9.57377360e-01, 1.62885753e+01,
 -5.16866438e+00, 5.21862084e+01]

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([ 7.00218215, -6.51403355,  2.568642  , -6.51403355, 13.77788724,
       17.18307586,  2.568642  , 17.18307586, 50.57817785,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006689748383170435
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.29794307e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.29794307e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08150274, -0.03204401,  0.06198088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.18174960e-06,-1.95329593e-06,-4.90501206e+00,-1.82317930e-03,
  5.04438359e-05,-2.21747335e-03]


--- 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,
  9.33891225e-02,-7.03150517e-02, 1.30609725e-01, 4.98111646e-01,
  4.86173894e-01, 5.01511987e-01, 5.13814616e-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 ,  1.13154643, -3.4751362 , -1.16542415, 16.00895741,
  -4.92844294, 50.9220703 ]

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([ 6.97235954, -6.67054363,  2.02919819, -6.67054363, 12.41689573,
       17.89771763,  2.02919819, 17.89771763, 65.80717763,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006652980338008041
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.66876042e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.66876042e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08150074, -0.0320423 ,  0.06198099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.57957831e-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,
  1.80550515e-06, 1.07141016e-06,-4.90501843e+00,-1.82217914e-03,
  4.87759620e-05,-2.21881752e-03]


--- 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,
  9.33825663e-02,-7.03391075e-02, 1.30605879e-01, 4.98044683e-01,
  4.86238091e-01, 5.01404324e-01, 5.13923843e-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,  0.83090783,  2.21103684,  1.35064441, 12.85795996,
   2.73880997,-31.70169319]

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: -0.0006717405592042147
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.26377840e-14,  4.13188920e-14,  1.00000000e+00,  3.41450167e-27,
        1.00000000e+00, -4.13188920e-14, -1.00000000e+00,  0.00000000e+00,
       -8.26377840e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08663964, -0.08855572,  0.0619808 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.63486923e-06, 9.64152807e-06,-4.90503986e+00,-1.82066528e-03,
  4.93108805e-05,-2.22158613e-03]


--- 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,
  9.33792211e-02,-7.03546009e-02, 1.30606063e-01, 4.97994420e-01,
  4.86281345e-01, 5.01341955e-01, 5.13992466e-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,  0.80272554,  2.14061594,  1.00763977, 12.54334723,
   2.60145763,-30.66540837]

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: -0.0006825635565885363
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.62654893e-13,  1.01659308e-13,  1.00000000e+00, -1.65353839e-26,
        1.00000000e+00, -1.01659308e-13, -1.00000000e+00,  0.00000000e+00,
        1.62654893e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08663974, -0.08855297,  0.06198049])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.72202859e-06, 5.27775665e-06,-4.90502075e+00,-1.82049870e-03,
  5.26235742e-05,-2.22378712e-03]


--- 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,
  9.33789914e-02,-7.03617721e-02, 1.30609093e-01, 4.97960346e-01,
  4.86304394e-01, 5.01323640e-01, 5.14021534e-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,  0.77889122,  2.08054862,  0.71148605, 12.26974118,
   2.48682758,-29.78544362]

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: -0.0006867462188288459
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.04160589e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.04160589e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0866394 , -0.08855203,  0.06198038])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.40496178e-07, 2.35206535e-06,-4.90500823e+00,-1.82034229e-03,
  5.46652563e-05,-2.22516392e-03]


--- 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,
  9.33817974e-02,-7.03608243e-02, 1.30613952e-01, 4.97942027e-01,
  4.86307850e-01, 5.01348326e-01, 5.14011934e-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,  0.75889893,  2.0297493 ,  0.4571907 , 12.03477046,
   2.39092264,-29.04343895]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006855514675874891
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.61945977e-13,  1.01216236e-13,  1.00000000e+00, -1.63915622e-26,
        1.00000000e+00, -1.01216236e-13, -1.00000000e+00,  0.00000000e+00,
        1.61945977e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0866387 , -0.08855254,  0.06198041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.93987263e-07, 7.27441006e-07,-4.90500169e+00,-1.82022738e-03,
  5.55198534e-05,-2.22574494e-03]


--- 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,
  9.33875724e-02,-7.03519278e-02, 1.30619770e-01, 4.97939097e-01,
  4.86292216e-01, 5.01415122e-01, 5.13964408e-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,  0.74227399,  1.98715584,  0.2397984 , 11.83553057,
   2.31039662,-28.42244943]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006800599742225188
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.16268467e-14, -2.04067117e-14,  1.00000000e+00,  1.66573552e-27,
        1.00000000e+00,  2.04067117e-14, -1.00000000e+00,  0.00000000e+00,
        8.16268467e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08663771, -0.08855421,  0.06198057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.17246123e-07, 2.93996865e-07,-4.90500065e+00,-1.82017706e-03,
  5.52547784e-05,-2.22555358e-03]


--- 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,
  9.33962617e-02,-7.03352243e-02, 1.30625807e-01, 4.97951248e-01,
  4.86257905e-01, 5.01523281e-01, 5.13879560e-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 ,  0.72858608,  1.95177803,  0.05463927, 11.66896446,
   2.24246515,-27.90728504]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006711915983433764
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.48116118e-13,  8.27053726e-14,  1.00000000e+00, -2.05205360e-26,
        1.00000000e+00, -8.27053726e-14, -1.00000000e+00,  0.00000000e+00,
        2.48116118e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0866365 , -0.08855679,  0.06198082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -5.95080175e-07, 9.63576753e-07,-4.90500476e+00,-1.82020827e-03,
  5.39233908e-05,-2.22460898e-03]


--- 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,
  9.34078209e-02,-7.03108298e-02, 1.30631434e-01, 4.97978226e-01,
  4.86205251e-01, 5.01672182e-01, 5.13757883e-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,  0.71745353,  1.92271939, -0.10255274, 11.53207875,
   2.18482003,-27.48457832]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006597254880294362
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.68285604e-13,  1.05178503e-13,  1.00000000e+00, -1.77000279e-26,
        1.00000000e+00, -1.05178503e-13, -1.00000000e+00,  0.00000000e+00,
        1.68285604e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08663512, -0.08856008,  0.06198115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -8.42662338e-07, 2.66525443e-06,-4.90501372e+00,-1.82033345e-03,
  5.15671958e-05,-2.22292670e-03]


--- 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,
  9.34222143e-02,-7.02788387e-02, 1.30636118e-01, 4.98019816e-01,
  4.86134518e-01, 5.01861314e-01, 5.13599761e-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,  0.7085425 ,  1.89918319, -0.23559922, 11.42205793,
   2.13555135,-27.14270352]

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: -0.0006463183711280518
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.5888246e-14,  4.2944123e-14,  1.0000000e+00,  3.6883954e-27,
        1.0000000e+00, -4.2944123e-14, -1.0000000e+00,  0.0000000e+00,
       -8.5888246e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08663361, -0.08856389,  0.06198153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.91321476e-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,
 -9.63872270e-07, 5.34164437e-06,-4.90502733e+00,-1.82056174e-03,
  4.82177330e-05,-2.22051930e-03]


--- 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,
  9.34414760e-02,-7.02615620e-02, 1.30638172e-01, 4.97996223e-01,
  4.86140191e-01, 5.02008722e-01, 5.13473193e-01]

qacc:
[ 3.29363918e+00,-6.05592616e-01, 1.08500425e+00, 1.99606491e+00,
  4.27848477e-01, 1.60219515e-01, 4.45087810e-01,-3.76574315e+00,
 -6.85430015e+00, 1.72017399e+00,-8.60802490e+00, 2.04132068e+01,
  4.73602150e-02,-6.23198784e-01,-9.36800521e+00, 3.10010677e+01,
  1.21708849e+00,-3.67861675e+00,-6.57493156e-01, 1.62377359e+01,
 -5.98438652e+00, 5.39104521e+01]

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: -0.0006441672838648077
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.61750552e-14,  8.61750552e-14,  1.00000000e+00, -7.42614014e-27,
        1.00000000e+00, -8.61750552e-14, -1.00000000e+00,  0.00000000e+00,
        8.61750552e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08147749, -0.03203378,  0.06198159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.92054015e-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,
 -9.62993885e-07, 8.94590551e-06,-4.90504544e+00,-1.82089985e-03,
  4.38981625e-05,-2.21739671e-03]


--- 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,
  9.34654671e-02,-7.02586044e-02, 1.30636613e-01, 4.97908744e-01,
  4.86220088e-01, 5.02116180e-01, 5.13377298e-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,  1.18235465, -3.57977324, -0.90317608, 16.05437806,
  -5.51174812, 52.38024622]

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([ 6.83213539, -5.35187812,  4.24681934, -5.35187812, 23.77633567,
       21.35322638,  4.24681934, 21.35322638, 33.74165423,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006481432656168101
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.56464214e-14,  8.56464214e-14,  1.00000000e+00, -7.33530949e-27,
        1.00000000e+00, -8.56464214e-14, -1.00000000e+00,  0.00000000e+00,
        8.56464214e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08147548, -0.03203623,  0.06198148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.73289215e-06, 1.63942770e-06,-4.90502581e+00,-1.82531753e-03,
  4.51678377e-05,-2.21601541e-03]


--- 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,
  9.34940723e-02,-7.02696299e-02, 1.30630594e-01, 4.97758477e-01,
  4.86372352e-01, 5.02185145e-01, 5.13311323e-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,  1.15350786, -3.49579087, -1.11506827, 15.88825521,
  -5.12191748, 51.09246672]

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([ 6.82148529, -5.69949481,  3.74812226, -5.69949481, 24.01649233,
       26.14718692,  3.74812226, 26.14718692, 46.581596  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006468481388814118
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08147314, -0.03203568,  0.06198151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.83186042e-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,
 -5.91417696e-06, 4.85620691e-07,-4.90502303e+00,-1.82890616e-03,
  4.85448451e-05,-2.21606861e-03]


--- 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,
  9.35271963e-02,-7.02943548e-02, 1.30619385e-01, 4.97546329e-01,
  4.86595412e-01, 5.02216803e-01, 5.13274622e-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, 1.12973423,-3.42482281,
 -1.29751545,15.74265787,-4.79814465,50.0163614 ]

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: -0.0006413355468740528
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.65555504e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.65555504e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08147052, -0.03203276,  0.06198167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.06180517e-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,
 -1.32000839e-05, 5.04318067e-06,-4.90503581e+00,-1.83186491e-03,
  5.39320884e-05,-2.21750681e-03]


--- 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,
  9.35609589e-02,-7.03104347e-02, 1.30613174e-01, 4.97362965e-01,
  4.86787077e-01, 5.02282778e-01, 5.13206034e-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 ,  0.1596211 ,  2.16122171,  1.24947066,  2.00068116,
   1.60801112,-31.55223437]

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: -0.0006428446743261262
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.15880886e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.15880886e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09208436, -0.08833957,  0.06198162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.98833928e-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,
 -2.33667801e-05, 1.49891017e-05,-4.90506313e+00,-1.83434265e-03,
  6.12536767e-05,-2.22028954e-03]


--- 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,
  9.35953437e-02,-7.03181188e-02, 1.30610714e-01, 4.97207411e-01,
  4.86948694e-01, 5.02382182e-01, 5.13106133e-01]

qacc:
[  0.54467742,  0.67908104, -3.17450903,  6.4421506 , -3.90440518,
   1.75973073, -7.67593876, 14.54263314, -2.71570063, -0.31472189,
   1.37504934, -1.92924356, -0.78253158,  1.11158134,  2.94349158,
 -12.29569654,  0.15556223,  2.09897167,  0.93759867,  2.20086539,
   1.41829364,-30.60579233]

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: -0.0006525353516195903
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06337440e-13,  8.50699523e-14,  1.00000000e+00, -9.04612098e-27,
        1.00000000e+00, -8.50699523e-14, -1.00000000e+00,  0.00000000e+00,
        1.06337440e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09208289, -0.08833711,  0.06198135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.20703153e-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,
 -1.97065610e-05, 8.09065903e-06,-4.90505159e+00,-1.83791415e-03,
  5.63633321e-05,-2.22185611e-03]


--- 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,
  9.36303399e-02,-7.03176195e-02, 1.30610924e-01, 4.97078840e-01,
  4.87081387e-01, 5.02514252e-01, 5.12975415e-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,  0.15282529,  2.04584163,  0.66761288,  2.36162627,
   1.26031505,-29.80273163]

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: -0.0006562136682654734
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.34448282e-14,  4.22965521e-14,  1.00000000e+00, -2.68349748e-27,
        1.00000000e+00, -4.22965521e-14, -1.00000000e+00,  0.00000000e+00,
        6.34448282e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09208167, -0.08833627,  0.06198124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.62113625e-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,
 -1.63122063e-05, 2.99122483e-06,-4.90504559e+00,-1.84139403e-03,
  5.12334213e-05,-2.22266656e-03]


--- 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,
  9.36659408e-02,-7.03091166e-02, 1.30612874e-01, 4.96976554e-01,
  4.87186094e-01, 5.02678339e-01, 5.12814296e-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,  0.15119632,  2.00092093,  0.43518287,  2.49295504,
   1.12757386,-29.12659248]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006550190051983484
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.11868476e-14,  4.23736951e-14,  1.00000000e+00,  8.97765019e-28,
        1.00000000e+00, -4.23736951e-14, -1.00000000e+00,  0.00000000e+00,
       -2.11868476e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09208064, -0.08833675,  0.06198128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.02680616e-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,
 -1.31051541e-05,-4.76992989e-07,-4.90504464e+00,-1.84482830e-03,
  4.58329139e-05,-2.22273857e-03]


--- 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,
  9.37021437e-02,-7.02927603e-02, 1.30615769e-01, 4.96899966e-01,
  4.87263593e-01, 5.02873894e-01, 5.12623119e-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,  0.15049779,  1.9633107 ,  0.23598875,  2.60251629,
   1.01487066,-28.56219083]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006499283859795202
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.13527953e-14,  4.27055907e-14,  1.00000000e+00,  9.11883737e-28,
        1.00000000e+00, -4.27055907e-14, -1.00000000e+00,  0.00000000e+00,
       -2.13527953e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09207974, -0.08833828,  0.06198142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.17870049e-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,
 -1.00261542e-05,-2.44911614e-06,-4.90504837e+00,-1.84825185e-03,
  4.01372181e-05,-2.22208728e-03]


--- 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,
  9.37317376e-02,-7.02906504e-02, 1.30616747e-01, 4.96795966e-01,
  4.87359645e-01, 5.02994195e-01, 5.12514570e-01]

qacc:
[-3.67826046e+00, 6.41181441e-01,-1.21094306e+00,-1.51403969e+00,
  1.73462661e+00,-2.68071110e-01, 1.39977988e+00,-2.66365233e+00,
  5.67530557e+00,-5.07778588e+00, 1.88097773e+01,-2.93569851e+01,
  3.56135309e-02,-9.63438081e-01, 4.90347393e+00,-1.78840172e+01,
 -1.65225798e+00,-3.56157048e+00,-4.79043277e-01,-2.87758207e+01,
  3.57085555e+00, 5.05543317e+01]

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: -0.0006474955629940382
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.57320952e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.57320952e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10896112, -0.03400646,  0.06198149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.14542659e-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,
 -7.03004789e-06,-3.03379140e-06,-4.90505648e+00,-1.85169158e-03,
  3.41262333e-05,-2.22072552e-03]


--- 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,
  9.37549186e-02,-7.03023861e-02, 1.30614743e-01, 4.96665239e-01,
  4.87473702e-01, 5.03041702e-01, 5.12486172e-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, -1.60321047, -3.46140585, -0.74559318,-27.82679186,
   3.55699019, 49.02504   ]

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([ 6.88361556, -5.57844788,  4.03299919, -5.57844788, 23.72653444,
       23.2971396 ,  4.03299919, 23.2971396 , 39.1082387 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006544179841066894
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.48252227e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.48252227e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10895906, -0.03401004,  0.06198129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -8.28379124e-06, 6.92821268e-07,-4.90503057e+00,-1.85439091e-03,
  4.09116811e-05,-2.21978972e-03]


--- 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,
  9.37718547e-02,-7.03276265e-02, 1.30608835e-01, 4.96508349e-01,
  4.87605291e-01, 5.03018465e-01, 5.12535817e-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, -1.56123918, -3.37616865, -0.97597867,-27.02680324,
   3.5423546 , 47.73709146]

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([ 6.89166425, -5.67089635,  3.91611679, -5.67089635, 26.63444582,
       28.58935883,  3.91611679, 28.58935883, 48.29167848,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00065540129103063
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.69395917e-13,  8.46979583e-14,  1.00000000e+00, -1.43474883e-26,
        1.00000000e+00, -8.46979583e-14, -1.00000000e+00,  0.00000000e+00,
        1.69395917e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10895847, -0.0340105 ,  0.06198127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.10829537e-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,
 -7.11626792e-06, 6.10833708e-06,-4.90502173e+00,-1.85747456e-03,
  4.50769359e-05,-2.22051029e-03]


--- 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,
  9.37840553e-02,-7.03436955e-02, 1.30606895e-01, 4.96403055e-01,
  4.87690701e-01, 5.03010076e-01, 5.12564776e-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, -1.18384803,  2.29282677,  0.99202719,-15.03514967,
  -2.50025547,-33.59224977]

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([ 6.90951087,  0.32761086,  6.90173975,  0.32761086, 74.73706418,
       -3.21962924,  6.90173975, -3.21962924,  7.0623398 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006575839553276119
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.44168274e-14,  4.22084137e-14,  1.00000000e+00, -3.56310037e-27,
        1.00000000e+00, -4.22084137e-14, -1.00000000e+00,  0.00000000e+00,
        8.44168274e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10274631, -0.0899203 ,  0.0619812 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.93997513e-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,
 -3.71150530e-06, 1.30812530e-05,-4.90502846e+00,-1.86090405e-03,
  4.68957736e-05,-2.22282816e-03]


--- 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,
  9.37916807e-02,-7.03508615e-02, 1.30607697e-01, 4.96347983e-01,
  4.87730907e-01, 5.03015994e-01, 5.12574045e-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 , -1.14384025,  2.22577818,  0.685508  ,-14.8471416 ,
  -2.2961651 ,-32.61625456]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006653990176079816
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  4.1712679e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -4.1712679e-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([ 0.10274753, -0.08991829,  0.06198098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.68923565e-06, 5.72386680e-06,-4.90501216e+00,-1.86027960e-03,
  4.40945744e-05,-2.22478669e-03]


--- 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,
  9.37948652e-02,-7.03493521e-02, 1.30610184e-01, 4.96341953e-01,
  4.87726753e-01, 5.03035766e-01, 5.12564434e-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, -1.11019063,  2.16883301,  0.42118094,-14.66993367,
  -2.13136943,-31.78880432]

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: -0.0006673574858359621
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.31805328e-14,  4.15902664e-14,  1.00000000e+00,  3.45950052e-27,
        1.00000000e+00, -4.15902664e-14, -1.00000000e+00,  0.00000000e+00,
       -8.31805328e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10274909, -0.08991797,  0.06198093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.56505989e-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,
 -4.88057630e-07, 1.48743122e-06,-4.90500296e+00,-1.85983043e-03,
  4.23254311e-05,-2.22575636e-03]


--- 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,
  9.37937214e-02,-7.03393592e-02, 1.30613448e-01, 4.96383956e-01,
  4.87678962e-01, 5.03069009e-01, 5.12536604e-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, -1.08208096,  2.12088005,  0.19432344,-14.50829869,
  -1.99784859,-31.09279918]

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: -0.0006645924902300426
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.35266002e-14,  4.17633001e-14,  1.00000000e+00, -3.48834647e-27,
        1.00000000e+00, -4.17633001e-14, -1.00000000e+00,  0.00000000e+00,
        8.35266002e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10275092, -0.08991902,  0.061981  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.10778461e-07, 1.24270283e-07,-4.90500035e+00,-1.85948632e-03,
  4.15226671e-05,-2.22577518e-03]


--- 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,
  9.37883426e-02,-7.03210428e-02, 1.30616714e-01, 4.96473143e-01,
  4.87588140e-01, 5.03115405e-01, 5.12491086e-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,
 -1.05877335e+00, 2.08086021e+00, 3.63460176e-04,-1.43649116e+01,
 -1.88916419e+00,-3.05125055e+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: -0.0006580721586885163
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.43542011e-14,  8.43542011e-14,  1.00000000e+00, -7.11563125e-27,
        1.00000000e+00, -8.43542011e-14, -1.00000000e+00,  0.00000000e+00,
        8.43542011e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10275298, -0.08992114,  0.06198119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.23727504e-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,
 -5.51126140e-07, 1.43552075e-06,-4.90500390e+00,-1.85919528e-03,
  4.16322362e-05,-2.22487391e-03]


--- 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,
  9.37765770e-02,-7.03164741e-02, 1.30616714e-01, 4.96534387e-01,
  4.87515256e-01, 5.03090880e-01, 5.12525164e-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,
 -1.59667716e+00,-3.43690141e+00,-8.16450839e-01,-2.69310989e+01,
  4.23216101e+00, 4.87216871e+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: -0.0006508014885408114
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.52965954e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.52965954e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10896116, -0.03400857,  0.0619814 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.79814174e-06, 5.26257770e-06,-4.90501330e+00,-1.85891879e-03,
  4.26107726e-05,-2.22307731e-03]


--- 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,
  9.37585788e-02,-7.03253226e-02, 1.30612570e-01, 4.96568596e-01,
  4.87459841e-01, 5.02997071e-01, 5.12636791e-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, -1.55816501, -3.35432286, -1.03582698,-26.33548349,
   4.02597629, 47.46352633]

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: -0.0006504927849868558
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.53370745e-14,  8.53370745e-14,  1.00000000e+00, -7.28241628e-27,
        1.00000000e+00, -8.53370745e-14, -1.00000000e+00,  0.00000000e+00,
        8.53370745e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10896203, -0.03400852,  0.06198141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.55752626e-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,
 -2.88611637e-06, 3.59747406e-07,-4.90500683e+00,-1.85740947e-03,
  4.22899817e-05,-2.22289529e-03]


--- 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,
  9.37410967e-02,-7.03258539e-02, 1.30611628e-01, 4.96628675e-01,
  4.87379232e-01, 5.02937337e-01, 5.12713837e-01]

qacc:
[-1.54970811e+00, 2.09369567e+00,-8.96973190e+00, 1.70109736e+01,
  6.53632321e-01,-9.21501091e-02,-1.05600271e+00, 5.48917296e+00,
 -3.19501083e+00,-1.06076879e+00, 4.48950720e+00,-8.94786687e+00,
 -3.16057424e-01, 5.63546116e-02, 6.26672237e+00,-2.27097963e+01,
  1.29047426e-01, 2.07933118e+00, 8.00205513e-01, 4.87119932e+00,
 -1.66491352e-02,-2.98584210e+01]

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: -0.0006512893649259915
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09209637, -0.0883433 ,  0.06198138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.98572526e-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,
 -1.57183195e-06,-2.75606044e-06,-4.90501545e+00,-1.85641853e-03,
  3.98489869e-05,-2.22431585e-03]


--- 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,
  9.37241321e-02,-7.03182676e-02, 1.30612888e-01, 4.96714204e-01,
  4.87273494e-01, 5.02910760e-01, 5.12757554e-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 ,  0.12933706,  2.02936244,  0.55065175,  4.43903225,
   0.15395578,-29.1990806 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006526960784453001
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.70098008e-13,  4.25245019e-14,  1.00000000e+00, -7.23333304e-27,
        1.00000000e+00, -4.25245019e-14, -1.00000000e+00,  0.00000000e+00,
        1.70098008e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09209864, -0.08834351,  0.06198134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.27249152e-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,
 -3.84248440e-06,-1.62914957e-06,-4.90501196e+00,-1.85393163e-03,
  4.28783213e-05,-2.22406589e-03]


--- 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,
  9.37076834e-02,-7.03027317e-02, 1.30615493e-01, 4.96824816e-01,
  4.87142699e-01, 5.02916567e-01, 5.12768973e-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,  0.12902237,  1.98742735,  0.33622313,  4.08979281,
   0.29032028,-28.64329889]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006497375226097585
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.70872543e-13,  4.27181356e-14,  1.00000000e+00, -7.29935645e-27,
        1.00000000e+00, -4.27181356e-14, -1.00000000e+00,  0.00000000e+00,
        1.70872543e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09210036, -0.08834481,  0.06198143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.58965751e-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,
 -5.85530736e-06, 7.89530852e-07,-4.90501322e+00,-1.85165767e-03,
  4.53013721e-05,-2.22311184e-03]


--- 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,
  9.36851738e-02,-7.02998728e-02, 1.30615221e-01, 4.96911500e-01,
  4.87027956e-01, 5.02855255e-01, 5.12854096e-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, -1.51525469, -3.16924898, -0.71903   ,-25.92557916,
   3.18085374, 44.82868465]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006434308035459959
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43935254e-07,  1.43935405e-07,  1.00000000e+00, -2.07173791e-14,
        1.00000000e+00, -1.43935405e-07, -1.00000000e+00,  0.00000000e+00,
        1.43935254e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10798856, -0.03714742,  0.0619816 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.56984074e-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,
 -7.67225184e-06, 4.45350490e-06,-4.90501893e+00,-1.84954967e-03,
  4.71774498e-05,-2.22145856e-03]


--- 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,
  9.36631423e-02,-7.02889580e-02, 1.30616751e-01, 4.97023406e-01,
  4.86888277e-01, 5.02826751e-01, 5.12906227e-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,  0.1195283 ,  2.01394815,  0.45028716,  4.36996193,
   0.16983105,-28.92366245]

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([  6.79171683,   1.51832648,   6.61982645,   1.51832648,
        63.04138402, -12.90144991,   6.61982645, -12.90144991,
         9.75079941,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006432330718520035
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.72600426e-13,  4.31501066e-14,  1.00000000e+00, -7.44772680e-27,
        1.00000000e+00, -4.31501066e-14, -1.00000000e+00,  0.00000000e+00,
        1.72600426e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09210399, -0.08834764,  0.06198161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.68175520e-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,
 -7.45093598e-06,-1.78151482e-06,-4.90501934e+00,-1.84809385e-03,
  4.52091868e-05,-2.22186322e-03]


--- 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,
  9.36351123e-02,-7.02905702e-02, 1.30614973e-01, 4.97112089e-01,
  4.86764387e-01, 5.02731619e-01, 5.13031113e-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, -1.49963217, -3.13171971, -0.82712368,-25.80107774,
   2.94311175, 44.22586161]

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: -0.0006395309548078479
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.97749528e-07,  3.97749525e-07,  1.00000000e+00, -1.58204686e-13,
        1.00000000e+00, -3.97749525e-07, -1.00000000e+00,  2.52435490e-29,
        3.97749528e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10798842, -0.03714518,  0.06198172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.34702574e-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,
 -1.00071931e-05, 1.66051573e-06,-4.90502225e+00,-1.84516441e-03,
  4.81689051e-05,-2.22054114e-03]


--- 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,
  9.36075213e-02,-7.02840159e-02, 1.30615500e-01, 4.97226202e-01,
  4.86615538e-01, 5.02669704e-01, 5.13122393e-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,  0.10977264,  2.04160377,  0.57650063,  4.57527991,
   0.08749375,-29.23409957]

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([  6.78075331,   1.56258392,   6.59825332,   1.56258392,
        62.29133651, -13.14589486,   6.59825332, -13.14589486,
         9.89393536,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006419034323037753
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.32394878e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.32394878e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09210865, -0.08834934,  0.06198165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.42523585e-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,
 -8.85596141e-06,-4.63100649e-06,-4.90502889e+00,-1.84369112e-03,
  4.50730946e-05,-2.22156331e-03]


--- 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,
  9.35803692e-02,-7.02694676e-02, 1.30617469e-01, 4.97365429e-01,
  4.86441669e-01, 5.02640212e-01, 5.13181205e-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,  0.1097065 ,  1.99851811,  0.36024181,  4.14801361,
   0.26801636,-28.69276653]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006401198503891842
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.3359967e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        4.3359967e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09211085, -0.08835047,  0.0619817 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.21498066e-05,-1.36859678e-06,-4.90502907e+00,-1.83995764e-03,
  4.91182715e-05,-2.22054803e-03]


--- 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,
  9.35581190e-02,-7.02696106e-02, 1.30616905e-01, 4.97437169e-01,
  4.86345093e-01, 5.02570051e-01, 5.13271914e-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,  1.22548531, -3.67285104, -0.63294568, 17.18383393,
  -5.22710257, 54.56582621]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006473796161593215
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.57474499e-14,  8.57474499e-14,  1.00000000e+00, -7.35262517e-27,
        1.00000000e+00, -8.57474499e-14, -1.00000000e+00,  0.00000000e+00,
        8.57474499e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08146134, -0.0320538 ,  0.06198149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.52398187e-05, 3.08987607e-06,-4.90503382e+00,-1.83640381e-03,
  5.25888558e-05,-2.21885083e-03]


--- 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,
  9.35406208e-02,-7.02840619e-02, 1.30612812e-01, 4.97443209e-01,
  4.86323487e-01, 5.02460708e-01, 5.13393569e-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,  1.1879935 , -3.57704263, -0.88238026, 16.79151862,
  -4.95077851, 52.92474719]

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([ 6.86436659, -6.73210564,  1.34100048, -6.73210564,  8.53529319,
        8.38840447,  1.34100048,  8.38840447, 48.97592891,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006520689120711187
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.51308047e-14,  8.51308047e-14,  1.00000000e+00, -7.24725392e-27,
        1.00000000e+00, -8.51308047e-14, -1.00000000e+00,  0.00000000e+00,
        8.51308047e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08146074, -0.03205721,  0.06198136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.39979684e-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,
 -5.43619299e-06,-2.28079239e-06,-4.90501685e+00,-1.83630384e-03,
  4.72098697e-05,-2.21815285e-03]


--- 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,
  9.35277471e-02,-7.03124949e-02, 1.30604328e-01, 4.97385051e-01,
  4.86374889e-01, 5.02313392e-01, 5.13545358e-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,  1.15612408, -3.49545876, -1.09793243, 16.45072987,
  -4.72972256, 51.54951484]

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([ 6.85794567, -6.79135497,  0.9533711 , -6.79135497,  7.93677438,
        7.68505433,  0.9533711 ,  7.68505433, 61.60255855,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006512861116874935
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.55699378e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.55699378e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08145949, -0.0320574 ,  0.06198138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
  7.19323772e-07,-1.41328777e-06,-4.90501689e+00,-1.83560426e-03,
  4.43258009e-05,-2.21894618e-03]


--- 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,
  9.35167357e-02,-7.03322047e-02, 1.30600901e-01, 4.97349699e-01,
  4.86401010e-01, 5.02206570e-01, 5.13659318e-01]

qacc:
[  1.01662991,  2.20872446,-11.03369772, 22.90517706,  2.71776695,
  -1.06052325,  2.46272946,  2.38394864,  1.59635032,  2.95831618,
 -10.30797559, 13.73674789, -0.54165089,  0.61826826, -4.60083762,
  14.88967229,  0.46555866,  2.18083017,  1.26453762,  8.06566057,
   1.63446499,-31.46077734]

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: -0.0006601200119171755
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78273507e-14,  3.26782778e-07,  1.00000000e+00,  3.19682934e-20,
        1.00000000e+00, -3.26782778e-07, -1.00000000e+00,  0.00000000e+00,
       -9.78273507e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08951412, -0.0884561 ,  0.06198113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
  3.56927270e-06, 5.21704617e-06,-4.90503257e+00,-1.83442073e-03,
  4.37549950e-05,-2.22117591e-03]


--- 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,
  9.35089276e-02,-7.03434069e-02, 1.30601122e-01, 4.97330534e-01,
  4.86407402e-01, 5.02144938e-01, 5.13732071e-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 ,  0.80085482,  2.12689024,  0.91185839, 13.11056825,
   2.21839352,-30.34872418]

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: -0.0006697267463213474
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.07215672e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.07215672e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08666039, -0.08857402,  0.06198086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  2.15286863e-06, 1.85724411e-06,-4.90501666e+00,-1.83322667e-03,
  4.69523616e-05,-2.22289660e-03]


--- 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,
  9.35042361e-02,-7.03463288e-02, 1.30603871e-01, 4.97327135e-01,
  4.86394576e-01, 5.02127296e-01, 5.13764749e-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,  0.77913219,  2.07005645,  0.63205688, 12.74780569,
   2.17078564,-29.53889951]

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: -0.0006732129518269153
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.23685569e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.23685569e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08666067, -0.08857339,  0.06198076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.04163418e-06, 1.96982987e-07,-4.90500573e+00,-1.83230310e-03,
  4.94331479e-05,-2.22382147e-03]


--- 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,
  9.35025876e-02,-7.03411625e-02, 1.30608187e-01, 4.97339143e-01,
  4.86362957e-01, 5.02152626e-01, 5.13758300e-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,  0.76076457,  2.02206615,  0.39165782, 12.44227639,
   2.1290511 ,-28.85586344]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006716360055567944
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.26506482e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.26506482e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08666046, -0.08857411,  0.0619808 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.31578882e-07,-2.73787860e-07,-4.90500068e+00,-1.83149873e-03,
  5.06832727e-05,-2.22396876e-03]


--- 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,
  9.35039206e-02,-7.03280686e-02, 1.30613247e-01, 4.97366255e-01,
  4.86312902e-01, 5.02220070e-01, 5.13713510e-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,  0.74536985,  1.9819072 ,  0.18601194, 12.18698569,
   2.09250602,-28.2845645 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006660179998437404
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.33478243e-14,  8.33478243e-14,  1.00000000e+00, -6.94685982e-27,
        1.00000000e+00, -8.33478243e-14, -1.00000000e+00,  0.00000000e+00,
        8.33478243e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08665987, -0.0885759 ,  0.06198096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.03523780e-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,
 -5.95316554e-07, 3.61314662e-07,-4.90500107e+00,-1.83081769e-03,
  5.07788032e-05,-2.22335718e-03]


--- 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,
  9.35081840e-02,-7.03071801e-02, 1.30618349e-01, 4.97408216e-01,
  4.86244699e-01, 5.02328910e-01, 5.13631021e-01]

qacc:
[-5.11814565e+00, 1.25921024e+00,-1.39494759e+00,-7.39981684e+00,
 -4.69621494e+00,-1.44520284e-01,-4.28577467e-01, 4.82063901e+00,
 -1.21730595e+00,-1.47399960e+00, 3.95249961e+00,-1.56793203e+00,
  2.95450851e-01,-1.38678794e+00,-3.22124800e+00, 8.00778615e+00,
  7.32593547e-01, 1.94863898e+00, 1.07420885e-02, 1.19756901e+01,
  2.06047862e+00,-2.78114253e+01]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006572290797004499
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.44624088e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.44624088e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08665899, -0.08857853,  0.06198121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.97788810e-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,
 -1.15407771e-06, 2.03406364e-06,-4.90500655e+00,-1.83026288e-03,
  4.97793724e-05,-2.22200222e-03]


--- 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,
  9.35153358e-02,-7.02786060e-02, 1.30622900e-01, 4.97464810e-01,
  4.86158580e-01, 5.02478547e-01, 5.13511350e-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,  0.72211555,  1.92141089, -0.13815225, 11.80290849,
   2.03233533,-27.4244285 ]

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: -0.0006460063347982214
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.59297320e-14,  2.14824330e-14,  1.00000000e+00, -1.84597971e-27,
        1.00000000e+00, -2.14824330e-14, -1.00000000e+00,  0.00000000e+00,
        8.59297320e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08665788, -0.08858181,  0.06198153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.73521228e-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,
 -1.55733344e-06, 4.68868868e-06,-4.90501687e+00,-1.82983621e-03,
  4.77310584e-05,-2.21991663e-03]


--- 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,
  9.35273988e-02,-7.02647135e-02, 1.30624770e-01, 4.97455937e-01,
  4.86148851e-01, 5.02586855e-01, 5.13423157e-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,  1.22778121, -3.67041549, -0.66993872, 16.3942935 ,
  -5.79387676, 53.87711209]

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: -0.0006479866697426256
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08144277, -0.03205931,  0.06198148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.61025769e-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,
 -1.81582025e-06, 8.27936437e-06,-4.90503183e+00,-1.82953894e-03,
  4.46687560e-05,-2.21711070e-03]


--- 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,
  9.35442310e-02,-7.02651113e-02, 1.30622982e-01, 4.97382938e-01,
  4.86213333e-01, 5.02655554e-01, 5.13365564e-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,  1.19229164, -3.57257156, -0.91460808, 16.18810956,
  -5.35066229, 52.35005172]

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([ 6.85985676, -5.53429552,  4.05329592, -5.53429552, 22.48275194,
       21.33121308,  4.05329592, 21.33121308, 35.98510185,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006515190595804687
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.52026513e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.52026513e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08144082, -0.03206155,  0.06198138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.69698909e-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,
 -9.31166210e-07, 1.55743497e-06,-4.90501335e+00,-1.83309516e-03,
  4.48571896e-05,-2.21587086e-03]


--- 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,
  9.35657140e-02,-7.02794671e-02, 1.30616692e-01, 4.97246945e-01,
  4.86350178e-01, 5.02686049e-01, 5.13337818e-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,  1.16272076, -3.48949468, -1.1255494 , 16.00267493,
  -4.98668445, 51.06633123]

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([ 6.84597051, -5.86104045,  3.53772767, -5.86104045, 22.34207557,
       25.67277839,  3.53772767, 25.67277839, 49.37869391,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006498271864165267
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.70848965e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.70848965e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0814385 , -0.03206082,  0.06198143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.50303617e-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,
 -3.47948111e-06, 9.54079279e-07,-4.90501164e+00,-1.83588620e-03,
  4.72121432e-05,-2.21607503e-03]


--- 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,
  9.35917500e-02,-7.03075003e-02, 1.30605173e-01, 4.97048897e-01,
  4.86557822e-01, 5.02679487e-01, 5.13339277e-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,  1.13824843, -3.41934251, -1.30712904, 15.84047947,
  -4.68593925, 49.99484621]

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: -0.0006439602603569156
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.62027592e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.62027592e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08143589, -0.03205773,  0.06198159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.69365431e-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,
 -9.15257879e-06, 6.03465242e-06,-4.90502539e+00,-1.83809631e-03,
  5.16256313e-05,-2.21767237e-03]


--- 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,
  9.36184444e-02,-7.03268072e-02, 1.30599075e-01, 4.96879827e-01,
  4.86734052e-01, 5.02707665e-01, 5.13308293e-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,  0.16460275,  2.18155179,  1.3552    ,  2.21432255,
   1.52075305,-31.84780569]

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: -0.000656460459131078
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.26841953e-13,  1.26841953e-13,  1.00000000e+00, -1.60888811e-26,
        1.00000000e+00, -1.26841953e-13, -1.00000000e+00,  0.00000000e+00,
        1.26841953e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09210939, -0.08834813,  0.06198123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.77246134e-05, 1.64820109e-05,-4.90505363e+00,-1.83986236e-03,
  5.80128470e-05,-2.22062148e-03]


--- 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,
  9.36457774e-02,-7.03376528e-02, 1.30597078e-01, 4.96738724e-01,
  4.86880223e-01, 5.02769621e-01, 5.13245552e-01]

qacc:
[  2.21402263,  2.58172384,-11.09295751, 21.51024494,  2.29667549,
   1.0159461 , -4.77006761,  9.85122923,  2.97609973, -2.13799687,
   6.77128353, -8.13606947, -0.45936734,  0.5485483 , -9.3782969 ,
  31.574994  ,  0.15963304,  2.11533902,  1.0250689 ,  2.37727817,
   1.34754211,-30.84353581]

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: -0.0006670329493078803
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.16105016e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.16105016e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09210805, -0.08834543,  0.06198093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30622416e-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,
 -1.47851605e-05, 9.42639739e-06,-4.90503992e+00,-1.84272875e-03,
  5.43809429e-05,-2.22248257e-03]


--- 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,
  9.36737344e-02,-7.03402632e-02, 1.30598038e-01, 4.96624733e-01,
  4.86997469e-01, 5.02864526e-01, 5.13151643e-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,  0.15600592,  2.05881109,  0.73950903,  2.50635331,
   1.2038601 ,-29.99100038]

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: -0.0006712305181911932
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.44726010e-13,  1.24050866e-13,  1.00000000e+00, -1.79533868e-26,
        1.00000000e+00, -1.24050866e-13, -1.00000000e+00,  0.00000000e+00,
        1.44726010e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09210693, -0.08834446,  0.06198081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.20647106e-05, 4.21925415e-06,-4.90503188e+00,-1.84551916e-03,
  5.04698487e-05,-2.22357463e-03]


--- 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,
  9.37023054e-02,-7.03348296e-02, 1.30600974e-01, 4.96537129e-01,
  4.87086733e-01, 5.02991675e-01, 5.13027065e-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,
  1.53509501e-01, 2.01099016e+00, 4.93894739e-01, 2.61043405e+00,
  1.08369103e+00,-2.92726086e+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: -0.000670259861675182
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.07050856e-14,  4.14101712e-14,  1.00000000e+00,  8.57401139e-28,
        1.00000000e+00, -4.14101712e-14, -1.00000000e+00,  0.00000000e+00,
       -2.07050856e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09210597, -0.08834488,  0.06198084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -9.49422786e-06, 6.82483884e-07,-4.90502898e+00,-1.84827552e-03,
  4.62565298e-05,-2.22391785e-03]


--- 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,
  9.37314843e-02,-7.03215123e-02, 1.30605044e-01, 4.96475304e-01,
  4.87148797e-01, 5.03150471e-01, 5.12872232e-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,  0.15196598,  1.97091009,  0.28360166,  2.69628804,
   0.98221789,-28.67211116]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006651551650295184
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.34559425e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.34559425e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09210514, -0.08834641,  0.06198099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -7.02205194e-06,-1.32686145e-06,-4.90503082e+00,-1.85102935e-03,
  4.17230869e-05,-2.22352934e-03]


--- 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,
  9.37612681e-02,-7.03004444e-02, 1.30609532e-01, 4.96438747e-01,
  4.87184308e-01, 5.03340414e-01, 5.12687475e-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,  0.15122705,  1.93766345,  0.10424658,  2.76906548,
   0.89558983,-28.17491756]

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: -0.000656797986505156
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.45178462e-14,  4.22589231e-14,  1.00000000e+00, -3.57163317e-27,
        1.00000000e+00, -4.22589231e-14, -1.00000000e+00,  0.00000000e+00,
        8.45178462e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09210439, -0.08834882,  0.06198122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.29737632e-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,
 -4.60913118e-06,-1.92327151e-06,-4.90503708e+00,-1.85380469e-03,
  3.68550698e-05,-2.22242349e-03]


--- 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,
  9.37844586e-02,-7.02936773e-02, 1.30612233e-01, 4.96374533e-01,
  4.87238509e-01, 5.03455072e-01, 5.12585553e-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, -1.648307  , -3.57519799, -0.44664126,-28.77007436,
   3.65999771, 50.69376916]

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: -0.0006673368270260077
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.31831078e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.31831078e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10892316, -0.03401098,  0.06198093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.01007521e-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,
 -2.22556680e-06,-1.19838237e-06,-4.90504753e+00,-1.85662026e-03,
  3.16402905e-05,-2.22061227e-03]


--- 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,
  9.38012543e-02,-7.03007956e-02, 1.30612048e-01, 4.96283402e-01,
  4.87310830e-01, 5.03496940e-01, 5.12563919e-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, -1.59872555, -3.47134706, -0.72122187,-27.81102919,
   3.62591012, 49.11934475]

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([ 7.03906678, -5.75742079,  4.04976135, -5.75742079, 22.78659369,
       22.38777323,  4.04976135, 22.38777323, 38.86707339,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000673538319554523
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10892131, -0.03401417,  0.06198075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.95390522e-06, 9.99970264e-08,-4.90502035e+00,-1.85857374e-03,
  3.77510897e-05,-2.21938340e-03]


--- 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,
  9.38118241e-02,-7.03214464e-02, 1.30608032e-01, 4.96165967e-01,
  4.87400783e-01, 5.03468100e-01, 5.12620407e-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 , -1.5564641 , -3.38313047, -0.9579884 ,-27.00415534,
   3.59295527, 47.79412023]

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([ 7.04038395, -5.84895094,  3.91877264, -5.84895094, 25.67535811,
       27.81356808,  3.91877264, 27.81356808, 48.55343154,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006737016262450546
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.2397235e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        8.2397235e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10892094, -0.03401419,  0.06198075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.23257733e-06, 3.15744093e-06,-4.90501031e+00,-1.86093513e-03,
  4.12538352e-05,-2.21981950e-03]


--- 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,
  9.38163114e-02,-7.03553318e-02, 1.30599370e-01, 4.96022725e-01,
  4.87507947e-01, 5.03370269e-01, 5.12753186e-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, -1.52063561, -3.30864677, -1.16168372,-26.32923272,
   3.56157681, 46.68633132]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006690190193692352
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.29739509e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.29739509e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10892174, -0.03401167,  0.06198088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.54953181e-07, 7.82505216e-06,-4.90501589e+00,-1.86365714e-03,
  4.24242860e-05,-2.22185801e-03]


--- 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,
  9.38159235e-02,-7.03798627e-02, 1.30595573e-01, 4.95931733e-01,
  4.87569124e-01, 5.03287820e-01, 5.12863954e-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 , -1.21879182,  2.33863451,  1.21640389,-14.65827967,
  -2.91134749,-34.17831144]

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([ 7.0625986 ,  0.41083151,  7.05063944,  0.41083151, 74.16219836,
       -3.90980562,  7.05063944, -3.90980562,  7.29041784,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006764596044991633
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.20612951e-14,  4.10306476e-14,  1.00000000e+00,  3.36702808e-27,
        1.00000000e+00, -4.10306476e-14, -1.00000000e+00,  0.00000000e+00,
       -8.20612951e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10277473, -0.08991611,  0.06198067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
  4.83557666e-06, 1.40084428e-05,-4.90503593e+00,-1.86670278e-03,
  4.14745712e-05,-2.22544757e-03]


--- 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,
  9.38108405e-02,-7.03953440e-02, 1.30595266e-01, 4.95891512e-01,
  4.87585201e-01, 5.03220089e-01, 5.12954015e-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, -1.17375892,  2.26239285,  0.87269748,-14.5750797 ,
  -2.60938574,-33.09093531]

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([ 7.14500793,  2.72039685, -6.60685851,  2.72039685, 56.34779297,
       20.25941696, -6.60685851, 20.25941696, 15.48689295,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006867568470379226
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.61661734e-13,  8.08308668e-14,  1.00000000e+00,  1.30672581e-26,
        1.00000000e+00, -8.08308668e-14, -1.00000000e+00,  0.00000000e+00,
       -1.61661734e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10277659, -0.08991343,  0.06198037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.86983645e-06, 5.83917388e-06,-4.90501846e+00,-1.86406779e-03,
  4.06900991e-05,-2.22796571e-03]


--- 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,
  9.38012131e-02,-7.04020352e-02, 1.30597265e-01, 4.95900785e-01,
  4.87556964e-01, 5.03166521e-01, 5.13024435e-01]

qacc:
[ 2.59770107e+00,-1.20512920e-01, 1.87545768e+00,-6.24917632e+00,
  4.10654408e+00,-2.85384130e-02, 3.24044352e+00,-1.21229281e+01,
 -1.46787420e+00,-1.33613365e+00, 6.88048072e+00,-1.48718145e+01,
 -1.50613006e+00, 2.81360729e+00, 1.55867080e+00,-7.79468807e+00,
 -1.13612716e+00, 2.19750757e+00, 5.76327294e-01,-1.44796846e+01,
 -2.36423934e+00,-3.21662712e+01]

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: -0.0006904218023595088
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00502242e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.00502242e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10277869, -0.08991266,  0.06198027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.27068860e-06, 8.79279264e-07,-4.90500833e+00,-1.86173406e-03,
  4.08685345e-05,-2.22949044e-03]


--- 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,
  9.37871660e-02,-7.04001556e-02, 1.30600552e-01, 4.95958457e-01,
  4.87485093e-01, 5.03126648e-01, 5.13076085e-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, -1.10491814,  2.14272173,  0.32205895,-14.38256783,
  -2.16417831,-31.38568466]

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: -0.0006887213935585224
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.41050526e-13,  4.03001502e-14,  1.00000000e+00,  5.68435738e-27,
        1.00000000e+00, -4.03001502e-14, -1.00000000e+00,  0.00000000e+00,
       -1.41050526e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10278099, -0.08991342,  0.06198032])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.45348261e-08,-1.14115475e-06,-4.90500497e+00,-1.85959453e-03,
  4.19607893e-05,-2.23006214e-03]


--- 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,
  9.37688018e-02,-7.03898886e-02, 1.30604259e-01, 4.96063602e-01,
  4.87370166e-01, 5.03100079e-01, 5.13109672e-01]

qacc:
[ -2.2567681 , -1.29874941,  5.00358489, -9.30747291, -7.34837276,
  -2.26458075, 10.92200764,-21.36706352, -3.53709004, -1.78635578,
   7.2172932 ,-12.26401873, -0.29595543,  0.25825385,-12.96118217,
  44.41016682, -1.07925221,  2.09682865,  0.10476647,-14.2907058 ,
  -1.99982093,-30.73183561]

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: -0.0006827384634589956
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.13066118e-14,  4.06533059e-14,  1.00000000e+00, -3.30538256e-27,
        1.00000000e+00, -4.06533059e-14, -1.00000000e+00,  0.00000000e+00,
        8.13066118e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10278346, -0.08991541,  0.06198049])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.01671228e-06,-4.39721247e-07,-4.90500792e+00,-1.85756929e-03,
  4.39252162e-05,-2.22971381e-03]


--- 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,
  9.37509790e-02,-7.03717571e-02, 1.30609037e-01, 4.96193705e-01,
  4.87230124e-01, 5.03105534e-01, 5.13111523e-01]

qacc:
[ -4.57541922,  2.42349477,-10.89839319, 20.84893013, -4.46208213,
  -0.09117784,  1.61099377, -5.98103951, -2.17315029, -0.33759778,
   0.08891181,  3.0500818 ,  0.17579029, -0.79977012,-17.20744034,
  60.06345879,  0.13533341,  1.9661381 ,  0.26812625,  3.88748868,
   0.37411724,-28.39567929]

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: -0.0006735545809001542
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.44226641e-13,  4.12076117e-14,  1.00000000e+00, -5.94323541e-27,
        1.00000000e+00, -4.12076117e-14, -1.00000000e+00,  0.00000000e+00,
        1.44226641e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09212425, -0.08835086,  0.06198075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.75288145e-06, 2.80945852e-06,-4.90501682e+00,-1.85559851e-03,
  4.67279223e-05,-2.22847222e-03]


--- 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,
  9.37336903e-02,-7.03458937e-02, 1.30614176e-01, 4.96348437e-01,
  4.87065099e-01, 5.03142402e-01, 5.13082392e-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,  0.13351126,  1.93299102,  0.08987254,  3.65453735,
   0.45959128,-27.94305863]

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: -0.0006643312157456754
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.35594503e-14,  4.17797252e-14,  1.00000000e+00, -3.49109087e-27,
        1.00000000e+00, -4.17797252e-14, -1.00000000e+00,  0.00000000e+00,
        8.35594503e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09212513, -0.08835368,  0.06198101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.66212398e-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,
 -8.28347938e-06, 6.96217045e-06,-4.90502374e+00,-1.85372543e-03,
  4.86721086e-05,-2.22660918e-03]


--- 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,
  9.37169280e-02,-7.03124063e-02, 1.30619068e-01, 4.96527526e-01,
  4.86875191e-01, 5.03210179e-01, 5.13022885e-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,  0.1316195 ,  1.90597923, -0.0614311 ,  3.46419835,
   0.5297887 ,-27.57369862]

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: -0.0006526804119047491
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06313807e-13,  1.27576568e-13,  1.00000000e+00,  1.35631506e-26,
        1.00000000e+00, -1.27576568e-13, -1.00000000e+00,  0.00000000e+00,
       -1.06313807e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09212574, -0.08835712,  0.06198134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.54534379e-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,
 -9.68480858e-06, 1.23046618e-05,-4.90503478e+00,-1.85196427e-03,
  5.01281423e-05,-2.22405331e-03]


--- 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,
  9.36937029e-02,-7.02928701e-02, 1.30621220e-01, 4.96679353e-01,
  4.86703415e-01, 5.03204901e-01, 5.13044084e-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, -1.61571949, -3.4878126 , -0.68509633,-27.90747308,
   3.71793747, 49.3752797 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006417262811325292
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.65028484e-14,  8.65028484e-14,  1.00000000e+00, -7.48274279e-27,
        1.00000000e+00, -8.65028484e-14, -1.00000000e+00,  0.00000000e+00,
        8.65028484e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10892826, -0.03399796,  0.06198165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.55251318e-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,
 -1.09833161e-05, 1.88016911e-05,-4.90504978e+00,-1.85029472e-03,
  5.11265795e-05,-2.22081006e-03]


--- 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,
  9.36641695e-02,-7.02869224e-02, 1.30619687e-01, 4.96804735e-01,
  4.86549267e-01, 5.03128548e-01, 5.13143772e-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 , -1.57706321, -3.39709755, -0.92139376,-27.16710653,
   3.58131135, 48.00725572]

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([ 6.80467389, -6.18931431,  2.82771552, -6.18931431, 17.61801576,
       23.6682831 ,  2.82771552, 23.6682831 , 58.60990041,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000644805689856684
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.60897354e-14,  8.60897354e-14,  1.00000000e+00, -7.41144254e-27,
        1.00000000e+00, -8.60897354e-14, -1.00000000e+00,  0.00000000e+00,
        8.60897354e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10892752, -0.03399951,  0.06198157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.34797060e-05, 7.89727210e-06,-4.90503419e+00,-1.84758206e-03,
  5.03334259e-05,-2.21952886e-03]


--- 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,
  9.36284574e-02,-7.02942546e-02, 1.30613652e-01, 4.96904355e-01,
  4.86412308e-01, 5.02982750e-01, 5.13320058e-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 , -1.54466339, -3.31999331, -1.1253273 ,-26.54973268,
   3.45440026, 46.85544727]

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: -0.0006428346062252871
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.31768535e-14,  8.63537070e-14,  1.00000000e+00, -3.72848136e-27,
        1.00000000e+00, -8.63537070e-14, -1.00000000e+00,  0.00000000e+00,
        4.31768535e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10892795, -0.03399841,  0.06198162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.35769971e-05,-9.98812270e-07,-4.90503452e+00,-1.84528179e-03,
  4.73151276e-05,-2.21983728e-03]


--- 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,
  9.35931438e-02,-7.02931881e-02, 1.30611026e-01, 4.97029797e-01,
  4.86250483e-01, 5.02871142e-01, 5.13461258e-01]

qacc:
[ -0.71141207, -1.29539076,  4.43712892, -5.07670067, -2.0380845 ,
  -2.01202411,  6.28560932, -4.94741193,  3.60270032, -2.58641601,
  11.1022673 ,-21.75289331, -1.20509955,  2.11151145,  9.87856244,
 -36.62552173,  0.09961379,  2.09969089,  0.85220258,  5.14056126,
  -0.15006333,-29.91355444]

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([  6.77666344,   1.6100881 ,   6.58261223,   1.6100881 ,
        63.97737434, -13.99113004,   6.58261223, -13.99113004,
        10.19885377,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006414076533538537
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73091640e-13,  1.13591389e-13,  1.00000000e+00, -1.96617197e-26,
        1.00000000e+00, -1.13591389e-13, -1.00000000e+00,  0.00000000e+00,
        1.73091640e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09213447, -0.0883627 ,  0.06198166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.14480476e-05,-8.05870936e-06,-4.90504958e+00,-1.84331588e-03,
  4.22579112e-05,-2.22167558e-03]


--- 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,
  9.35626850e-02,-7.03066933e-02, 1.30605627e-01, 4.97087121e-01,
  4.86165791e-01, 5.02719691e-01, 5.13634238e-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,  1.21369382, -3.64292841, -0.69332237, 17.51063247,
  -4.84991025, 54.46680441]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006456404073179045
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.59784341e-14,  8.59784341e-14,  1.00000000e+00, -7.39229114e-27,
        1.00000000e+00, -8.59784341e-14, -1.00000000e+00,  0.00000000e+00,
        8.59784341e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08142734, -0.03207682,  0.06198154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.06971227e-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,
 -1.55069641e-05,-4.82474184e-06,-4.90504585e+00,-1.83867179e-03,
  4.79337768e-05,-2.22100525e-03]


--- 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,
  9.35326580e-02,-7.03117663e-02, 1.30603963e-01, 4.97171151e-01,
  4.86054411e-01, 5.02602421e-01, 5.13773064e-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,
  1.07961368e-01, 2.10804531e+00, 9.33911288e-01, 4.23839792e+00,
  3.33641843e-01,-3.03646713e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006538853128309069
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.12235809e-14,  1.27341485e-13,  1.00000000e+00,  2.70264231e-27,
        1.00000000e+00, -1.27341485e-13, -1.00000000e+00,  0.00000000e+00,
       -2.12235809e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0921399 , -0.08836078,  0.06198131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -4.16568653e-06,-6.00210324e-06,-4.90503907e+00,-1.83740536e-03,
  4.20774657e-05,-2.22136589e-03]


--- 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,
  9.35043099e-02,-7.03085387e-02, 1.30605064e-01, 4.97276203e-01,
  4.85920708e-01, 5.02523826e-01, 5.13874739e-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,  0.41971152,  2.07514418,  0.69116558,  8.61313797,
   1.03725221,-29.64414804]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006574013228016978
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.17846734e-13,  4.71738418e-08,  1.00000000e+00,  1.49940516e-20,
        1.00000000e+00, -4.71738418e-08, -1.00000000e+00,  0.00000000e+00,
       -3.17846734e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08954136, -0.08847256,  0.06198121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.47432713e-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,
 -7.75313815e-06,-4.73673110e-06,-4.90503241e+00,-1.83358461e-03,
  4.71720726e-05,-2.22146217e-03]


--- 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,
  9.34807440e-02,-7.03197350e-02, 1.30602924e-01, 4.97315147e-01,
  4.85862675e-01, 5.02405474e-01, 5.14007631e-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,  1.19556088, -3.60597507, -0.81044808, 16.81699451,
  -5.13277504, 53.41966654]

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: -0.0006600072427942194
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.41068819e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.41068819e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08142666, -0.03208773,  0.06198113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.03190255e-05,-2.14607178e-06,-4.90502813e+00,-1.83002804e-03,
  5.15343572e-05,-2.22085043e-03]


--- 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,
  9.34602790e-02,-7.03224965e-02, 1.30603946e-01, 4.97369922e-01,
  4.85785735e-01, 5.02331909e-01, 5.14099245e-01]

qacc:
[  1.40972873, -0.41399478,  2.29384463, -4.97639589,  3.37096155,
  -4.09272825, 14.95527552,-21.55615017,  5.00089013,  3.74364824,
 -15.00476236, 21.75195343, -0.51700528,  0.42567466, 10.11381467,
 -35.18456261,  0.77522854,  2.10870736,  0.79089528, 13.33259867,
   1.99151958,-29.96283006]

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: -0.0006656734232717565
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.0423871e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.0423871e-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([ 0.08668965, -0.0885947 ,  0.06198097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.89108526e-06,-3.19882160e-06,-4.90502267e+00,-1.82905188e-03,
  4.71440939e-05,-2.22119891e-03]


--- 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,
  9.34428353e-02,-7.03170344e-02, 1.30607086e-01, 4.97440206e-01,
  4.85690154e-01, 5.02301988e-01, 5.14150784e-01]

qacc:
[  4.03933734,  0.80521429, -2.15157885,  1.15952418, -1.0324283 ,
  -3.73283708, 14.38749684,-24.08562227,  3.14308498,  3.00750412,
 -12.60000437, 20.97903518,  0.16183182, -1.18954846, 20.26505634,
 -71.50667649,  0.75531919,  2.05590367,  0.52916459, 12.88155038,
   2.0158105 ,-29.23495664]

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: -0.0006673778942389297
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.32711957e-13,  6.23834918e-14,  1.00000000e+00, -2.07557336e-26,
        1.00000000e+00, -6.23834918e-14, -1.00000000e+00,  0.00000000e+00,
        3.32711957e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08669042, -0.08859468,  0.06198092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.37161214e-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,
 -3.46050589e-06,-2.33653526e-06,-4.90501381e+00,-1.82654452e-03,
  5.08753409e-05,-2.22126638e-03]


--- 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,
  9.34283872e-02,-7.03037887e-02, 1.30611590e-01, 4.97524692e-01,
  4.85577256e-01, 5.02313846e-01, 5.14164089e-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,  0.74888978,  1.94589644,  0.34105756, 12.5868828 ,
   1.9917937 ,-27.65587507]

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: -0.0006644421012606895
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.52578250e-07, -1.52578222e-07,  1.00000000e+00,  2.32801181e-14,
        1.00000000e+00,  1.52578222e-07, -1.00000000e+00,  3.15544362e-30,
        1.52578250e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08662717, -0.08791542,  0.06198101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.44079611e-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,
 -4.80511817e-06,-4.15519814e-07,-4.90501070e+00,-1.82419664e-03,
  5.33518355e-05,-2.22057773e-03]


--- 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,
  9.34187333e-02,-7.03050089e-02, 1.30612904e-01, 4.97544278e-01,
  4.85539771e-01, 5.02285189e-01, 5.14208529e-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 ,  1.19858195, -3.61646723, -0.79743571, 16.2811403 ,
  -5.60696146, 53.20737019]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006697132802903627
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.28879356e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.28879356e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0814207 , -0.03209553,  0.06198086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -5.86331252e-06, 2.39410333e-06,-4.90501265e+00,-1.82202866e-03,
  5.46069973e-05,-2.21916874e-03]


--- 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,
  9.34137352e-02,-7.03203353e-02, 1.30610108e-01, 4.97500339e-01,
  4.85575651e-01, 5.02217502e-01, 5.14283269e-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,  1.16391775, -3.52657354, -1.02752206, 16.02856678,
  -5.26256665, 51.77040219]

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([ 7.00470751, -6.1869631 ,  3.28442003, -6.1869631 , 18.07957812,
       20.86207467,  3.28442003, 20.86207467, 46.30323974,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006692867068481961
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.29407646e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.29407646e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0814186 , -0.0320957 ,  0.06198087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -6.45327591e-07,-7.49082006e-07,-4.90500253e+00,-1.82278171e-03,
  5.20852557e-05,-2.21887193e-03]


--- 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,
  9.34119044e-02,-7.03275316e-02, 1.30610566e-01, 4.97471690e-01,
  4.85592304e-01, 5.02193359e-01, 5.14318833e-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 ,  0.79182589,  2.03254103,  0.81361819, 12.54001135,
   2.42508488,-29.07644868]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006649497146411761
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.91879799e-07, -8.91879692e-07,  1.00000000e+00,  7.95449480e-13,
        1.00000000e+00,  8.91879692e-07, -1.00000000e+00,  0.00000000e+00,
        8.91879799e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08662675, -0.08791601,  0.06198099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  1.18651855e-06, 1.94897398e-06,-4.90500843e+00,-1.82286406e-03,
  5.18105618e-05,-2.22003564e-03]


--- 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,
  9.34131173e-02,-7.03265250e-02, 1.30613117e-01, 4.97458968e-01,
  4.85589166e-01, 5.02212648e-01, 5.14315267e-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,  0.76094603,  2.05073038,  0.52311633, 12.20437939,
   2.39223559,-29.34367386]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000666522950563006
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.32846809e-14,  4.16423404e-14,  1.00000000e+00,  3.46816903e-27,
        1.00000000e+00, -4.16423404e-14, -1.00000000e+00,  0.00000000e+00,
       -8.32846809e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08668989, -0.08859621,  0.06198095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
  4.58120857e-07, 5.24457062e-07,-4.90500168e+00,-1.82256634e-03,
  5.29256102e-05,-2.22061652e-03]


--- 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,
  9.34173059e-02,-7.03174910e-02, 1.30616866e-01, 4.97461800e-01,
  4.85566742e-01, 5.02274439e-01, 5.14273356e-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,  0.74389887,  2.00684672,  0.29968175, 11.98509842,
   2.31563318,-28.69952038]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006634918271901935
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.36651620e-14, -2.09162905e-14,  1.00000000e+00,  1.74996483e-27,
        1.00000000e+00,  2.09162905e-14, -1.00000000e+00,  0.00000000e+00,
        8.36651620e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08668919, -0.0885972 ,  0.06198104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.10490917e-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,
 -1.45342100e-07, 2.08269452e-07,-4.90500028e+00,-1.82233114e-03,
  5.29042563e-05,-2.22041776e-03]


--- 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,
  9.34261794e-02,-7.03221555e-02, 1.30617010e-01, 4.97402926e-01,
  4.85616030e-01, 5.02298414e-01, 5.14260347e-01]

qacc:
[ 2.13703956e+00, 6.10632874e-02,-1.98479610e+00, 7.47614500e+00,
  3.25677552e-02, 1.76589873e+00,-6.60986724e+00, 1.14693963e+01,
  2.32035905e-01, 7.09772197e-01,-1.24053894e+00,-1.66849520e+00,
 -8.06613917e-01, 1.27881824e+00,-6.14268159e+00, 2.01614116e+01,
  1.17124206e+00,-3.42464091e+00,-9.01531412e-01, 1.58355071e+01,
 -5.33223533e+00, 5.02464790e+01]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006577831940824609
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.17380490e-06,  1.17380484e-06,  1.00000000e+00, -1.37781788e-12,
        1.00000000e+00, -1.17380484e-06, -1.00000000e+00,  0.00000000e+00,
        1.17380490e-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([ 0.08156062, -0.03371943,  0.0619812 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.24559152e-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,
 -6.10357662e-07, 1.00844055e-06,-4.90500413e+00,-1.82218031e-03,
  5.17916846e-05,-2.21945818e-03]


--- 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,
  9.34380873e-02,-7.03186932e-02, 1.30618859e-01, 4.97359899e-01,
  4.85645480e-01, 5.02365395e-01, 5.14208721e-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,  0.75859662,  2.03172593,  0.42650389, 11.97561687,
   2.44032129,-29.10339359]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006569387104552599
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.22498708e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.22498708e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08668747, -0.08859927,  0.06198122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.09530789e-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,
 -1.36981560e-06, 1.27759720e-06,-4.90500436e+00,-1.82406160e-03,
  5.30431661e-05,-2.21990045e-03]


--- 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,
  9.34529685e-02,-7.03072656e-02, 1.30621583e-01, 4.97332344e-01,
  4.85655638e-01, 5.02474537e-01, 5.14119130e-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,
  7.43330069e-01, 1.99129520e+00, 2.18494427e-01, 1.18212465e+01,
  2.33970827e+00,-2.85023169e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006528775694360639
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.70050723e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.70050723e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08668646, -0.0886005 ,  0.06198134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.39311711e-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,
 -1.50072976e-06, 6.02379993e-07,-4.90500667e+00,-1.82486882e-03,
  5.12137188e-05,-2.21947282e-03]


--- 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,
  9.34725439e-02,-7.03099608e-02, 1.30620216e-01, 4.97241550e-01,
  4.85739159e-01, 5.02544376e-01, 5.14059782e-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,
  1.17354192e+00,-3.53067312e+00,-1.02258279e+00, 1.58977718e+01,
 -5.40040690e+00, 5.17517309e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006518262481424036
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.70324995e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.70324995e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08140072, -0.03208833,  0.06198137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.75896932e-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,
 -1.52385751e-06, 1.03332616e-06,-4.90501409e+00,-1.82575215e-03,
  4.83415430e-05,-2.21829163e-03]


--- 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,
  9.34967050e-02,-7.03264721e-02, 1.30613977e-01, 4.97088525e-01,
  4.85894323e-01, 5.02576250e-01, 5.14029977e-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,
  1.14644992e+00,-3.45404894e+00,-1.21810407e+00, 1.57445754e+01,
 -5.04140119e+00, 5.05628733e+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([ 6.83057943, -5.85594808,  3.51634576, -5.85594808, 23.01689234,
       26.95588387,  3.51634576, 26.95588387, 51.72157342,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000647953990143349
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.56714398e-14,  8.56714398e-14,  1.00000000e+00, -7.33959559e-27,
        1.00000000e+00, -8.56714398e-14, -1.00000000e+00,  0.00000000e+00,
        8.56714398e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08139807, -0.03208643,  0.06198148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.45972386e-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,
 -5.05032725e-06, 1.59623289e-06,-4.90501561e+00,-1.82865567e-03,
  5.13820259e-05,-2.21876980e-03]


--- 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,
  9.35240714e-02,-7.03345733e-02, 1.30610891e-01, 4.96951972e-01,
  4.86028524e-01, 5.02652577e-01, 5.13960503e-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,  0.8012863 ,  2.10255265,  0.78849438, 12.181549  ,
   2.66004909,-30.16075496]

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: -0.000653636578051231
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.49266291e-14,  6.36949718e-14,  1.00000000e+00, -5.40939925e-27,
        1.00000000e+00, -6.36949718e-14, -1.00000000e+00,  0.00000000e+00,
        8.49266291e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08668359, -0.08860057,  0.06198132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.63580438e-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,
 -1.16255670e-05, 7.70051615e-06,-4.90503222e+00,-1.83097514e-03,
  5.64201868e-05,-2.22062538e-03]


--- 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,
  9.35532299e-02,-7.03344574e-02, 1.30610351e-01, 4.96837280e-01,
  4.86137806e-01, 5.02766879e-01, 5.13856222e-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,  0.44804567,  2.05426368,  0.63632475,  7.00200996,
   1.88643405,-29.75758818]

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: -0.0006561678416976317
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.02471708e-13,  3.72753735e-07,  1.00000000e+00, -7.54720855e-20,
        1.00000000e+00, -3.72753735e-07, -1.00000000e+00, -1.20370622e-35,
        2.02471708e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08953734, -0.0884754 ,  0.06198124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.31944554e-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,
 -1.10336553e-05, 3.88997873e-06,-4.90503099e+00,-1.83372158e-03,
  5.30957795e-05,-2.22127011e-03]


--- 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,
  9.35829310e-02,-7.03262993e-02, 1.30611765e-01, 4.96749186e-01,
  4.86218721e-01, 5.02913340e-01, 5.13721495e-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,  0.13565301,  2.01054207,  0.48831023,  2.4043434 ,
   1.19061805,-29.34548415]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006561850408094566
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.34475961e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.34475961e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09213675, -0.08836198,  0.06198124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -9.49884560e-06, 1.08269074e-06,-4.90503229e+00,-1.83636236e-03,
  4.87245661e-05,-2.22125415e-03]


--- 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,
  9.36131707e-02,-7.03102542e-02, 1.30614304e-01, 4.96687078e-01,
  4.86272059e-01, 5.03091370e-01, 5.13556721e-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,  0.13465339,  1.97174094,  0.28160233,  2.49752767,
   1.08522872,-28.74623225]

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: -0.0006519419355758838
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.3860539e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -6.3860539e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09213594, -0.0883632 ,  0.06198136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.30519599e-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,
 -7.19956182e-06,-5.20310732e-07,-4.90503561e+00,-1.83894234e-03,
  4.38566649e-05,-2.22060645e-03]


--- 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,
  9.36439480e-02,-7.02864511e-02, 1.30617264e-01, 4.96650441e-01,
  4.86298473e-01, 5.03300473e-01, 5.13362220e-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,
  1.34382056e-01, 1.93952584e+00, 1.04956824e-01, 2.57680176e+00,
  9.95168769e-01,-2.82505364e+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: -0.0006444470383103612
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.30688233e-14,  1.29206470e-13,  1.00000000e+00,  5.56477062e-27,
        1.00000000e+00, -1.29206470e-13, -1.00000000e+00,  0.00000000e+00,
       -4.30688233e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09213523, -0.08836532,  0.06198158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.36267276e-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,
 -4.97356124e-06,-7.06575800e-07,-4.90504335e+00,-1.84153279e-03,
  3.86703498e-05,-2.21923919e-03]


--- 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,
  9.36680753e-02,-7.02770665e-02, 1.30618706e-01, 4.96587160e-01,
  4.86343626e-01, 5.03432749e-01, 5.13250950e-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, -1.66249798, -3.60464261, -0.37931448,-29.53288591,
   3.05468532, 50.90305937]

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: -0.00064508127437643
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.30264786e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.30264786e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10888824, -0.03399079,  0.06198156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.92204536e-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,
 -2.79044728e-06, 4.32457047e-07,-4.90505528e+00,-1.84415235e-03,
  3.31518373e-05,-2.21716418e-03]


--- 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,
  9.36857505e-02,-7.02816728e-02, 1.30617511e-01, 4.96497786e-01,
  4.86406950e-01, 5.03490915e-01, 5.13220349e-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, -1.61300863, -3.49770764, -0.65936275,-28.46715787,
   3.12058467, 49.32166007]

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([ 6.88179269, -4.39802351,  5.29305771, -4.39802351, 31.75685267,
       20.66879004,  5.29305771, 20.66879004, 24.05557568,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006541953743590401
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.24270435e-14,  8.48540870e-14,  1.00000000e+00, -3.60010804e-27,
        1.00000000e+00, -8.48540870e-14, -1.00000000e+00,  0.00000000e+00,
        4.24270435e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10888497, -0.0339952 ,  0.0619813 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.44422671e-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,
 -4.20870282e-06, 8.98182806e-07,-4.90502415e+00,-1.84672257e-03,
  3.97877981e-05,-2.21590825e-03]


--- 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,
  9.36971435e-02,-7.02999052e-02, 1.30612709e-01, 4.96382783e-01,
  4.86487955e-01, 5.03477234e-01, 5.13268231e-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, -1.57057254, -3.40654725, -0.90167466,-27.57219166,
   3.16613118, 47.98423017]

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([ 6.90426931, -4.66670496,  5.08830025, -4.66670496, 36.18731931,
       26.85677889,  5.08830025, 26.85677889, 31.53580777,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006569425648336735
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.44992458e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.44992458e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10888342, -0.03399633,  0.06198122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -3.29250623e-06, 3.19828477e-06,-4.90501071e+00,-1.84953546e-03,
  4.37073142e-05,-2.21627478e-03]


--- 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,
  9.37023988e-02,-7.03314550e-02, 1.30603464e-01, 4.96242538e-01,
  4.86586218e-01, 5.03393577e-01, 5.13392738e-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, -1.53440728, -3.32932905, -1.11073092,-26.8245726 ,
   3.19632672, 46.86126488]

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([ 6.88467419, -4.90253902,  4.83361664, -4.90253902, 39.78018354,
       33.3645653 ,  4.83361664, 33.3645653 , 40.72498369,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006545472801416513
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.48084667e-14,  8.48084667e-14,  1.00000000e+00, -7.19247603e-27,
        1.00000000e+00, -8.48084667e-14, -1.00000000e+00,  0.00000000e+00,
        8.48084667e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10888324, -0.03399481,  0.06198129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.99485653e-07, 7.16476215e-06,-4.90501334e+00,-1.85258467e-03,
  4.52089435e-05,-2.21821328e-03]


--- 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,
  9.37080899e-02,-7.03542502e-02, 1.30599483e-01, 4.96129000e-01,
  4.86659089e-01, 5.03345661e-01, 5.13480372e-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,  0.10895444,  2.18863605,  1.3158988 ,  5.65750834,
  -0.30703405,-31.09091967]

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([  6.9154351 ,   1.68450751,   6.70713628,   1.68450751,
        66.12449717, -14.87044626,   6.70713628, -14.87044626,
        10.65017036,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006583092285105951
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.43238236e-14,  4.21619118e-14,  1.00000000e+00, -3.55525361e-27,
        1.00000000e+00, -4.21619118e-14, -1.00000000e+00,  0.00000000e+00,
        8.43238236e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0921452 , -0.08836478,  0.06198118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  4.95108793e-06, 1.26879209e-05,-4.90503078e+00,-1.85586209e-03,
  4.45226166e-05,-2.22168074e-03]


--- 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,
  9.37142381e-02,-7.03685655e-02, 1.30599467e-01, 4.96041635e-01,
  4.86706654e-01, 5.03332294e-01, 5.13532794e-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,  0.11425272,  2.11997845,  0.99146017,  5.08533986,
  -0.08741429,-30.23023924]

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([ 6.99452633,  0.666795  , -6.96267068,  0.666795  , 59.29562358,
        5.00872607, -6.96267068,  5.00872607,  7.47419766,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006680298901378806
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03871009e-13,  1.24645211e-13,  1.00000000e+00,  1.29470239e-26,
        1.00000000e+00, -1.24645211e-13, -1.00000000e+00,  0.00000000e+00,
       -1.03871009e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09214869, -0.08836315,  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:
[-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,
  2.86522696e-06, 7.67972839e-06,-4.90501616e+00,-1.85431363e-03,
  4.53013100e-05,-2.22356842e-03]


--- 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,
  9.37208594e-02,-7.03746343e-02, 1.30602296e-01, 4.95979967e-01,
  4.86729034e-01, 5.03352467e-01, 5.13551373e-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,
  1.18301998e-01, 2.06160744e+00, 7.11189319e-01, 4.62968895e+00,
  8.24056429e-02,-2.94922335e+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: -0.0006715442294765589
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.26619436e-14,  8.26619436e-14,  1.00000000e+00, -6.83299692e-27,
        1.00000000e+00, -8.26619436e-14, -1.00000000e+00,  0.00000000e+00,
        8.26619436e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09215138, -0.08836303,  0.0619808 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.24251655e-06, 4.19624806e-06,-4.90500682e+00,-1.85311557e-03,
  4.54120588e-05,-2.22472343e-03]


--- 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,
  9.37279665e-02,-7.03726536e-02, 1.30607007e-01, 4.95943575e-01,
  4.86726368e-01, 5.03405331e-01, 5.13537229e-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,  0.12143241,  2.01239365,  0.47040997,  4.26755494,
   0.21326734,-28.86504296]

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: -0.0006700353023828404
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.21360744e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.21360744e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09215343, -0.08836413,  0.06198085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.31811318e-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,
 -3.15847171e-08, 2.15642785e-06,-4.90500235e+00,-1.85219170e-03,
  4.49345707e-05,-2.22515472e-03]


--- 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,
  9.37355692e-02,-7.03627879e-02, 1.30612776e-01, 4.95932094e-01,
  4.86698794e-01, 5.03490177e-01, 5.13491271e-01]

qacc:
[  2.49886056,  0.15386582,  2.75979841,-12.76246549,  0.46713525,
  -0.5112645 ,  1.51762341, -0.99035297,  7.37772618, -0.60849799,
   4.24826593,-13.41662056,  0.34905389, -1.2052179 , -9.12668385,
  29.88639556,  0.12389415,  1.97125759,  0.26449256,  3.98055008,
   0.313644  ,-28.3370334 ]

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: -0.0006645163647608365
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.08840422e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.08840422e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09215496, -0.08836619,  0.06198101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.47406891e-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,
 -1.04085407e-06, 1.48784993e-06,-4.90500240e+00,-1.85148617e-03,
  4.39275104e-05,-2.22487147e-03]


--- 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,
  9.37436753e-02,-7.03451733e-02, 1.30618902e-01, 4.95945207e-01,
  4.86646442e-01, 5.03606411e-01, 5.13414234e-01]

qacc:
[ 1.45596300e+00, 4.60182540e-01, 2.24268286e+00,-1.38819881e+01,
 -2.98880625e+00, 6.78008798e-01,-2.57173491e+00, 3.53172306e+00,
 -4.71437966e+00, 1.42226417e+00,-3.01028657e+00,-2.42073756e+00,
 -2.53528919e-02,-5.04935580e-01,-5.78912571e+00, 1.91795567e+01,
  1.25876776e-01, 1.93720679e+00, 8.90742226e-02, 3.75398463e+00,
  3.90160910e-01,-2.78973214e+01]

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: -0.0006558506062028374
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.23199664e-14,  1.26959899e-13,  1.00000000e+00,  5.37293867e-27,
        1.00000000e+00, -1.26959899e-13, -1.00000000e+00,  0.00000000e+00,
       -4.23199664e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0921561 , -0.08836901,  0.06198125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.84632643e-06, 2.12749243e-06,-4.90500672e+00,-1.85095812e-03,
  4.24337626e-05,-2.22388240e-03]


--- 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,
  9.37522916e-02,-7.03199214e-02, 1.30624787e-01, 4.95982647e-01,
  4.86569428e-01, 5.03753546e-01, 5.13306702e-01]

qacc:
[  0.86649958, -0.58698641,  0.97984447,  3.09796529,  1.0983471 ,
   3.49759278,-13.58000597, 21.15167255,  3.05346696,  2.25751528,
  -8.4519056 , 12.20356863, -1.03317018,  1.60348874,  9.78864894,
 -35.43492623,  0.12752378,  1.90935065, -0.05983565,  3.5761271 ,
   0.44799991,-27.53601357]

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: -0.0006447696773046047
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, -0.08837241,  0.06198157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.99950008e-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,
 -2.49226651e-06, 4.02148993e-06,-4.90501511e+00,-1.85057773e-03,
  4.04843540e-05,-2.22219535e-03]


--- 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,
  9.37545665e-02,-7.03086967e-02, 1.30628025e-01, 4.95995748e-01,
  4.86510579e-01, 5.03825137e-01, 5.13279560e-01]

qacc:
[-5.58852026e+00,-3.16102543e-02,-2.24994597e-01, 2.67013675e+00,
  6.85555462e-01, 1.48135749e+00,-5.61801397e+00, 8.96107234e+00,
  5.01782167e+00,-6.80085490e-01, 1.92851166e+00,-9.38040736e-01,
 -7.11231744e-01, 1.05304952e+00,-1.20400094e+00, 2.09420165e+00,
 -1.58534957e+00,-3.50681608e+00,-6.62099402e-01,-2.92113070e+01,
  2.29162753e+00, 4.91369875e+01]

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: -0.0006452758586977386
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10886773, -0.03398492,  0.06198156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.27223295e-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,
 -3.01059600e-06, 7.12439092e-06,-4.90502741e+00,-1.85032334e-03,
  3.81013701e-05,-2.21981712e-03]


--- 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,
  9.37506466e-02,-7.03111287e-02, 1.30627658e-01, 4.95984619e-01,
  4.86469419e-01, 5.03823750e-01, 5.13330684e-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,
 -1.54869666e+00,-3.41419636e+00,-9.00989501e-01,-2.81637207e+01,
  2.50426153e+00, 4.78368626e+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([ 6.83676582, -2.44553537,  6.38441255, -2.44553537, 39.81809211,
       12.63342544,  6.38441255, 12.63342544, 11.67597201,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006487066635150751
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.71144076e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.71144076e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1088644 , -0.0339859 ,  0.06198146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.39980790e-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,
 -2.66878081e-06, 2.19644416e-06,-4.90500577e+00,-1.85234147e-03,
  4.10297080e-05,-2.21932461e-03]


--- 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,
  9.37406570e-02,-7.03269035e-02, 1.30622863e-01, 4.95949377e-01,
  4.86445540e-01, 5.03751494e-01, 5.13458261e-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 , -1.51741896, -3.33565504, -1.10713827,-27.29859583,
   2.66022314, 46.73924138]

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([ 6.82256005, -2.88657399,  6.18182952, -2.88657399, 47.28122718,
       18.89196975,  6.18182952, 18.89196975, 15.64406966,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006469787932263243
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.58005731e-14,  8.58005731e-14,  1.00000000e+00, -7.36173834e-27,
        1.00000000e+00, -8.58005731e-14, -1.00000000e+00,  0.00000000e+00,
        8.58005731e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10886279, -0.03398433,  0.06198151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.01732881e-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,
 -3.61030475e-07,-8.57289322e-07,-4.90500061e+00,-1.85436048e-03,
  4.14937143e-05,-2.22033890e-03]


--- 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,
  9.37247036e-02,-7.03557559e-02, 1.30612930e-01, 4.95890134e-01,
  4.86438583e-01, 5.03610083e-01, 5.13660748e-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,
 -1.49094710e+00,-3.26943007e+00,-1.28473338e+00,-2.65881167e+01,
  2.77184552e+00, 4.58197755e+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([ 6.77437657, -3.33290562,  5.89778925, -3.33290562, 53.86724138,
       26.61269622,  5.89778925, 26.61269622, 21.81350411,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006411304894491654
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.65832341e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.65832341e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10886253, -0.03398072,  0.06198167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.74221248e-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,
  3.86503461e-06,-2.19701074e-06,-4.90501056e+00,-1.85643931e-03,
  3.97416882e-05,-2.22283521e-03]


--- 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,
  9.37091104e-02,-7.03758294e-02, 1.30608275e-01, 4.95856926e-01,
  4.86407962e-01, 5.03504559e-01, 5.13825225e-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 ,  0.09004548,  2.19473501,  1.31983374,  6.58820093,
  -0.82443344,-30.7973348 ]

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([  6.87230783,   1.73806086,   6.64889159,   1.73806086,
        56.3430475 , -12.93195343,   6.64889159, -12.93195343,
        10.25279943,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000653037599195716
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.37533941e-14,  4.25022627e-14,  1.00000000e+00, -2.70966351e-27,
        1.00000000e+00, -4.25022627e-14, -1.00000000e+00,  0.00000000e+00,
        6.37533941e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09217442, -0.08837529,  0.06198133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.07584000e-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,
  9.97141492e-06,-1.92800892e-06,-4.90503460e+00,-1.85861493e-03,
  3.59605898e-05,-2.22678939e-03]


--- 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,
  9.36939028e-02,-7.03874025e-02, 1.30607604e-01, 4.95849384e-01,
  4.86353339e-01, 5.03433682e-01, 5.13953642e-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,  0.09641452,  2.12507831,  0.99597503,  5.78637645,
  -0.47584736,-30.00378944]

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([ 6.95464045, -0.07371634, -6.95424976, -0.07371634, 45.13574203,
       -0.40472677, -6.95424976, -0.40472677,  6.95893063,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006631186164459402
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.25568375e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.25568375e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09217928, -0.08837394,  0.06198105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  5.46535734e-06,-3.86345613e-06,-4.90502012e+00,-1.85420617e-03,
  4.00599133e-05,-2.22798058e-03]


--- 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,
  9.36790988e-02,-7.03907119e-02, 1.30609797e-01, 4.95867168e-01,
  4.86274493e-01, 5.03396402e-01, 5.14047596e-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,  0.10087304,  2.06594213,  0.71600371,  5.14482385,
  -0.20063233,-29.31915423]

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([ 6.98605055,  0.23073913, -6.98223902,  0.23073913, 58.73731958,
        1.71020254, -6.98223902,  1.71020254,  7.04256689,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006669846040518734
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.16135177e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.16135177e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09218304, -0.08837402,  0.06198094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  1.51262492e-06,-4.52808317e-06,-4.90501105e+00,-1.85025781e-03,
  4.33568951e-05,-2.22850933e-03]


--- 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,
  9.36647103e-02,-7.03859567e-02, 1.30613892e-01, 4.95909964e-01,
  4.86171285e-01, 5.03391838e-01, 5.14108400e-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,
  1.03889971e-01, 2.01615185e+00, 4.75324139e-01, 4.63112523e+00,
  1.71441205e-02,-2.87345522e+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([ 6.97655814,  0.6325456 , -6.94782336,  0.6325456 , 76.04379195,
        6.28803761, -6.94782336,  6.28803761,  7.54903534,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006658150063606344
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.16866177e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.16866177e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09218594, -0.08837525,  0.06198097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.02829732e-06,-3.94013679e-06,-4.90500695e+00,-1.84665966e-03,
  4.59637833e-05,-2.22836700e-03]


--- 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,
  9.36507451e-02,-7.03733032e-02, 1.30619064e-01, 4.95977494e-01,
  4.86043625e-01, 5.03419251e-01, 5.14137120e-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,  0.10582364,  1.97459148,  0.26936585,  4.21946548,
   0.18996891,-28.2406903 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006606206527530883
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.68057571e-13,  8.40287857e-14,  1.00000000e+00, -1.41216736e-26,
        1.00000000e+00, -8.40287857e-14, -1.00000000e+00,  0.00000000e+00,
        1.68057571e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09218816, -0.0883774 ,  0.06198112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -5.26219614e-06,-2.12459385e-06,-4.90500745e+00,-1.84332981e-03,
  4.79650099e-05,-2.22754972e-03]


--- 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,
  9.36372077e-02,-7.03528886e-02, 1.30624611e-01, 4.96069514e-01,
  4.85891454e-01, 5.03478025e-01, 5.14134623e-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,  0.10694797,  1.94023903,  0.09380861,  3.88930237,
   0.32762965,-27.82852122]

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: -0.0006522631778919513
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.2552725e-14, -4.2552725e-14,  1.0000000e+00,  1.8107344e-27,
        1.0000000e+00,  4.2552725e-14, -1.0000000e+00,  0.0000000e+00,
        4.2552725e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09218985, -0.08838028,  0.06198136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.20079782e-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,
 -8.26655221e-06, 8.91724440e-07,-4.90501230e+00,-1.84020714e-03,
  4.94240773e-05,-2.22605639e-03]


--- 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,
  9.36241002e-02,-7.03248254e-02, 1.30629937e-01, 4.96185816e-01,
  4.85714725e-01, 5.03567652e-01, 5.14101606e-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 ,  0.10747229,  1.91218007, -0.05530776,  3.62429656,
   0.43779849,-27.48959055]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006414733160172992
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.49027206e-14,  4.32684804e-14,  1.00000000e+00, -2.80824210e-27,
        1.00000000e+00, -4.32684804e-14, -1.00000000e+00,  0.00000000e+00,
        6.49027206e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09219112, -0.08838371,  0.06198166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.10986540e-05, 5.08288769e-06,-4.90502127e+00,-1.83724583e-03,
  5.03887258e-05,-2.22388741e-03]


--- 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,
  9.36114229e-02,-7.02892037e-02, 1.30634537e-01, 4.96326225e-01,
  4.85513398e-01, 5.03687715e-01, 5.14038622e-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,  0.10755636,  1.88960861, -0.18154338,  3.4114541 ,
   0.526489  ,-27.21619228]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006288676266117954
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.10339499e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.10339499e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09219206, -0.08838756,  0.06198202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.38009230e-05, 1.04252703e-05,-4.90503422e+00,-1.83441131e-03,
  5.08948005e-05,-2.22104385e-03]


--- 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,
  9.36039456e-02,-7.02685966e-02, 1.30637468e-01, 4.96400594e-01,
  4.85391309e-01, 5.03763287e-01, 5.14008053e-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,  1.29999879, -3.75364495, -0.41730207, 16.09716354,
  -6.90561438, 55.77368619]

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: -0.0006314575177666093
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.63728674e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.63728674e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08132123, -0.03212073,  0.06198195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.37325628e-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,
 -1.64048743e-05, 1.68981618e-05,-4.90505102e+00,-1.83167726e-03,
  5.09691412e-05,-2.21752689e-03]


--- 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,
  9.36014847e-02,-7.02625686e-02, 1.30637623e-01, 4.96410265e-01,
  4.85345853e-01, 5.03796719e-01, 5.14008869e-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,
  1.25411189e+00,-3.64478122e+00,-6.94011779e-01, 1.59867230e+01,
 -6.24131218e+00, 5.39466724e+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([ 6.77607993, -4.76267501,  4.81997779, -4.76267501, 19.84265013,
       12.91122699,  4.81997779, 12.91122699, 19.53381051,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006413369287250059
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.65553639e-14,  4.32776819e-14,  1.00000000e+00, -3.74591551e-27,
        1.00000000e+00, -4.32776819e-14, -1.00000000e+00,  0.00000000e+00,
        8.65553639e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08131859, -0.03212726,  0.06198167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.19696183e-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,
 -6.82763781e-06, 5.44218067e-06,-4.90501720e+00,-1.83585272e-03,
  4.67769349e-05,-2.21496714e-03]


--- 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,
  9.36038860e-02,-7.02707471e-02, 1.30634043e-01, 4.96356411e-01,
  4.85374817e-01, 5.03789924e-01, 5.14040185e-01]

qacc:
[ -2.84250281,  0.37552393, -4.37553391, 14.1654758 ,  0.98788759,
  -0.51980289, -1.10176114,  9.79274968,  7.92905871,  1.74492954,
  -7.37506223, 13.54231274, -1.0202807 ,  1.65824597,  7.10247766,
 -26.60202502,  1.21552106, -3.55161529, -0.93359793, 15.86592586,
  -5.7074297 , 52.40513425]

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([ 6.80520393, -5.09332058,  4.51319023, -5.09332058, 22.31793399,
       17.50675312,  4.51319023, 17.50675312, 26.562294  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006448700509603528
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.30405716e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.30405716e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08131574, -0.03213003,  0.06198157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.67099756e-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,
 -1.36969623e-06, 5.18128874e-07,-4.90500156e+00,-1.83883998e-03,
  4.49312160e-05,-2.21396691e-03]


--- 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,
  9.36110201e-02,-7.02928152e-02, 1.30625901e-01, 4.96240034e-01,
  4.85476329e-01, 5.03744451e-01, 5.14101245e-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,  1.18322523, -3.47240192, -1.14041317, 15.74498217,
  -5.27745238, 51.11278832]

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([ 6.79199193, -5.41526958,  4.09951336, -5.41526958, 23.83194185,
       22.50899416,  4.09951336, 22.50899416, 36.5253433 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006432664473716293
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.72591471e-13,  4.31478678e-14,  1.00000000e+00, -7.44695397e-27,
        1.00000000e+00, -4.31478678e-14, -1.00000000e+00,  0.00000000e+00,
        1.72591471e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08131273, -0.03212977,  0.06198161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  4.47269415e-07, 1.58421775e-06,-4.90500252e+00,-1.84094143e-03,
  4.53004044e-05,-2.21445255e-03]


--- 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,
  9.36227795e-02,-7.03285051e-02, 1.30612485e-01, 4.96061973e-01,
  4.85648810e-01, 5.03661546e-01, 5.14191404e-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,  1.15632801, -3.40544808, -1.31867095, 15.63064521,
  -4.9301881 , 50.037065  ]

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([ 6.74485137, -5.70735068,  3.59432444, -5.70735068, 23.79708331,
       27.07687337,  3.59432444, 27.07687337, 49.73963784,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006375554883611689
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.35343686e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.35343686e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08130956, -0.03212711,  0.06198177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.86401019e-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,
 -1.02028960e-06, 8.23468063e-06,-4.90501881e+00,-1.84237645e-03,
  4.77752294e-05,-2.21636494e-03]


--- 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,
  9.36351314e-02,-7.03553342e-02, 1.30605166e-01, 4.95913126e-01,
  4.85790323e-01, 5.03614225e-01, 5.14247651e-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,  0.14811171,  2.21519919,  1.52422468,  2.91363561,
   1.19573898,-32.36146361]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006471185138268165
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.57820477e-14,  4.28910239e-14,  1.00000000e+00,  3.67927986e-27,
        1.00000000e+00, -4.28910239e-14, -1.00000000e+00,  0.00000000e+00,
       -8.57820477e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09219345, -0.08838355,  0.0619815 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.66309580e-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,
 -5.51012841e-06, 2.01760288e-05,-4.90504948e+00,-1.84330416e-03,
  5.22672080e-05,-2.21965668e-03]


--- 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,
  9.36480585e-02,-7.03735868e-02, 1.30602540e-01, 4.95792487e-01,
  4.85902066e-01, 5.03601364e-01, 5.14270997e-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,  0.14378259,  2.14411138,  1.1732245 ,  2.91209863,
   1.1046708 ,-31.27710867]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000661266378752759
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.19733658e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.19733658e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09219308, -0.08837987,  0.0619811 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -4.72329932e-06, 1.27380646e-05,-4.90503075e+00,-1.84418152e-03,
  5.13938810e-05,-2.22217005e-03]


--- 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,
  9.36615469e-02,-7.03835071e-02, 1.30603388e-01, 4.95699195e-01,
  4.85985053e-01, 5.03621999e-01, 5.14262305e-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,  0.14034836,  2.08310314,  0.86862577,  2.90736756,
   1.02801832,-30.35292141]

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: -0.0006684162784698772
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.30487722e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.30487722e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09219272, -0.0883781 ,  0.06198089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.97313314e-06, 7.21508241e-06,-4.90501795e+00,-1.84506766e-03,
  5.01179160e-05,-2.22389219e-03]


--- 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,
  9.36755861e-02,-7.03853024e-02, 1.30606660e-01, 4.95632521e-01,
  4.86040135e-01, 5.03675308e-01, 5.14222303e-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,  0.13769487,  2.03122907,  0.60598537,  2.90187277,
   0.96307077,-29.57088574]

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: -0.000669860307626502
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.14348713e-14,  1.24304614e-13,  1.00000000e+00, -5.15054567e-27,
        1.00000000e+00, -1.24304614e-13, -1.00000000e+00,  0.00000000e+00,
        4.14348713e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09219237, -0.08837786,  0.06198085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -3.23744425e-06, 3.42223938e-06,-4.90501049e+00,-1.84597904e-03,
  4.84461079e-05,-2.22484697e-03]


--- 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,
  9.36901682e-02,-7.03791476e-02, 1.30611455e-01, 4.95591845e-01,
  4.86068022e-01, 5.03760596e-01, 5.14151596e-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,  0.13571933,  1.98751799,  0.38067816,  2.89725468,
   0.9076049 ,-28.91405036]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006667091117662505
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04076782e-13,  4.16307129e-14,  1.00000000e+00,  4.33279064e-27,
        1.00000000e+00, -4.16307129e-14, -1.00000000e+00,  0.00000000e+00,
       -1.04076782e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09219202, -0.08837887,  0.06198094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -2.49991765e-06, 1.21054186e-06,-4.90500793e+00,-1.84692784e-03,
  4.63839984e-05,-2.22505452e-03]


--- 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,
  9.37052876e-02,-7.03651887e-02, 1.30617003e-01, 4.95576650e-01,
  4.86069304e-01, 5.03877280e-01, 5.14050681e-01]

qacc:
[ 5.01365243e-01, 1.32167891e+00,-8.47269290e+00, 2.20408448e+01,
  1.39727291e+00,-2.65346856e-01, 1.43633033e+00,-2.31352610e+00,
 -1.33889916e+00,-1.04556274e+00, 5.26109602e+00,-1.24017741e+01,
  2.52376072e-02,-5.31525495e-01,-4.17970634e+00, 1.52416721e+01,
  1.34331256e-01, 1.95103726e+00, 1.88218326e-01, 2.89459842e+00,
  8.59805382e-01,-2.83670183e+01]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006599118956611277
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.30892755e-14,  1.26178551e-13,  1.00000000e+00, -7.96051338e-27,
        1.00000000e+00, -1.26178551e-13, -1.00000000e+00,  0.00000000e+00,
        6.30892755e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09219167, -0.08838085,  0.06198114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.89876473e-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,
 -1.74839060e-06, 4.60403942e-07,-4.90500991e+00,-1.84792316e-03,
  4.39357531e-05,-2.22453164e-03]


--- 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,
  9.37209408e-02,-7.03435461e-02, 1.30622648e-01, 4.95586501e-01,
  4.86044465e-01, 5.04024873e-01, 5.13919960e-01]

qacc:
[ 3.51215466e+00,-2.12148877e+00, 1.00557090e+01,-2.13527491e+01,
 -2.18716004e+00,-2.73921055e+00, 1.64538980e+01,-4.15714323e+01,
 -7.53359788e-01, 3.27261082e+00,-1.32249005e+01, 2.23528351e+01,
 -6.55180965e-01, 8.38855617e-01, 7.47989616e+00,-2.53291758e+01,
  1.33452075e-01, 1.92092548e+00, 2.44288924e-02, 2.89459882e+00,
  8.18194291e-01,-2.79161129e+01]

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: -0.0006502756952687927
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.53655636e-14,  1.28048345e-13,  1.00000000e+00, -1.09309192e-26,
        1.00000000e+00, -1.28048345e-13, -1.00000000e+00,  0.00000000e+00,
        8.53655636e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09219133, -0.0883836 ,  0.06198141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.05016332e-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,
 -9.73626969e-07, 1.07611074e-06,-4.90501615e+00,-1.84897199e-03,
  4.11041555e-05,-2.22329230e-03]


--- 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,
  9.37371260e-02,-7.03143179e-02, 1.30627836e-01, 4.95621039e-01,
  4.85993900e-01, 5.04202975e-01, 5.13759745e-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,  0.13301426,  1.8964062 , -0.11448278,  2.8976769 ,
   0.78157038,-27.54935819]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006384832360100262
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.69422220e-14,  8.69422220e-14,  1.00000000e+00, -7.55894996e-27,
        1.00000000e+00, -8.69422220e-14, -1.00000000e+00,  0.00000000e+00,
        8.69422220e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09219098, -0.08838693,  0.06198175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.68444029e-07, 2.98118593e-06,-4.90502647e+00,-1.85007982e-03,
  3.78906613e-05,-2.22134793e-03]


--- 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,
  9.37468105e-02,-7.02993837e-02, 1.30631115e-01, 4.95629083e-01,
  4.85962016e-01, 5.04305208e-01, 5.13681796e-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, -1.62519117, -3.5735094 , -0.47704336,-29.16110156,
   3.06991918, 50.33708233]

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: -0.0006470656790411866
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.71578104e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.71578104e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1088006 , -0.03396786,  0.06198151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.88714495e-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,
  6.72909139e-07, 6.11457700e-06,-4.90504070e+00,-1.85125117e-03,
  3.42954819e-05,-2.21870776e-03]


--- 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,
  9.37501726e-02,-7.02983342e-02, 1.30631423e-01, 4.95611158e-01,
  4.85948267e-01, 5.04334151e-01, 5.13683683e-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, -1.58060822, -3.47118628, -0.74277913,-28.15048769,
   3.1263869 , 48.83561208]

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([ 6.88050752, -4.25678431,  5.40566101, -4.25678431, 34.20060645,
       21.51369988,  5.40566101, 21.51369988, 23.82185474,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000654038447077343
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.24372233e-14,  8.48744466e-14,  1.00000000e+00, -3.60183584e-27,
        1.00000000e+00, -8.48744466e-14, -1.00000000e+00,  0.00000000e+00,
        4.24372233e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10879772, -0.03397111,  0.06198131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.26642156e-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,
 -1.02435768e-06, 2.36400292e-06,-4.90501197e+00,-1.85247812e-03,
  3.88719610e-05,-2.21728160e-03]


--- 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,
  9.37473644e-02,-7.03108212e-02, 1.30627842e-01, 4.95567711e-01,
  4.85952182e-01, 5.04291941e-01, 5.13763330e-01]

qacc:
[  2.99190588, -1.13519943,  4.8123996 , -8.40859203, -0.18456386,
   2.3950602 ,-12.27089508, 26.44228905, -0.16292898,  1.75107544,
  -9.99533305, 24.31228185, -0.20746205,  0.1164872 ,-10.45632922,
  34.20902718, -1.54257103, -3.38409998, -0.97237109,-27.30589648,
   3.16043169, 47.56680311]

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([ 6.88903322, -4.56050146,  5.16339086, -4.56050146, 38.53949855,
       27.95488417,  5.16339086, 27.95488417, 31.5798408 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006550797878827619
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.47395268e-14,  8.47395268e-14,  1.00000000e+00, -7.18078740e-27,
        1.00000000e+00, -8.47395268e-14, -1.00000000e+00,  0.00000000e+00,
        8.47395268e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10879648, -0.0339713 ,  0.06198128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.74643524e-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,
 -4.41133274e-07, 5.19997682e-07,-4.90500043e+00,-1.85393968e-03,
  4.08699703e-05,-2.21745952e-03]


--- 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,
  9.37385148e-02,-7.03365498e-02, 1.30619580e-01, 4.95499122e-01,
  4.85973352e-01, 5.04180334e-01, 5.13918974e-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, -1.51034603, -3.3104266 , -1.17024652,-26.6041993 ,
   3.17733027, 46.50216496]

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: -0.0006513488646403692
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.52249144e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.52249144e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10879653, -0.03396905,  0.06198138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.11066800e-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,
  2.28165232e-06, 4.07150978e-07,-4.90500456e+00,-1.85562907e-03,
  4.05599415e-05,-2.21919264e-03]


--- 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,
  9.37237323e-02,-7.03752723e-02, 1.30605955e-01, 4.95405701e-01,
  4.86011425e-01, 5.04000759e-01, 5.14149123e-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, -1.48323058, -3.24845242, -1.34060929,-26.0252865 ,
   3.18097877, 45.61593099]

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: -0.0006438291545104863
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.62203130e-14,  8.62203130e-14,  1.00000000e+00, -7.43394238e-27,
        1.00000000e+00, -8.62203130e-14, -1.00000000e+00,  0.00000000e+00,
        8.62203130e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10879761, -0.03396487,  0.06198159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.09696538e-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,
  7.03711177e-06, 1.90737137e-06,-4.90502320e+00,-1.85753628e-03,
  3.81484378e-05,-2.22243909e-03]


--- 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,
  9.37093238e-02,-7.04049731e-02, 1.30598913e-01, 4.95339305e-01,
  4.86024616e-01, 5.03858020e-01, 5.14340492e-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,  0.09350046,  2.2554129 ,  1.64566696,  6.51155027,
  -0.71348858,-31.77486292]

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([  6.95030037,   1.73420422,   6.73046886,   1.73420422,
        65.84252655, -15.17444762,   6.73046886, -15.17444762,
        10.86021983,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006625853581010421
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04724528e-13,  4.18898113e-14,  1.00000000e+00, -4.38689073e-27,
        1.00000000e+00, -4.18898113e-14, -1.00000000e+00,  0.00000000e+00,
        1.04724528e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09220854, -0.08838553,  0.06198106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  1.37478844e-05, 4.94965352e-06,-4.90505547e+00,-1.85964993e-03,
  3.37910317e-05,-2.22716336e-03]


--- 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,
  9.36953102e-02,-7.04259722e-02, 1.30596963e-01, 4.95299398e-01,
  4.86012814e-01, 5.03750711e-01, 5.14495162e-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,  0.09874782,  2.17541817,  1.27298455,  5.7300098 ,
  -0.38882874,-30.80839433]

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([ 7.07164607,  0.11329223, -7.07073851,  0.11329223, 42.87169502,
        0.57361298, -7.07073851,  0.57361298,  7.08083689,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006775849189771393
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  4.0962505e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -4.0962505e-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([ 0.09221322, -0.08838279,  0.06198063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
  9.30460944e-06, 8.69125174e-07,-4.90503466e+00,-1.85548795e-03,
  3.83627028e-05,-2.22930345e-03]


--- 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,
  9.36817059e-02,-7.04385429e-02, 1.30598813e-01, 4.95285493e-01,
  4.85975992e-01, 5.03677643e-01, 5.14614853e-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,  0.102302  ,  2.10712   ,  0.95005918,  5.10347177,
  -0.13315066,-29.9737121 ]

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([ 7.13261338,  0.41921625, -7.1202831 ,  0.41921625, 56.2819854 ,
        2.8937354 , -7.1202831 ,  2.8937354 ,  7.30298595,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006852010533293929
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.02535996e-14,  1.21521598e-13,  1.00000000e+00, -2.46124979e-27,
        1.00000000e+00, -1.21521598e-13, -1.00000000e+00,  0.00000000e+00,
        2.02535996e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09221684, -0.0883818 ,  0.06198042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.47529759e-06,-1.77836913e-06,-4.90501976e+00,-1.85180697e-03,
  4.20809761e-05,-2.23075183e-03]


--- 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,
  9.36685200e-02,-7.04429164e-02, 1.30603352e-01, 4.95297153e-01,
  4.85914173e-01, 5.03637809e-01, 5.14700985e-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,  0.1045967 ,  2.04929016,  0.67204642,  4.60086595,
   0.0686253 ,-29.25945688]

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([ 7.14534518,  0.82946851, -7.0970374 ,  0.82946851, 73.52487697,
        7.75812894, -7.0970374 ,  7.75812894,  8.05207898,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006867992166204873
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.04129401e-14,  8.08258802e-14,  1.00000000e+00,  3.26641146e-27,
        1.00000000e+00, -8.08258802e-14, -1.00000000e+00,  0.00000000e+00,
       -4.04129401e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09221962, -0.08838224,  0.06198037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.10467189e-06,-3.04519902e-06,-4.90501022e+00,-1.84849268e-03,
  4.50688287e-05,-2.23150597e-03]


--- 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,
  9.36557579e-02,-7.04392870e-02, 1.30609626e-01, 4.95333995e-01,
  4.85827410e-01, 5.03630361e-01, 5.14754719e-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,  0.10595932,  2.00071654,  0.43391631,  4.19737199,
   0.22829392,-28.65372549]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006835520863063271
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09222175, -0.08838383,  0.06198047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.22266756e-07,-2.98397104e-06,-4.90500559e+00,-1.84546023e-03,
  4.74191762e-05,-2.23156699e-03]


--- 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,
  9.36434223e-02,-7.04278166e-02, 1.30616823e-01, 4.95395683e-01,
  4.85715761e-01, 5.03654593e-01, 5.14777008e-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,  0.10663733,  1.96026505,  0.2308068 ,  3.87318813,
   0.35508318,-28.14497608]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006764610638244212
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.15458386e-14,  8.20611181e-14,  1.00000000e+00,  5.05052032e-27,
        1.00000000e+00, -8.20611181e-14, -1.00000000e+00,  0.00000000e+00,
       -6.15458386e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09222336, -0.08838634,  0.06198067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -3.69061806e-06,-1.64368449e-06,-4.90500552e+00,-1.84264642e-03,
  4.92022455e-05,-2.23093793e-03]


--- 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,
  9.36315140e-02,-7.04086385e-02, 1.30624253e-01, 4.95481933e-01,
  4.85579285e-01, 5.03709915e-01, 5.14768622e-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,  0.10681783,  1.9269081 ,  0.0582068 ,  3.61253005,
   0.45621418,-27.72249247]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006663769615004034
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.16514634e-14,  4.16514634e-14,  1.00000000e+00, -1.73484440e-27,
        1.00000000e+00, -4.16514634e-14, -1.00000000e+00,  0.00000000e+00,
        4.16514634e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09222456, -0.08838955,  0.06198096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -6.26338307e-06, 9.32034958e-07,-4.90500974e+00,-1.84000398e-03,
  5.04711299e-05,-2.22962263e-03]


--- 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,
  9.36200323e-02,-7.03818616e-02, 1.30631331e-01, 4.95592503e-01,
  4.85418030e-01, 5.03795840e-01, 5.14730180e-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,  0.10664216,  1.89973334, -0.08796481,  3.40282208,
   0.53733791,-27.37658262]

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: -0.0006540191318639144
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.24384766e-14,  4.24384766e-14,  1.00000000e+00, -1.80102430e-27,
        1.00000000e+00, -4.24384766e-14, -1.00000000e+00,  0.00000000e+00,
        4.24384766e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09222545, -0.08839329,  0.06198131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.52158339e-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,
 -8.68728235e-06, 4.70550875e-06,-4.90501803e+00,-1.83749732e-03,
  5.12659580e-05,-2.22762504e-03]


--- 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,
  9.36089755e-02,-7.03475728e-02, 1.30637564e-01, 4.95727194e-01,
  4.85232027e-01, 5.03911971e-01, 5.14662175e-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,  0.10621684,  1.87794125, -0.21134139,  3.23404668,
   0.60287616,-27.09862274]

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: -0.0006399927280079931
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.16842898e-14,  1.30105739e-13,  1.00000000e+00,  2.82125055e-27,
        1.00000000e+00, -1.30105739e-13, -1.00000000e+00,  0.00000000e+00,
       -2.16842898e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0922261 , -0.08839743,  0.06198171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.51748854e-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,
 -1.09970725e-05, 9.64491676e-06,-4.90503025e+00,-1.83509944e-03,
  5.16170164e-05,-2.22494878e-03]


--- 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,
  9.35983411e-02,-7.03058407e-02, 1.30642536e-01, 4.95885843e-01,
  4.85021288e-01, 5.04057986e-01, 5.14564989e-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,  0.10562188,  1.86083713, -0.31512476,  3.09822343,
   0.65628783,-26.88101722]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006248040356647833
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11057124e-13,  1.33268548e-13,  1.00000000e+00, -1.48004217e-26,
        1.00000000e+00, -1.33268548e-13, -1.00000000e+00,  0.00000000e+00,
        1.11057124e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09222655, -0.08840184,  0.06198214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.57404988e-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,
 -1.32187360e-05, 1.57238601e-05,-4.90504628e+00,-1.83278965e-03,
  5.15470880e-05,-2.22159694e-03]


--- 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,
  9.35929530e-02,-7.02792601e-02, 1.30646165e-01, 4.95977366e-01,
  4.84890334e-01, 5.04159867e-01, 5.14500384e-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 ,  1.31155854, -3.78788914, -0.33585338, 16.49538084,
  -6.65103968, 56.15958975]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006226011499290696
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.91600525e-14,  8.91600525e-14,  1.00000000e+00, -7.94951497e-27,
        1.00000000e+00, -8.91600525e-14, -1.00000000e+00,  0.00000000e+00,
        8.91600525e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08125091, -0.03214901,  0.0619822 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.78726903e-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,
 -1.53718323e-05, 2.29207578e-05,-4.90506605e+00,-1.83055190e-03,
  5.10732038e-05,-2.21757188e-03]


--- 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,
  9.35926265e-02,-7.02673752e-02, 1.30647305e-01, 4.96003289e-01,
  4.84836504e-01, 5.04219886e-01, 5.14467305e-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,  1.26539051, -3.67390454, -0.62216042, 16.31387544,
  -6.04179922, 54.2848669 ]

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([ 6.72136708, -4.97651776,  4.51785861, -4.97651776, 19.42642256,
       13.99488998,  4.51785861, 13.99488998, 22.13703732,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006347161830541903
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08124916, -0.03215652,  0.06198186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.63060460e-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,
 -6.39494198e-06, 8.99548315e-06,-4.90502639e+00,-1.83460389e-03,
  4.67072360e-05,-2.21461665e-03]


--- 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,
  9.35972058e-02,-7.02697949e-02, 1.30644964e-01, 4.95964937e-01,
  4.84857531e-01, 5.04239900e-01, 5.14464848e-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,  1.22645817, -3.57616537, -0.87045385, 16.13538337,
  -5.54954158, 52.69775225]

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([ 6.76611116, -5.31764194,  4.18365204, -5.31764194, 21.32106691,
       18.50011485,  4.18365204, 18.50011485, 30.28073087,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006401290623381795
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73437372e-13,  8.67186861e-14,  1.00000000e+00, -1.50402610e-26,
        1.00000000e+00, -8.67186861e-14, -1.00000000e+00,  0.00000000e+00,
        1.73437372e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08124705, -0.03216012,  0.06198171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.76265383e-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,
 -1.54639641e-06, 1.80116980e-06,-4.90500541e+00,-1.83752720e-03,
  4.47381678e-05,-2.21321649e-03]


--- 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,
  9.36065603e-02,-7.02861863e-02, 1.30638282e-01, 4.95863441e-01,
  4.84951490e-01, 5.04221421e-01, 5.14492235e-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,  1.19381003, -3.49291737, -1.08501499, 15.96774764,
  -5.15068695, 51.36281755]

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([ 6.76584669, -5.63743696,  3.74112094, -5.63743696, 22.05875679,
       23.04464839,  3.74112094, 23.04464839, 41.49146895,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006400970277456453
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.67230261e-14,  8.67230261e-14,  1.00000000e+00, -7.52088325e-27,
        1.00000000e+00, -8.67230261e-14, -1.00000000e+00,  0.00000000e+00,
        8.67230261e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08124461, -0.03216057,  0.06198171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.90801421e-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,
 -3.51425946e-07, 7.49778546e-07,-4.90500141e+00,-1.83960511e-03,
  4.50204411e-05,-2.21329944e-03]


--- 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,
  9.36205811e-02,-7.03162675e-02, 1.30626520e-01, 4.95699748e-01,
  4.85116752e-01, 5.04165674e-01, 5.14548803e-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,
  1.16657986e+00,-3.42243360e+00,-1.27006441e+00, 1.58157455e+01,
 -4.82632659e+00, 5.02478388e+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([ 6.72944239, -5.91265184,  3.21340057, -5.91265184, 21.2168022 ,
       26.65671856,  3.21340057, 26.65671856, 55.77776131,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006356921025928441
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74647918e-13,  8.73239592e-14,  1.00000000e+00, -1.52509477e-26,
        1.00000000e+00, -8.73239592e-14, -1.00000000e+00,  0.00000000e+00,
        1.74647918e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08124192, -0.03215849,  0.06198183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.96115885e-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,
 -2.45425264e-06, 5.39647425e-06,-4.90501306e+00,-1.84104449e-03,
  4.74343051e-05,-2.21480754e-03]


--- 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,
  9.36391779e-02,-7.03598010e-02, 1.30609040e-01, 4.95474634e-01,
  4.85351946e-01, 5.04073641e-01, 5.14633986e-01]

qacc:
[-3.59187394e-02, 1.73312963e+00,-5.52688545e+00, 5.48218561e+00,
  4.48075054e+00,-1.51770141e-01, 2.68824603e+00,-8.83093352e+00,
  2.74150504e+00, 6.07539375e-01,-3.92945783e+00, 1.01672598e+01,
 -5.22170037e-01, 6.69127704e-01,-9.46684518e+00, 3.31913458e+01,
  1.14399742e+00,-3.36309350e+00,-1.42957099e+00, 1.56820810e+01,
 -4.56130779e+00, 4.93241708e+01]

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: -0.0006278236454098085
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.84183825e-14,  8.84183825e-14,  1.00000000e+00, -7.81781037e-27,
        1.00000000e+00, -8.84183825e-14, -1.00000000e+00,  0.00000000e+00,
        8.84183825e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08123902, -0.03215443,  0.06198205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.00126684e-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,
 -7.59173397e-06, 1.54149511e-05,-4.90503933e+00,-1.84199651e-03,
  5.18834750e-05,-2.21769405e-03]


--- 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,
  9.36584231e-02,-7.03942341e-02, 1.30598895e-01, 4.95279696e-01,
  4.85554523e-01, 5.04017753e-01, 5.14685275e-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,  0.16208713,  2.27510506,  1.83371708,  2.43960611,
   1.51668666,-33.15354585]

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: -0.0006556124412855774
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.0583835e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.0583835e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09222321, -0.08839463,  0.06198126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.83317415e-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,
 -1.55731281e-05, 3.05773018e-05,-4.90507942e+00,-1.84257182e-03,
  5.82924330e-05,-2.22192128e-03]


--- 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,
  9.36782914e-02,-7.04198927e-02, 1.30594494e-01, 4.95113745e-01,
  4.85726027e-01, 5.03996811e-01, 5.14703624e-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,  0.1557791 ,  2.19360936,  1.43615466,  2.56247474,
   1.34866117,-31.93161283]

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: -0.0006744086868798044
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.05777121e-14,  8.23108485e-14,  1.00000000e+00, -1.69376894e-27,
        1.00000000e+00, -8.23108485e-14, -1.00000000e+00,  0.00000000e+00,
        2.05777121e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09222203, -0.08838981,  0.06198072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.32085876e-05, 2.06972531e-05,-4.90505526e+00,-1.84476454e-03,
  5.64411013e-05,-2.22516573e-03]


--- 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,
  9.36987632e-02,-7.04370576e-02, 1.30594456e-01, 4.94975764e-01,
  4.85867759e-01, 5.04009782e-01, 5.14689862e-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,  0.15087056,  2.12343947,  1.09046653,  2.6557029 ,
   1.20998903,-30.88617134]

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: -0.0006851043919744171
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.07693717e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.07693717e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09222104, -0.08838717,  0.06198042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.10652142e-05, 1.29321923e-05,-4.90503759e+00,-1.84686957e-03,
  5.42704169e-05,-2.22760728e-03]


--- 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,
  9.37198235e-02,-7.04459682e-02, 1.30597585e-01, 4.94864891e-01,
  4.85980808e-01, 5.04055777e-01, 5.14644700e-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,  0.14715271,  2.06358343,  0.79205546,  2.72766138,
   1.09480691,-29.99813562]

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: -0.0006891667872217094
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00685263e-13,  1.20822315e-13,  1.00000000e+00, -1.21650266e-26,
        1.00000000e+00, -1.20822315e-13, -1.00000000e+00,  0.00000000e+00,
        1.00685263e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09222018, -0.08838631,  0.0619803 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.07353676e-06, 7.05355675e-06,-4.90502569e+00,-1.84893081e-03,
  5.17658987e-05,-2.22927219e-03]


--- 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,
  9.37414617e-02,-7.04468269e-02, 1.30602858e-01, 4.94780398e-01,
  4.86066087e-01, 5.04134041e-01, 5.14568738e-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,  0.14444545,  2.01296104,  0.53589805,  2.78460413,
   0.99838802,-29.24902307]

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: -0.000687859173383501
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.03506658e-14,  1.61402663e-13,  1.00000000e+00,  6.51270492e-27,
        1.00000000e+00, -1.61402663e-13, -1.00000000e+00,  0.00000000e+00,
       -4.03506658e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09221944, -0.08838687,  0.06198034])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.18210433e-06, 2.87706656e-06,-4.90501902e+00,-1.85098085e-03,
  4.89172145e-05,-2.23018279e-03]


--- 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,
  9.37636703e-02,-7.04398035e-02, 1.30609399e-01, 4.94721669e-01,
  4.86124351e-01, 5.04243936e-01, 5.14462476e-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,  0.14259547,  1.97051591,  0.31700729,  2.83120286,
   0.91693343,-28.62177369]

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: -0.000682262666219971
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.13633135e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.13633135e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09221877, -0.08838857,  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:
[ 6.39177608e-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,
 -5.35250104e-06, 2.54847172e-07,-4.90501715e+00,-1.85304414e-03,
  4.57165907e-05,-2.23035794e-03]


--- 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,
  9.37864447e-02,-7.04250391e-02, 1.30616463e-01, 4.94688191e-01,
  4.86156226e-01, 5.04384927e-01, 5.14326319e-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,
  1.41473412e-01, 1.93526360e+00, 1.30683350e-01, 2.87094305e+00,
  8.47396223e-01,-2.81010952e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000673297620014654
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.18350076e-14, -4.12233384e-14,  1.00000000e+00, -2.54904544e-27,
        1.00000000e+00,  4.12233384e-14, -1.00000000e+00,  0.00000000e+00,
       -6.18350076e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09221816, -0.08839117,  0.06198076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.55573782e-06,-9.31427514e-07,-4.90501974e+00,-1.85513926e-03,
  4.21577420e-05,-2.22981340e-03]


--- 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,
  9.38050176e-02,-7.04020620e-02, 1.30623255e-01, 4.94702031e-01,
  4.86144000e-01, 5.04538424e-01, 5.14173989e-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, -1.05038867,  2.0531836 , -0.06798327,-15.11575211,
  -1.4298669 ,-30.3308325 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006640926080426351
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.2538421e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.2538421e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10288873, -0.08990717,  0.06198102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.76964248e-06,-7.76298902e-07,-4.90502652e+00,-1.85728063e-03,
  3.82351518e-05,-2.22856226e-03]


--- 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,
  9.38194601e-02,-7.03709917e-02, 1.30629152e-01, 4.94762416e-01,
  4.86088472e-01, 5.04704269e-01, 5.14005594e-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 , -1.03259912,  2.02329123, -0.22366929,-14.7966941 ,
  -1.46032938,-29.86549382]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006531759827437394
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.69973032e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.69973032e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10288995, -0.08991049,  0.06198133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
  1.54547434e-06, 1.52919885e-06,-4.90503054e+00,-1.85945987e-03,
  3.54877121e-05,-2.22675091e-03]


--- 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,
  9.38273964e-02,-7.03531791e-02, 1.30633861e-01, 4.94797467e-01,
  4.86048749e-01, 5.04800078e-01, 5.13915325e-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, -1.62653455, -3.31442764, -0.29709189,-27.6484861 ,
   3.99350313, 46.84849522]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006399744056762266
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.39489702e-07, -3.39489593e-07,  1.00000000e+00, -1.15253221e-13,
        1.00000000e+00,  3.39489593e-07, -1.00000000e+00, -2.52435490e-29,
       -3.39489702e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10840434, -0.0372137 ,  0.06198171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.75741169e-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,
  3.88269679e-06, 6.20862625e-06,-4.90504032e+00,-1.86157034e-03,
  3.36472454e-05,-2.22407684e-03]


--- 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,
  9.38290359e-02,-7.03492138e-02, 1.30635467e-01, 4.94804743e-01,
  4.86027274e-01, 5.04824307e-01, 5.13904830e-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, -1.57421028, -3.46183208, -0.77572631,-27.26257063,
   3.99990268, 48.87479088]

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([  6.8187295 ,  -6.56951472,  -1.82662212,  -6.56951472,
         9.67648529, -10.27802547,  -1.82662212, -10.27802547,
        43.78403217,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006465131729480322
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.58623669e-14,  8.58623669e-14,  1.00000000e+00, -7.37234604e-27,
        1.00000000e+00, -8.58623669e-14, -1.00000000e+00,  0.00000000e+00,
        8.58623669e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10874438, -0.0339562 ,  0.06198152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.30947230e-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,
  6.31878665e-07, 2.54428435e-06,-4.90501324e+00,-1.86115360e-03,
  3.77148501e-05,-2.22201641e-03]


--- 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,
  9.38245351e-02,-7.03587580e-02, 1.30633076e-01, 4.94785028e-01,
  4.86023572e-01, 5.04778768e-01, 5.13972041e-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, -1.53509234, -3.377346  , -0.99917757,-26.58479698,
   3.86883717, 47.59984572]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000647323169858896
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.71509854e-13,  8.57549271e-14,  1.00000000e+00, -1.47078150e-26,
        1.00000000e+00, -8.57549271e-14, -1.00000000e+00,  0.00000000e+00,
        1.71509854e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10874453, -0.03395661,  0.0619815 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.83989340e-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,
 -3.05811193e-07, 2.70352133e-07,-4.90500076e+00,-1.86119828e-03,
  3.95886269e-05,-2.22161304e-03]


--- 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,
  9.38140257e-02,-7.03815255e-02, 1.30625918e-01, 4.94738968e-01,
  4.86037231e-01, 5.04664961e-01, 5.14115201e-01]

qacc:
[-6.11445748e+00, 1.51569945e-01, 2.79549086e-02,-9.22869496e-01,
  1.95000861e+00,-2.82043447e+00, 1.03133149e+01,-1.48120773e+01,
  6.49741687e+00,-4.99005227e-01, 5.00367577e+00,-1.41061264e+01,
 -7.44055514e-01, 1.19840659e+00,-7.36087466e+00, 2.49764504e+01,
 -1.50214153e+00,-3.30584718e+00,-1.19171818e+00,-2.60160985e+01,
  3.75517602e+00, 4.65318723e+01]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006435124555190658
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.62627456e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.62627456e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10874564, -0.03395459,  0.06198161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.57603882e-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,
  1.10570404e-06,-2.71795114e-07,-4.90500367e+00,-1.86170450e-03,
  3.92374711e-05,-2.22282174e-03]


--- 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,
  9.37987658e-02,-7.03953050e-02, 1.30621990e-01, 4.94743359e-01,
  4.86006480e-01, 5.04565827e-01, 5.14237334e-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, -1.18759681,  2.24700287,  0.8073506 ,-14.16829621,
  -2.79463106,-32.94272558]

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([ 6.80061761,  0.3226971 ,  6.79295712,  0.3226971 , 69.10620676,
       -2.95980562,  6.79295712, -2.95980562,  6.94122216,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006443132296384546
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.61555353e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.61555353e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10290037, -0.08991398,  0.06198158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.26181449e-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,
  4.69879718e-06, 8.01390424e-07,-4.90502089e+00,-1.86259934e-03,
  3.68426560e-05,-2.22558508e-03]


--- 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,
  9.37789002e-02,-7.04003394e-02, 1.30620179e-01, 4.94797046e-01,
  4.85931877e-01, 5.04480795e-01, 5.14339598e-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, -1.15144863,  2.18627435,  0.52931265,-14.18805528,
  -2.50150313,-32.0791486 ]

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: -0.0006496744003273852
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10290273, -0.08991268,  0.06198143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
  9.32963989e-07,-2.34686849e-06,-4.90501512e+00,-1.85926403e-03,
  3.88586572e-05,-2.22669213e-03]


--- 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,
  9.37595078e-02,-7.03971872e-02, 1.30620944e-01, 4.94876382e-01,
  4.85832077e-01, 5.04429098e-01, 5.14408247e-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,  0.11829435,  2.04663127,  0.64404709,  4.58586401,
   0.09009377,-29.36829731]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006509331180033912
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.13198367e-14,  8.52793470e-14,  1.00000000e+00,  1.81814176e-27,
        1.00000000e+00, -8.52793470e-14, -1.00000000e+00,  0.00000000e+00,
       -2.13198367e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0922316 , -0.0884013 ,  0.06198139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.23721368e-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,
 -3.43821779e-06,-2.66858120e-06,-4.90501598e+00,-1.85615220e-03,
  4.17163951e-05,-2.22686590e-03]


--- 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,
  9.37405877e-02,-7.03860289e-02, 1.30623377e-01, 4.94980985e-01,
  4.85707149e-01, 5.04409920e-01, 5.14444382e-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,  0.11807437,  2.00154165,  0.41695322,  4.20926959,
   0.23867464,-28.78033777]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006496620416623217
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.13615494e-14,  8.54461977e-14,  1.00000000e+00,  1.82526317e-27,
        1.00000000e+00, -8.54461977e-14, -1.00000000e+00,  0.00000000e+00,
       -2.13615494e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09223348, -0.0884022 ,  0.06198143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -5.72889080e-06,-7.75096252e-07,-4.90501466e+00,-1.85359034e-03,
  4.47399627e-05,-2.22626981e-03]


--- 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,
  9.37221370e-02,-7.03670150e-02, 1.30626699e-01, 4.95110522e-01,
  4.85557164e-01, 5.04422575e-01, 5.14448906e-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,  0.11735899,  1.96391924,  0.22232893,  3.90397119,
   0.35826466,-28.28740257]

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: -0.0006445939871544681
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.15295024e-14,  8.61180097e-14,  1.00000000e+00, -1.85407790e-27,
        1.00000000e+00, -8.61180097e-14, -1.00000000e+00,  0.00000000e+00,
        2.15295024e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09223489, -0.08840405,  0.06198157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.05930395e-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,
 -7.80928309e-06, 2.37437058e-06,-4.90501790e+00,-1.85121229e-03,
  4.71908613e-05,-2.22497605e-03]


--- 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,
  9.37041515e-02,-7.03402695e-02, 1.30630246e-01, 4.95264710e-01,
  4.85382181e-01, 5.04466493e-01, 5.14422553e-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,
  1.16299706e-01, 1.93287465e+00, 5.61794225e-02, 3.65589631e+00,
  4.55249708e-01,-2.78792275e+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: -0.0006365424120194502
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.72073097e-14,  8.72073097e-14,  1.00000000e+00, -7.60511486e-27,
        1.00000000e+00, -8.72073097e-14, -1.00000000e+00,  0.00000000e+00,
        8.72073097e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09223595, -0.08840663,  0.0619818 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.87915811e-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,
 -9.73014508e-06, 6.73865151e-06,-4.90502545e+00,-1.84897863e-03,
  4.91200388e-05,-2.22298919e-03]


--- 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,
  9.36798830e-02,-7.03273183e-02, 1.30630535e-01, 4.95392683e-01,
  4.85225221e-01, 5.04437784e-01, 5.14475554e-01]

qacc:
[ 1.84301851e+00,-4.53138224e-02,-2.43655881e+00, 1.11143987e+01,
  5.02161007e-01, 1.44859887e+00,-2.16223650e+00,-5.13155730e+00,
 -2.49112517e+00, 1.34623288e-01,-2.18625864e-01, 6.96957262e-01,
 -9.80431912e-01, 1.72036189e+00, 4.03206510e+00,-1.38141319e+01,
 -1.57073905e+00,-3.44857255e+00,-8.14544362e-01,-2.78708395e+01,
  3.25116154e+00, 4.85649700e+01]

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: -0.0006296936510545165
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.81558058e-14,  8.81558058e-14,  1.00000000e+00, -7.77144610e-27,
        1.00000000e+00, -8.81558058e-14, -1.00000000e+00,  0.00000000e+00,
        8.81558058e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10874727, -0.03394689,  0.061982  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.07020344e-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,
 -1.15290268e-05, 1.22827565e-05,-4.90503711e+00,-1.84685968e-03,
  5.05666619e-05,-2.22031358e-03]


--- 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,
  9.36494645e-02,-7.03278307e-02, 1.30626704e-01, 4.95495012e-01,
  4.85085822e-01, 5.04338369e-01, 5.14605914e-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, -1.53752348, -3.36587422, -1.03014787,-27.12820274,
   3.20480814, 47.34191841]

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([ 6.69055744, -5.14134614,  4.28136878, -5.14134614, 32.47171885,
       30.95969569,  4.28136878, 30.95969569, 43.86897395,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006309964450071787
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.39868970e-14,  8.79737939e-14,  1.00000000e+00, -3.86969421e-27,
        1.00000000e+00, -8.79737939e-14, -1.00000000e+00,  0.00000000e+00,
        4.39868970e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10874628, -0.03394734,  0.06198196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.81873922e-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,
 -1.25118556e-05, 2.74822969e-06,-4.90502811e+00,-1.84495150e-03,
  4.91215558e-05,-2.21979619e-03]


--- 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,
  9.36130072e-02,-7.03415257e-02, 1.30618006e-01, 4.95572184e-01,
  4.84963586e-01, 5.04169818e-01, 5.14811932e-01]

qacc:
[-2.54652625e+00,-1.17112298e+00, 8.02126205e+00,-2.39357242e+01,
 -1.88743783e+00,-6.24034069e-01, 2.03433074e+00,-3.88559019e+00,
 -9.28103465e-01,-1.67699108e-01, 7.87376278e-01,-4.75394303e-01,
 -2.42266271e-01, 3.22899647e-02, 7.65436746e+00,-2.67637096e+01,
 -1.50968884e+00,-3.29568135e+00,-1.21637566e+00,-2.65139603e+01,
  3.14973735e+00, 4.63135785e+01]

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: -0.0006277806852517942
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.42122166e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.42122166e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10874647, -0.03394544,  0.06198205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.48573195e-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,
 -1.12873528e-05,-4.88842509e-06,-4.90503449e+00,-1.84330802e-03,
  4.55023767e-05,-2.22082383e-03]


--- 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,
  9.35768786e-02,-7.03466617e-02, 1.30613509e-01, 4.95675624e-01,
  4.84816258e-01, 5.04035999e-01, 5.14982119e-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,  0.08218176,  2.13976314,  1.05004945,  5.38557372,
  -0.24511569,-30.38747396]

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([  6.76652176,   1.59996762,   6.57464223,   1.59996762,
        63.68415053, -13.8511511 ,   6.57464223, -13.8511511 ,
        10.13725928,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006401787989557817
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.33559744e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.33559744e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09224644, -0.08840862,  0.0619817 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -7.97415391e-06,-1.07669437e-05,-4.90505521e+00,-1.84189153e-03,
  3.98819130e-05,-2.22334841e-03]


--- 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,
  9.35410842e-02,-7.03434730e-02, 1.30612079e-01, 4.95804948e-01,
  4.84643676e-01, 5.03935846e-01, 5.15118068e-01]

qacc:
[ 2.00916816e+00, 1.60097028e+00,-8.93918070e+00, 2.23112966e+01,
 -3.78240074e+00, 9.42926268e-01,-7.42256026e+00, 2.16171794e+01,
  2.72001199e+00, 8.63287464e-01,-5.14737029e+00, 1.30034365e+01,
 -6.11040782e-01, 8.25437831e-01,-7.76851507e+00, 2.67768140e+01,
  8.35442420e-02, 2.08116158e+00, 7.66618818e-01, 4.76429177e+00,
  2.35652032e-02,-2.96757478e+01]

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([ 6.81924653,  0.66440524, -6.78680256,  0.66440524, 64.08159876,
        5.60579251, -6.78680256,  5.60579251,  7.36803484,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006465760128858133
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.43905165e-14,  1.28781033e-13,  1.00000000e+00, -8.29227723e-27,
        1.00000000e+00, -1.28781033e-13, -1.00000000e+00,  0.00000000e+00,
        6.43905165e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09224986, -0.08840784,  0.06198151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17585995e-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,
 -1.25833066e-05,-8.43297807e-06,-4.90504789e+00,-1.83679209e-03,
  4.60919606e-05,-2.22315681e-03]


--- 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,
  9.35102389e-02,-7.03548619e-02, 1.30607945e-01, 4.95866998e-01,
  4.84548474e-01, 5.03794963e-01, 5.15285680e-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,  1.23728415, -3.64439026, -0.675696  , 17.01574793,
  -5.40347154, 54.54316091]

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: -0.00065014846957967
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.70764537e-13,  8.53822686e-14,  1.00000000e+00, -1.45802636e-26,
        1.00000000e+00, -8.53822686e-14, -1.00000000e+00,  0.00000000e+00,
        1.70764537e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08123051, -0.03218608,  0.06198141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07307319e-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,
 -1.68866455e-05,-4.89878291e-06,-4.90504579e+00,-1.83196973e-03,
  5.15904963e-05,-2.22229888e-03]


--- 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,
  9.34824354e-02,-7.03576951e-02, 1.30607390e-01, 4.95944688e-01,
  4.84435310e-01, 5.03699363e-01, 5.15410758e-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,  0.76043714,  2.1389496 ,  0.89441741, 14.13904667,
   1.61068617,-30.07019507]

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: -0.0006581725117332793
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.68682679e-13,  8.43413395e-14,  1.00000000e+00, -1.42269231e-26,
        1.00000000e+00, -8.43413395e-14, -1.00000000e+00,  0.00000000e+00,
        1.68682679e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08680106, -0.08867154,  0.06198118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -4.98912668e-06,-6.65129086e-06,-4.90503700e+00,-1.83114849e-03,
  4.55072259e-05,-2.22231596e-03]


--- 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,
  9.34575979e-02,-7.03521988e-02, 1.30609311e-01, 4.96037770e-01,
  4.84304199e-01, 5.03647821e-01, 5.15494758e-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,
  7.41498706e-01, 2.08233885e+00, 6.19391062e-01, 1.35207105e+01,
  1.72344846e+00,-2.93447333e+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: -0.0006621886098674146
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.38298189e-14,  8.38298189e-14,  1.00000000e+00,  7.02743853e-27,
        1.00000000e+00, -8.38298189e-14, -1.00000000e+00,  0.00000000e+00,
       -8.38298189e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08680301, -0.08867119,  0.06198107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.61017494e-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,
 -7.20760281e-06,-4.80941331e-06,-4.90502615e+00,-1.82742679e-03,
  5.04540919e-05,-2.22218049e-03]


--- 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,
  9.34376380e-02,-7.03611133e-02, 1.30608010e-01, 4.96065844e-01,
  4.84248835e-01, 5.03555650e-01, 5.15609786e-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  ,  1.21940845, -3.60269158, -0.80578025, 16.2425469 ,
  -5.71605993, 53.36496087]

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([ 6.96031968,  0.82057491, -6.9117803 ,  0.82057491, 63.57966974,
        6.72191765, -6.9117803 ,  6.72191765,  7.75835386,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006638167460403521
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08122661, -0.03219678,  0.06198103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.51600353e-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,
 -9.15854236e-06,-2.00738655e-06,-4.90502131e+00,-1.82393979e-03,
  5.40664766e-05,-2.22131765e-03]


--- 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,
  9.34206822e-02,-7.03616451e-02, 1.30609547e-01, 4.96109828e-01,
  4.84174409e-01, 5.03507841e-01, 5.15684046e-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,  0.75101469,  2.09567577,  0.70958994, 13.12123989,
   2.04089191,-29.7546707 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006667870950225058
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.66503376e-13,  8.32516881e-14,  1.00000000e+00, -1.38616871e-26,
        1.00000000e+00, -8.32516881e-14, -1.00000000e+00,  0.00000000e+00,
        1.66503376e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08680543, -0.08867101,  0.06198094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.05233471e-06,-3.17772599e-06,-4.90501510e+00,-1.82394982e-03,
  5.02036215e-05,-2.22139008e-03]


--- 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,
  9.34066575e-02,-7.03539949e-02, 1.30612922e-01, 4.96169405e-01,
  4.84081188e-01, 5.03503302e-01, 5.15718673e-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,  0.73277834,  2.04551504,  0.45944082, 12.69732756,
   2.05913515,-29.0578092 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000666998117428777
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.49676048e-13,  4.16126746e-14,  1.00000000e+00, -1.03896881e-26,
        1.00000000e+00, -4.16126746e-14, -1.00000000e+00,  0.00000000e+00,
        2.49676048e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08680603, -0.08867134,  0.06198094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -2.79387535e-06,-2.14104749e-06,-4.90500866e+00,-1.82149961e-03,
  5.31437083e-05,-2.22119849e-03]


--- 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,
  9.33974643e-02,-7.03606502e-02, 1.30612763e-01, 4.96165168e-01,
  4.84062791e-01, 5.03458278e-01, 5.15783970e-01]

qacc:
[ 6.73108335e-01,-4.89699067e-01, 1.38086081e+00,-1.16096016e+00,
  3.00811498e-01,-5.83665182e-01, 1.75667767e+00, 2.80909231e-02,
  4.07782383e+00,-3.59791894e-01, 2.95082676e+00,-9.48131290e+00,
 -1.66387954e-01,-1.34615923e-01,-8.34712671e-01, 2.87875775e+00,
  1.20788915e+00,-3.57637352e+00,-8.83513008e-01, 1.58482906e+01,
 -5.84928160e+00, 5.26996770e+01]

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([ 6.9952472 ,  0.94973217, -6.93047561,  0.94973217, 67.51914084,
        8.2940179 , -6.93047561,  8.2940179 ,  8.13183522,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006681188335856542
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.30857453e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.30857453e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08121947, -0.03220119,  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:
[ 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,
 -4.32078918e-06,-4.90714683e-08,-4.90500781e+00,-1.81920375e-03,
  5.48675604e-05,-2.22025413e-03]


--- 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,
  9.33912922e-02,-7.03593178e-02, 1.30615037e-01, 4.96175852e-01,
  4.84025941e-01, 5.03455985e-01, 5.15810512e-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 ,  0.75525621,  1.99691272,  0.60834067, 12.58577992,
   2.22411142,-28.44996774]

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: -0.0006656644651338727
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.04675074e-07,  4.04675348e-07,  1.00000000e+00,  1.63762026e-13,
        1.00000000e+00, -4.04675348e-07, -1.00000000e+00,  2.52435490e-29,
       -4.04675074e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08673783, -0.08797973,  0.06198097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.38801090e-07,-8.32356680e-07,-4.90500351e+00,-1.82009550e-03,
  5.29725830e-05,-2.22039935e-03]


--- 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,
  9.33898549e-02,-7.03720451e-02, 1.30613135e-01, 4.96123791e-01,
  4.84062450e-01, 5.03414177e-01, 5.15867130e-01]

qacc:
[-9.06595385e-01, 1.81268161e-01,-1.28325344e+00, 4.09492343e+00,
 -4.84062276e+00,-3.93401163e-02, 1.47567519e+00,-6.30852855e+00,
  3.49300875e+00,-1.10523849e+00, 2.77961116e+00,-3.58768867e-01,
 -6.77325156e-01, 1.07300395e+00,-3.10804675e+00, 1.01811233e+01,
  1.18370505e+00,-3.51492417e+00,-1.04413668e+00, 1.56227635e+01,
 -5.64959802e+00, 5.16733608e+01]

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([ 6.97290275,  1.04499266, -6.89415427,  1.04499266, 65.08011924,
        8.80769594, -6.89415427,  8.80769594,  8.3079436 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006653649069672252
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.66859270e-13,  8.34296349e-14,  1.00000000e+00, -1.39210079e-26,
        1.00000000e+00, -8.34296349e-14, -1.00000000e+00,  0.00000000e+00,
        1.66859270e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08121372, -0.03220066,  0.06198098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -6.28839290e-07,-4.06433393e-07,-4.90500084e+00,-1.81884509e-03,
  5.40194011e-05,-2.22010142e-03]


--- 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,
  9.33914475e-02,-7.03764096e-02, 1.30614071e-01, 4.96088076e-01,
  4.84078680e-01, 5.03416535e-01, 5.15883945e-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,  0.75748058,  2.09069718,  0.7096742 , 12.42392002,
   2.43845378,-29.88406047]

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: -0.0006689629991957213
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.29808992e-14,  8.29808992e-14,  1.00000000e+00,  6.88582964e-27,
        1.00000000e+00, -8.29808992e-14, -1.00000000e+00,  0.00000000e+00,
       -8.29808992e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08680628, -0.08867174,  0.06198088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.00427669e-06, 1.87919831e-06,-4.90500539e+00,-1.81980963e-03,
  5.41538262e-05,-2.22102546e-03]


--- 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,
  9.33959964e-02,-7.03726106e-02, 1.30616844e-01, 4.96068287e-01,
  4.84075194e-01, 5.03462001e-01, 5.15861875e-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,
  7.39077821e-01, 2.04085898e+00, 4.59145001e-01, 1.21616762e+01,
  2.35772558e+00,-2.91489250e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006689734535362396
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.22347018e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.22347018e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08680593, -0.08867189,  0.06198088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.32456768e-07, 6.90096583e-07,-4.90500090e+00,-1.81953295e-03,
  5.45225582e-05,-2.22129254e-03]


--- 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,
  9.34034403e-02,-7.03608157e-02, 1.30620595e-01, 4.96064068e-01,
  4.84052460e-01, 5.03549678e-01, 5.15801685e-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,  0.72374179,  1.99899596,  0.24441087, 11.94132484,
   2.28879758,-28.53332238]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006646627903566099
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.35177658e-14, -2.08794414e-14,  1.00000000e+00,  1.74380430e-27,
        1.00000000e+00,  2.08794414e-14, -1.00000000e+00,  0.00000000e+00,
        8.35177658e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08680526, -0.08867322,  0.061981  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.96226453e-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,
 -5.94683853e-07, 6.79184908e-07,-4.90500191e+00,-1.81933874e-03,
  5.37654098e-05,-2.22078741e-03]


--- 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,
  9.34137286e-02,-7.03411641e-02, 1.30624589e-01, 4.96075117e-01,
  4.84010861e-01, 5.03678816e-01, 5.15703999e-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,  0.7111013 ,  1.96417755,  0.0610633 , 11.75855295,
   2.22965633,-28.02249969]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000656939358225278
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08680432, -0.08867549,  0.06198122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.80581855e-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,
 -1.18431054e-06, 1.76226233e-06,-4.90500807e+00,-1.81923898e-03,
  5.19370677e-05,-2.21952826e-03]


--- 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,
  9.34289000e-02,-7.03359025e-02, 1.30625243e-01, 4.96022450e-01,
  4.84044319e-01, 5.03767094e-01, 5.15637025e-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,  1.22078486, -3.59750729, -0.83535304, 15.76670329,
  -6.00934549, 52.83798821]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006605682862218382
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.40354470e-14,  8.40354470e-14,  1.00000000e+00, -7.06195636e-27,
        1.00000000e+00, -8.40354470e-14, -1.00000000e+00,  0.00000000e+00,
        8.40354470e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08119844, -0.03220014,  0.06198112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.64343119e-06, 3.87104190e-06,-4.90501909e+00,-1.81924245e-03,
  4.90796925e-05,-2.21752988e-03]


--- 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,
  9.34488218e-02,-7.03446775e-02, 1.30621661e-01, 4.95907135e-01,
  4.84150855e-01, 5.03816171e-01, 5.15599970e-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,  1.18758575, -3.50913551, -1.05882195, 15.64306033,
  -5.5426696 , 51.46666019]

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([ 6.92773368, -5.20085242,  4.57653013, -5.20085242, 26.83214272,
       22.61973394,  4.57653013, 22.61973394, 32.63321243,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006598160815551174
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.41312493e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.41312493e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0811955 , -0.03220006,  0.06198114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -2.38322808e-06, 1.07019262e-06,-4.90501095e+00,-1.82284312e-03,
  5.06996315e-05,-2.21715783e-03]


--- 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,
  9.34733841e-02,-7.03671903e-02, 1.30613075e-01, 4.95730072e-01,
  4.84328796e-01, 5.03827393e-01, 5.15592156e-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 , 1.16012114,-3.43447374,
 -1.25097114,15.5277714 ,-5.16069788,50.32009819]

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([ 6.8849318 , -5.56528101,  4.0533854 , -5.56528101, 27.4568559 ,
       28.24516481,  4.0533854 , 28.24516481, 45.66542366,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006545787453351021
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.480439e-14,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
        8.480439e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08119237, -0.03219742,  0.06198129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -6.44975858e-06, 4.03047265e-06,-4.90501869e+00,-1.82565920e-03,
  5.43619987e-05,-2.21820439e-03]


--- 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,
  9.35011440e-02,-7.03811173e-02, 1.30608457e-01, 4.95569940e-01,
  4.84485168e-01, 5.03883855e-01, 5.15544001e-01]

qacc:
[ -0.79861992,  0.47338695, -2.09080781,  4.47382933, -0.82279518,
   0.33249105, -2.15169287,  4.18462677,  4.85657312, -3.2998718 ,
  12.38819361,-20.46349748, -0.66558725,  1.07807601, -0.43102497,
   1.24073351,  0.79940178,  2.14644949,  0.99178137, 12.37886538,
   2.73921155,-30.7525932 ]

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: -0.0006589445286338397
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.52727576e-13,  6.31818941e-14,  1.00000000e+00, -1.59678070e-26,
        1.00000000e+00, -6.31818941e-14, -1.00000000e+00,  0.00000000e+00,
        2.52727576e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08680129, -0.08867529,  0.06198116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.65708103e-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,
 -1.35669324e-05, 1.24029667e-05,-4.90504122e+00,-1.82787514e-03,
  5.99857637e-05,-2.22062344e-03]


--- 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,
  9.35320192e-02,-7.03866930e-02, 1.30606645e-01, 4.95426167e-01,
  4.84620883e-01, 5.03984373e-01, 5.15456366e-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 ,  0.77884357,  2.08785445,  0.70166992, 12.22213841,
   2.55590254,-29.87610423]

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: -0.0006644531607978843
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.35441149e-14,  8.35441149e-14,  1.00000000e+00, -6.97961914e-27,
        1.00000000e+00, -8.35441149e-14, -1.00000000e+00,  0.00000000e+00,
        8.35441149e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08680063, -0.08867387,  0.06198101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.30975012e-05, 7.50647990e-06,-4.90503640e+00,-1.83068341e-03,
  5.70492517e-05,-2.22179912e-03]


--- 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,
  9.35646585e-02,-7.03841058e-02, 1.30607082e-01, 4.95303954e-01,
  4.84732083e-01, 5.04122749e-01, 5.15333926e-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,
  4.41013300e-01, 2.04069789e+00, 5.62326747e-01, 7.23036802e+00,
  1.82992407e+00,-2.95293881e+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: -0.0006645977823663748
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.81755286e-09, -1.82712983e-14,  1.00000000e+00,  6.97516471e-23,
        1.00000000e+00,  1.82712983e-14, -1.00000000e+00,  0.00000000e+00,
        3.81755286e-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([ 0.08956358, -0.08853735,  0.061981  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.49642447e-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,
 -1.26111016e-05, 3.95634749e-06,-4.90503746e+00,-1.83350677e-03,
  5.30496546e-05,-2.22219279e-03]


--- 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,
  9.35977840e-02,-7.03735259e-02, 1.30609249e-01, 4.95208238e-01,
  4.84815120e-01, 5.04293076e-01, 5.15181128e-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,  0.12154578,  1.99818671,  0.4325212 ,  2.48821749,
   1.13290986,-29.18825498]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006628367902764831
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.18739213e-14,  4.18739213e-14,  1.00000000e+00,  1.75342529e-27,
        1.00000000e+00, -4.18739213e-14, -1.00000000e+00,  0.00000000e+00,
       -4.18739213e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09225185, -0.08840495,  0.06198105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.69688674e-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,
 -1.11232220e-05, 1.35760138e-06,-4.90504068e+00,-1.83626227e-03,
  4.80497827e-05,-2.22195537e-03]


--- 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,
  9.36313960e-02,-7.03551017e-02, 1.30612346e-01, 4.95138426e-01,
  4.84870744e-01, 5.04494773e-01, 5.14998373e-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 ,  0.12162772,  1.96106837,  0.23225987,  2.56745029,
   1.03499545,-28.60645081]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006571880701873034
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.26701519e-13,  8.44676794e-14,  1.00000000e+00, -1.07021833e-26,
        1.00000000e+00, -8.44676794e-14, -1.00000000e+00,  0.00000000e+00,
        1.26701519e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09225117, -0.08840651,  0.06198121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.50498661e-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,
 -8.75841802e-06,-1.00072430e-07,-4.90504544e+00,-1.83898180e-03,
  4.25837575e-05,-2.22111948e-03]


--- 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,
  9.36654972e-02,-7.03289561e-02, 1.30615688e-01, 4.95094023e-01,
  4.84899576e-01, 5.04727357e-01, 5.14785978e-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,  0.12229882,  1.93036563,  0.06142624,  2.63698648,
   0.95018923,-28.12703092]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006484916330327384
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.56004124e-14,  8.56004124e-14,  1.00000000e+00, -7.32743060e-27,
        1.00000000e+00, -8.56004124e-14, -1.00000000e+00,  0.00000000e+00,
        8.56004124e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09225058, -0.08840892,  0.06198146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.55898679e-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,
 -6.46426459e-06,-1.65142898e-07,-4.90505454e+00,-1.84172548e-03,
  3.68015175e-05,-2.21956802e-03]


--- 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,
  9.36930082e-02,-7.03173740e-02, 1.30617763e-01, 4.95023015e-01,
  4.84947473e-01, 5.04882326e-01, 5.14657168e-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, -1.64753845, -3.64088633, -0.31675124,-29.90140745,
   2.85880084, 51.16841392]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000645758885397682
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.59626596e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.59626596e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10868736, -0.03393942,  0.06198154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.65863532e-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,
 -4.21324544e-06, 1.07412795e-06,-4.90506777e+00,-1.84450952e-03,
  3.06889763e-05,-2.21731248e-03]


--- 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,
  9.37141295e-02,-7.03199099e-02, 1.30617415e-01, 4.94925878e-01,
  4.85013849e-01, 5.04962557e-01, 5.14609325e-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,
 -1.59743750e+00,-3.52950237e+00,-6.05848289e-01,-2.87623949e+01,
  2.97503387e+00, 4.95500732e+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([ 6.89735812, -3.80250318,  5.75452158, -3.80250318, 33.08144443,
       17.30205891,  5.75452158, 17.30205891, 18.33030404,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006560973040944384
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.23040537e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.23040537e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10868346, -0.03394432,  0.06198125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.67322927e-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,
 -5.53743780e-06, 1.43932114e-06,-4.90503230e+00,-1.84768216e-03,
  3.81853149e-05,-2.21591846e-03]


--- 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,
  9.37290332e-02,-7.03361838e-02, 1.30613642e-01, 4.94803026e-01,
  4.85098196e-01, 5.04970453e-01, 5.14640211e-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, -1.55437585, -3.43450106, -0.85606179,-27.80668834,
   3.06057749, 48.17888139]

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([ 6.92760015, -4.13903965,  5.55517728, -4.13903965, 38.56569474,
       23.57284409,  5.55517728, 23.57284409, 24.49120459,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000659799712193293
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.41333365e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.41333365e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10868141, -0.03394581,  0.06198114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -4.57816317e-06, 3.70172674e-06,-4.90501496e+00,-1.85103967e-03,
  4.28779079e-05,-2.21613438e-03]


--- 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,
  9.37378666e-02,-7.03658737e-02, 1.30605582e-01, 4.94654804e-01,
  4.85200077e-01, 5.04907998e-01, 5.14747923e-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, -1.51759549, -3.35399511, -1.07193495,-27.00867609,
   3.12271916, 47.02550059]

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([ 6.91399935, -4.45220598,  5.28973052, -4.45220598, 43.21455683,
       30.55307985,  5.28973052, 30.55307985, 32.62960135,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006581334233976
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.68692697e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.68692697e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10868082, -0.03394457,  0.06198119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.47878550e-06, 7.67665470e-06,-4.90501403e+00,-1.85459566e-03,
  4.50866484e-05,-2.21791508e-03]


--- 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,
  9.37470810e-02,-7.03868741e-02, 1.30602417e-01, 4.94533033e-01,
  4.85277017e-01, 5.04880991e-01, 5.14818881e-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,  0.09525155,  2.1723774 ,  1.22381335,  5.81659161,
  -0.40792025,-30.79391095]

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([  6.89047437,   1.65709006,   6.68825011,   1.65709006,
        61.75735582, -13.59389411,   6.68825011, -13.59389411,
        10.25851629,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006552558828482186
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.47167537e-14,  4.23583768e-14,  1.00000000e+00, -3.58846418e-27,
        1.00000000e+00, -4.23583768e-14, -1.00000000e+00,  0.00000000e+00,
        8.47167537e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09226138, -0.08841033,  0.06198127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
  3.65049144e-06, 1.32414322e-05,-4.90502815e+00,-1.85835627e-03,
  4.50582073e-05,-2.22122115e-03]


--- 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,
  9.37567036e-02,-7.03994484e-02, 1.30602905e-01, 4.94437232e-01,
  4.85329017e-01, 5.04888280e-01, 5.14854730e-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,
  1.02036054e-01, 2.10650368e+00, 9.13233780e-01, 5.22289536e+00,
 -1.74372611e-01,-2.99838509e+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([ 6.95864512,  0.5658905 , -6.9355973 ,  0.5658905 , 57.98344756,
        4.16322483, -6.9355973 ,  4.16322483,  7.29833171,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006636108584111983
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.36501551e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.36501551e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09226506, -0.08840909,  0.06198103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.65701172e-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,
  1.69031417e-06, 8.32260611e-06,-4.90501510e+00,-1.85698109e-03,
  4.52443778e-05,-2.22296504e-03]


--- 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,
  9.37667556e-02,-7.04038204e-02, 1.30605974e-01, 4.94366968e-01,
  4.85356129e-01, 5.04928892e-01, 5.14856819e-01]

qacc:
[ 1.34058338e-01,-2.12569258e-02,-8.06142304e-01, 5.00508986e+00,
 -3.01198052e+00,-1.81747840e+00, 8.59978803e+00,-1.78517575e+01,
 -2.73911415e+00,-1.88841387e+00, 7.25162146e+00,-1.22404051e+01,
  7.66473177e-02,-6.88015486e-01, 5.87545181e+00,-2.01288124e+01,
  1.07362325e-01, 2.05059104e+00, 6.45130884e-01, 4.75140704e+00,
  5.93611543e-03,-2.92893716e+01]

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([ 6.97878001,  0.96523384, -6.91170703,  0.96523384, 74.68997516,
        9.45600507, -6.91170703,  9.45600507,  8.2993302 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006660886725547988
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.25008472e-13,  4.16694905e-14,  1.00000000e+00, -5.20903932e-27,
        1.00000000e+00, -4.16694905e-14, -1.00000000e+00,  0.00000000e+00,
        1.25008472e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0922679 , -0.08840927,  0.06198096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
  2.00829604e-07, 4.89293016e-06,-4.90500716e+00,-1.85597142e-03,
  4.47686771e-05,-2.22398208e-03]


--- 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,
  9.37772540e-02,-7.04001783e-02, 1.30610702e-01, 4.94321856e-01,
  4.85358434e-01, 5.05002010e-01, 5.14826246e-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,  0.11159637,  2.00352807,  0.41492408,  4.37790717,
   0.14453121,-28.69947771]

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: -0.0006638199215679569
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04529763e-13,  4.18119052e-14,  1.00000000e+00, -4.37058854e-27,
        1.00000000e+00, -4.18119052e-14, -1.00000000e+00,  0.00000000e+00,
        1.04529763e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09227007, -0.08841058,  0.06198103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.75385734e-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,
 -9.35940805e-07, 2.87959773e-06,-4.90500396e+00,-1.85524857e-03,
  4.37098195e-05,-2.22428000e-03]


--- 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,
  9.37882124e-02,-7.03886792e-02, 1.30616303e-01, 4.94301561e-01,
  4.85336026e-01, 5.05106951e-01, 5.14763903e-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,  0.11501871,  1.96426286,  0.21812558,  4.08305982,
   0.25043078,-28.20338124]

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: -0.0006577722691539917
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.68785319e-13,  8.43926596e-14,  1.00000000e+00,  1.42442420e-26,
        1.00000000e+00, -8.43926596e-14, -1.00000000e+00,  0.00000000e+00,
       -1.68785319e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09227172, -0.0884128 ,  0.0619812 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.82979629e-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,
 -1.80615670e-06, 2.21641510e-06,-4.90500519e+00,-1.85475497e-03,
  4.21252717e-05,-2.22386707e-03]


--- 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,
  9.37996423e-02,-7.03694527e-02, 1.30622105e-01, 4.94305794e-01,
  4.85289000e-01, 5.05243149e-01, 5.14670504e-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,  0.11784433,  1.9318338 ,  0.05053008,  3.85143517,
   0.33069407,-27.79097791]

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: -0.0006487695392605186
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.71127489e-13,  4.27818724e-14,  1.00000000e+00, -7.32115441e-27,
        1.00000000e+00, -4.27818724e-14, -1.00000000e+00,  0.00000000e+00,
        1.71127489e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09227294, -0.08841572,  0.06198145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.21226791e-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,
 -2.47243190e-06, 2.84499889e-06,-4.90501061e+00,-1.85444864e-03,
  4.00566121e-05,-2.22275130e-03]


--- 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,
  9.38048959e-02,-7.03641564e-02, 1.30624891e-01, 4.94285771e-01,
  4.85260189e-01, 5.05304581e-01, 5.14656589e-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, -1.54405708, -3.48255101, -0.7543798 ,-28.93169944,
   2.24792698, 48.62970585]

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: -0.0006483283659623196
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  8.5621969e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -8.5621969e-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([ 0.1086668 , -0.0339347 ,  0.06198147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.32168858e-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,
 -2.98000314e-06, 4.71488712e-06,-4.90502004e+00,-1.85429910e-03,
  3.75335139e-05,-2.22093995e-03]


--- 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,
  9.38041090e-02,-7.03724401e-02, 1.30623753e-01, 4.94241523e-01,
  4.85249141e-01, 5.05293719e-01, 5.14720164e-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, -1.51011396, -3.39500371, -0.98073672,-27.9134356 ,
   2.48404429, 47.41336543]

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([ 6.84484776, -2.30789527,  6.44403293, -2.30789527, 41.0818566 ,
       12.2617981 ,  6.44403293, 12.2617981 , 11.23634392,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006496904699254263
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.54424588e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.54424588e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10866383, -0.03393459,  0.06198143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.69887259e-06, 1.63769831e-06,-4.90500264e+00,-1.85693909e-03,
  4.03470116e-05,-2.22103315e-03]


--- 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,
  9.37973976e-02,-7.03940077e-02, 1.30617912e-01, 4.94173097e-01,
  4.85255462e-01, 5.05212584e-01, 5.14859526e-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, -1.48114585, -3.32095962, -1.17586169,-27.07454389,
   2.66026673, 46.38921902]

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([ 6.81689753, -2.75246491,  6.23650775, -2.75246491, 48.81977157,
       18.53784864,  6.23650775, 18.53784864, 14.99852415,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000646290531933158
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.58919456e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.58919456e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10866249, -0.03393214,  0.06198153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.39105405e-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,
  1.47057727e-06, 3.79220804e-07,-4.90500131e+00,-1.85957603e-03,
  4.07602480e-05,-2.22261107e-03]


--- 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,
  9.37860320e-02,-7.04066519e-02, 1.30615177e-01, 4.94153899e-01,
  4.85219239e-01, 5.05147062e-01, 5.14976367e-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, -1.16354324,  2.23084763,  0.77647513,-12.7478254 ,
  -3.08953981,-32.77260615]

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([ 6.82932265,  0.48652606,  6.81197037,  0.48652606, 53.78854204,
       -3.35393178,  6.81197037, -3.35393178,  7.06886791,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006478011229383118
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.67417701e-07, -1.67417781e-07,  1.00000000e+00,  2.80287000e-14,
        1.00000000e+00,  1.67417781e-07, -1.00000000e+00,  0.00000000e+00,
        1.67417701e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10259348, -0.08985239,  0.06198148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.45734373e-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,
  6.49986590e-06, 7.97632296e-07,-4.90501478e+00,-1.86227547e-03,
  3.90066052e-05,-2.22565496e-03]


--- 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,
  9.37750544e-02,-7.04109634e-02, 1.30615557e-01, 4.94160041e-01,
  4.85159076e-01, 5.05115376e-01, 5.15058231e-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 ,  0.09700319,  2.08315857,  0.77896471,  5.48384818,
  -0.36200994,-29.42209911]

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: -0.000653764838961679
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.49099675e-14,  1.69819935e-13,  1.00000000e+00,  1.44194052e-26,
        1.00000000e+00, -1.69819935e-13, -1.00000000e+00,  0.00000000e+00,
       -8.49099675e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09228964, -0.08841934,  0.06198131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  2.28683080e-06,-2.89639625e-06,-4.90500880e+00,-1.85819681e-03,
  4.05374107e-05,-2.22689037e-03]


--- 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,
  9.37644813e-02,-7.04071489e-02, 1.30618066e-01, 4.94191226e-01,
  4.85074780e-01, 5.05116622e-01, 5.15106482e-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,  0.10113525,  2.03150732,  0.53210525,  4.93250387,
  -0.12633774,-28.83773931]

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([ 6.88478113,  0.3717047 , -6.87473977,  0.3717047 , 70.83920563,
        3.45789964, -6.87473977,  3.45789964,  7.07174349,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006545603422036805
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06008468e-13,  4.24033872e-14,  1.00000000e+00,  4.49511811e-27,
        1.00000000e+00, -4.24033872e-14, -1.00000000e+00,  0.00000000e+00,
       -1.06008468e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09229284, -0.08842017,  0.06198129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -7.89249505e-07,-2.75291939e-06,-4.90500433e+00,-1.85510776e-03,
  4.27157109e-05,-2.22685609e-03]


--- 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,
  9.37543243e-02,-7.03953814e-02, 1.30621857e-01, 4.94247183e-01,
  4.84966224e-01, 5.05150043e-01, 5.15122236e-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,  0.10401727,  1.98826257,  0.32026689,  4.49148903,
   0.05992287,-28.3413119 ]

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: -0.0006510926010171308
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0922953 , -0.08842197,  0.06198139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.34181356e-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,
 -3.53473307e-06,-1.37483225e-06,-4.90500450e+00,-1.85231406e-03,
  4.42687468e-05,-2.22614408e-03]


--- 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,
  9.37445912e-02,-7.03758042e-02, 1.30626204e-01, 4.94327675e-01,
  4.84833322e-01, 5.05215006e-01, 5.15106394e-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,  0.10595989,  1.95240071,  0.13923571,  4.13863617,
   0.20747068,-27.92478326]

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: -0.0006442475415874283
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.61643198e-14,  8.61643198e-14,  1.00000000e+00, -7.42429001e-27,
        1.00000000e+00, -8.61643198e-14, -1.00000000e+00,  0.00000000e+00,
        8.61643198e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09229718, -0.08842452,  0.06198158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.64866560e-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,
 -6.03309132e-06, 1.21203542e-06,-4.90500904e+00,-1.84975048e-03,
  4.52631883e-05,-2.22475298e-03]


--- 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,
  9.37352869e-02,-7.03485351e-02, 1.30630491e-01, 4.94432495e-01,
  4.84676011e-01, 5.05310988e-01, 5.15059683e-01]

qacc:
[ 2.79127657e+00,-1.31657106e+00, 2.83169119e+00, 1.19931456e+00,
 -8.27437372e-02, 3.52741607e-01,-1.90113537e+00, 4.81543115e+00,
  2.72479358e+00,-1.11911482e+00, 4.86053399e+00,-9.16676601e+00,
  7.51688723e-01,-2.05087231e+00,-3.83427169e+00, 1.25564648e+01,
  1.07201301e-01, 1.92299793e+00,-1.49024028e-02, 3.85630436e+00,
  3.24697208e-01,-2.75804036e+01]

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: -0.00063477858900024
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.74496276e-14,  4.37248138e-14,  1.00000000e+00, -3.82371869e-27,
        1.00000000e+00, -4.37248138e-14, -1.00000000e+00,  0.00000000e+00,
        8.74496276e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0922986 , -0.08842767,  0.06198185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.61949318e-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,
 -8.34571576e-06, 4.98153466e-06,-4.90501772e+00,-1.84736848e-03,
  4.57488774e-05,-2.22268318e-03]


--- 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,
  9.37197901e-02,-7.03352369e-02, 1.30631865e-01, 4.94513740e-01,
  4.84536902e-01, 5.05331359e-01, 5.15092583e-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, -1.548107  , -3.49274665, -0.7283636 ,-29.37363258,
   1.86892008, 48.67382136]

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: -0.0006387756419160423
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73804847e-13,  8.69024233e-14,  1.00000000e+00, -1.51040624e-26,
        1.00000000e+00, -8.69024233e-14, -1.00000000e+00,  0.00000000e+00,
        1.73804847e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10864374, -0.03392268,  0.06198174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.72510593e-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,
 -1.05177087e-05, 9.90910710e-06,-4.90503040e+00,-1.84513178e-03,
  4.57629665e-05,-2.21993592e-03]


--- 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,
  9.36982256e-02,-7.03355522e-02, 1.30629411e-01, 4.94571372e-01,
  4.84415532e-01, 5.05278678e-01, 5.15203074e-01]

qacc:
[  2.78616002,  0.30009597, -2.33063261,  6.97317493,  1.89022967,
   0.524029  , -1.58430593,  2.28879651,  3.98896725,  2.62002505,
 -13.12835449, 29.38373758, -0.48608058,  0.25075763, 17.56155606,
 -59.78266877, -1.51694368, -3.40335681, -0.9569773 ,-28.31192528,
   2.13322045, 47.44755223]

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([ 6.77602477, -1.93309369,  6.49443304, -1.93309369, 38.73450738,
        9.51256879,  6.49443304,  9.51256879,  9.6074785 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006413302434648965
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10863999, -0.03392307,  0.06198167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.62863671e-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,
 -9.63559010e-06, 1.09674944e-06,-4.90501563e+00,-1.84608858e-03,
  4.60234569e-05,-2.21969256e-03]


--- 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,
  9.36706993e-02,-7.03491776e-02, 1.30622340e-01, 4.94605394e-01,
  4.84311502e-01, 5.05155032e-01, 5.15389433e-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, -1.49043579, -3.32752436, -1.15444124,-27.44141077,
   2.32481073, 46.4111655 ]

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([ 6.75669028, -2.38084479,  6.32332521, -2.38084479, 46.75106591,
       15.0585962 ,  6.32332521, 15.0585962 , 12.4265205 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006389882411298592
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.30310265e-13,  8.68735098e-14,  1.00000000e+00, -1.13205101e-26,
        1.00000000e+00, -8.68735098e-14, -1.00000000e+00,  0.00000000e+00,
        1.30310265e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10863802, -0.03392106,  0.06198173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.53601744e-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,
 -6.90313512e-06,-5.79818370e-06,-4.90501690e+00,-1.84691967e-03,
  4.39031523e-05,-2.22092649e-03]


--- 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,
  9.36373005e-02,-7.03758571e-02, 1.30609969e-01, 4.94615838e-01,
  4.84224462e-01, 5.04962106e-01, 5.15650186e-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,
 -1.46813144e+00,-3.26354263e+00,-1.32476212e+00,-2.67321283e+01,
  2.45923484e+00, 4.55422233e+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([ 6.70501219, -2.85415495,  6.06720595, -2.85415495, 54.34189385,
       22.40949832,  6.06720595, 22.40949832, 17.24696199,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006327409032905323
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.75462503e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.75462503e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10863746, -0.03391714,  0.06198191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19177970e-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,
 -2.33093972e-06,-1.09324351e-05,-4.90503298e+00,-1.84770780e-03,
  3.96343461e-05,-2.22361670e-03]


--- 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,
  9.36041241e-02,-7.03936573e-02, 1.30603266e-01, 4.94652588e-01,
  4.84113673e-01, 5.04805239e-01, 5.15872504e-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,  0.05562126,  2.21984642,  1.4168693 ,  6.75854051,
  -0.90681859,-31.01419766]

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([  6.86439184,   1.70655628,   6.64887517,   1.70655628,
        54.67293903, -12.27094422,   6.64887517, -12.27094422,
        10.01395569,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006520719910194789
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.38478021e-14,  8.51304028e-14,  1.00000000e+00,  5.43538911e-27,
        1.00000000e+00, -8.51304028e-14, -1.00000000e+00,  0.00000000e+00,
       -6.38478021e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09231897, -0.08842885,  0.06198136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.06540491e-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,
  4.06975651e-06,-1.44090063e-05,-4.90506290e+00,-1.84850515e-03,
  3.33893888e-05,-2.22774100e-03]


--- 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,
  9.35711951e-02,-7.04028696e-02, 1.30600876e-01, 4.94715300e-01,
  4.83978662e-01, 5.04683123e-01, 5.16058497e-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,  0.06181934,  2.14695443,  1.07847395,  5.85717977,
  -0.50329327,-30.20631583]

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([ 6.96059358, -0.21674429, -6.95721818, -0.21674429, 40.52662947,
       -1.04571199, -6.95721818, -1.04571199,  6.99317155,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006638504249071031
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.27149759e-14,  1.25429952e-13,  1.00000000e+00,  7.86633641e-27,
        1.00000000e+00, -1.25429952e-13, -1.00000000e+00,  0.00000000e+00,
       -6.27149759e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09232432, -0.08842716,  0.06198102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.92823502e-06,-1.39773034e-05,-4.90504809e+00,-1.84215540e-03,
  4.01476848e-05,-2.22838300e-03]


--- 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,
  9.35397988e-02,-7.04036300e-02, 1.30601753e-01, 4.94798415e-01,
  4.83823408e-01, 5.04600040e-01, 5.16205616e-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,  0.38319601,  2.11299535,  0.81644452,  9.93647635,
   0.3233071 ,-29.433736  ]

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([ 6.99928125,  1.90495703, -6.73506323,  1.90495703, 54.10061006,
       13.32222195, -6.73506323, 13.32222195, 10.76736173,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006686166950332594
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.80479642e-13,  1.14767041e-06,  1.00000000e+00,  2.07131145e-19,
        1.00000000e+00, -1.14767041e-06, -1.00000000e+00,  0.00000000e+00,
       -1.80479642e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08973027, -0.08856239,  0.06198089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.40887916e-06,-1.24088518e-05,-4.90503904e+00,-1.83628328e-03,
  4.60365767e-05,-2.22840793e-03]


--- 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,
  9.35112766e-02,-7.03960517e-02, 1.30604898e-01, 4.94896078e-01,
  4.83652304e-01, 5.04560590e-01, 5.16310887e-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,  0.71852034,  2.08466845,  0.56708415, 14.37952739,
   1.09166817,-28.6626006 ]

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([ 7.01388876,  2.54714988, -6.53503352,  2.54714988, 59.83924219,
       20.58965612, -6.53503352, 20.58965612, 15.03908711,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000670421242625549
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.28004062e-14, -2.07001016e-14,  1.00000000e+00,  1.71397682e-27,
        1.00000000e+00,  2.07001016e-14, -1.00000000e+00,  0.00000000e+00,
        8.28004062e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08688004, -0.08871218,  0.06198084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.16685323e-05,-9.38381378e-06,-4.90503231e+00,-1.83088584e-03,
  5.11170651e-05,-2.22767127e-03]


--- 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,
  9.34855764e-02,-7.03803309e-02, 1.30609386e-01, 4.95008245e-01,
  4.83464943e-01, 5.04563797e-01, 5.16375698e-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,  0.70548614,  2.03562596,  0.33589674, 13.68977667,
   1.30855741,-28.17308691]

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([ 6.99351519, -0.39608785, -6.98228967, -0.39608785, 76.4008938 ,
       -3.93730721, -6.98228967, -3.93730721,  7.21686879,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006679051420215021
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.31123280e-14,  2.59726025e-15,  1.00000000e+00, -2.15864346e-28,
        1.00000000e+00, -2.59726025e-15, -1.00000000e+00,  0.00000000e+00,
        8.31123280e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08688237, -0.08871422,  0.06198091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.46876985e-05,-5.18287359e-06,-4.90502810e+00,-1.82590120e-03,
  5.49649858e-05,-2.22615095e-03]


--- 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,
  9.34626517e-02,-7.03566302e-02, 1.30614428e-01, 4.95134865e-01,
  4.83261010e-01, 5.04608840e-01, 5.16401182e-01]

qacc:
[ -1.76927739,  1.38977157, -4.10866473,  3.87117138,  0.4640973 ,
   2.1100993 , -6.38290014,  5.56130782, -0.27427058, -0.39100793,
   3.33203895,-10.1406416 ,  0.07017969, -0.42753497, -4.42983088,
  15.43964669,  0.69388816,  1.99497237,  0.13827512, 13.12696493,
   1.4807952 ,-27.75899069]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006615699171268474
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.39082156e-14,  2.62213174e-15,  1.00000000e+00,  2.20018395e-28,
        1.00000000e+00, -2.62213174e-15, -1.00000000e+00,  0.00000000e+00,
       -8.39082156e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08688381, -0.08871705,  0.06198109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.02407324e-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,
 -1.74644301e-05,-2.22013195e-07,-4.90502940e+00,-1.82121327e-03,
  5.75684990e-05,-2.22397696e-03]


--- 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,
  9.34449274e-02,-7.03477461e-02, 1.30617370e-01, 4.95197542e-01,
  4.83135483e-01, 5.04608829e-01, 5.16458546e-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 ,  1.30008736, -3.70414959, -0.5247278 , 15.1851047 ,
  -7.56257966, 55.07141616]

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([ 7.00230137,  0.72023627, -6.96516218,  0.72023627, 50.59099403,
        4.50731175, -6.96516218,  4.50731175,  7.46838232,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006689895597896955
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.29776047e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.29776047e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08109344, -0.0322672 ,  0.06198088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.00459140e-05, 5.52422849e-06,-4.90503588e+00,-1.81676755e-03,
  5.90154546e-05,-2.22113716e-03]


--- 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,
  9.34322118e-02,-7.03532608e-02, 1.30617137e-01, 4.95197338e-01,
  4.83085845e-01, 5.04566218e-01, 5.16546798e-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,  1.25218768, -3.59971498, -0.79388203, 15.1861057 ,
  -6.81749674, 53.32370395]

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([ 7.04301693, -4.33050009,  5.55435473, -4.33050009, 20.86099577,
       10.77330517,  5.55435473, 10.77330517, 15.44251629,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006740281466864478
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.64714638e-13,  8.23573192e-14,  1.00000000e+00, -1.35654561e-26,
        1.00000000e+00, -8.23573192e-14, -1.00000000e+00,  0.00000000e+00,
        1.64714638e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0810891 , -0.03227119,  0.06198074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.87619088e-06,-1.62160516e-06,-4.90501181e+00,-1.82044235e-03,
  5.40106402e-05,-2.21921182e-03]


--- 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,
  9.34243445e-02,-7.03728195e-02, 1.30612802e-01, 4.95135189e-01,
  4.83109970e-01, 5.04482985e-01, 5.16665094e-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,  1.21206387, -3.51097834, -1.02565494, 15.15500913,
  -6.22464818, 51.85789215]

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([ 7.03676753, -4.66264882,  5.27027544, -4.66264882, 24.58376764,
       15.52395131,  5.27027544, 15.52395131, 20.77091371,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006732533075943792
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.24521033e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.24521033e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08108483, -0.03227171,  0.06198076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.31702635e-07,-2.64969620e-06,-4.90500502e+00,-1.82278989e-03,
  5.12932173e-05,-2.21887925e-03]


--- 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,
  9.34211914e-02,-7.04061222e-02, 1.30603567e-01, 4.95011904e-01,
  4.83206068e-01, 5.04360717e-01, 5.16812711e-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,  1.17856194, -3.43602467, -1.22484847, 15.1057773 ,
  -5.75293527, 50.63642906]

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([ 6.99284638, -5.00862856,  4.87991192, -5.00862856, 27.73049693,
       21.28464419,  4.87991192, 21.28464419, 28.83891215,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006678226356013894
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.31225961e-14,  8.31225961e-14,  1.00000000e+00, -6.90936599e-27,
        1.00000000e+00, -8.31225961e-14, -1.00000000e+00,  0.00000000e+00,
        8.31225961e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08108061, -0.03226946,  0.06198091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.46683064e-06, 1.98187113e-06,-4.90501405e+00,-1.82413665e-03,
  5.07452724e-05,-2.22005982e-03]


--- 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,
  9.34211821e-02,-7.04305483e-02, 1.30599753e-01, 4.94905752e-01,
  4.83281476e-01, 5.04285599e-01, 5.16917156e-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,  0.78594829,  2.21918436,  1.35543232, 13.81069242,
   2.2657399 ,-31.72173368]

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: -0.0006805502647161954
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.63136080e-13,  1.04509051e-13,  1.00000000e+00,  1.70491970e-26,
        1.00000000e+00, -1.04509051e-13, -1.00000000e+00,  0.00000000e+00,
       -1.63136080e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08689155, -0.08871415,  0.06198055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.49128937e-06, 1.19374266e-05,-4.90503780e+00,-1.82471642e-03,
  5.22668399e-05,-2.22268999e-03]


--- 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,
  9.34242247e-02,-7.04463816e-02, 1.30599979e-01, 4.94816199e-01,
  4.83336806e-01, 5.04256068e-01, 5.16979960e-01]

qacc:
[  2.05295738,  2.29919955, -9.79232549, 18.00327732, -2.62434864,
  -0.78238263,  4.7673188 ,-14.52008153,  4.90799402, -3.54305838,
  12.18014   ,-13.7826568 , -0.27068905,  0.07773024,  4.33352799,
 -14.99296522,  0.76298504,  2.1481837 ,  1.00981176, 13.30293574,
   2.22196862,-30.67279496]

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: -0.0006909567083399071
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.03395503e-14,  2.25954985e-14,  1.00000000e+00, -1.81531219e-27,
        1.00000000e+00, -2.25954985e-14, -1.00000000e+00,  0.00000000e+00,
        8.03395503e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08689297, -0.08871148,  0.06198025])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.38621080e-06, 7.59376260e-06,-4.90502007e+00,-1.82391474e-03,
  5.48306805e-05,-2.22468014e-03]


--- 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,
  9.34302412e-02,-7.04538643e-02, 1.30603052e-01, 4.94742786e-01,
  4.83372586e-01, 5.04270795e-01, 5.17002402e-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,  0.74345684,  2.08764763,  0.711617  , 12.87876886,
   2.17983639,-29.78269283]

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: -0.0006946927920589846
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.99074812e-14,  3.99537406e-14,  1.00000000e+00,  3.19260278e-27,
        1.00000000e+00, -3.99537406e-14, -1.00000000e+00,  0.00000000e+00,
       -7.99074812e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08689367, -0.08871064,  0.06198015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.55367660e-06, 4.61851063e-06,-4.90500897e+00,-1.82326038e-03,
  5.60620016e-05,-2.22587139e-03]


--- 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,
  9.34391658e-02,-7.04532011e-02, 1.30607947e-01, 4.94685122e-01,
  4.83389264e-01, 5.04328656e-01, 5.16985548e-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,  0.7270327 ,  2.03646879,  0.45572729, 12.52688654,
   2.13978682,-29.03250657]

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: -0.0006930340545697466
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.00987352e-14,  1.60197470e-13,  1.00000000e+00,  1.28316148e-26,
        1.00000000e+00, -1.60197470e-13, -1.00000000e+00,  0.00000000e+00,
       -8.00987352e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0868938 , -0.08871126,  0.0619802 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.40080452e-08, 2.89522359e-06,-4.90500388e+00,-1.82275115e-03,
  5.60663661e-05,-2.22628635e-03]


--- 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,
  9.34509440e-02,-7.04445637e-02, 1.30613791e-01, 4.94642870e-01,
  4.83387220e-01, 5.04428705e-01, 5.16930274e-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,  0.71338005,  1.99356723,  0.23708579, 12.23733686,
   2.1019692 ,-28.40485023]

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: -0.0006870708687580218
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.07939235e-14,  1.61587847e-13,  1.00000000e+00,  1.30553162e-26,
        1.00000000e+00, -1.61587847e-13, -1.00000000e+00,  0.00000000e+00,
       -8.07939235e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08689348, -0.08871306,  0.06198037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.43674742e-06, 2.32802031e-06,-4.90500431e+00,-1.82238553e-03,
  5.49257889e-05,-2.22594417e-03]


--- 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,
  9.34655308e-02,-7.04280945e-02, 1.30619838e-01, 4.94615748e-01,
  4.83366771e-01, 5.04570152e-01, 5.16837293e-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,  0.70218375,  1.95793858,  0.05094386, 12.00150327,
   2.06635214,-27.88419102]

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: -0.0006777305338207251
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.19074078e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.19074078e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08689279, -0.08871577,  0.06198063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.39657088e-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,
 -2.64839603e-06, 2.83807436e-06,-4.90500987e+00,-1.82216249e-03,
  5.27032575e-05,-2.22486087e-03]


--- 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,
  9.34828903e-02,-7.04039106e-02, 1.30625458e-01, 4.94603518e-01,
  4.83328178e-01, 5.04752343e-01, 5.16707175e-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,  0.69315528,  1.9286752 , -0.10702486, 11.81200601,
   2.03279652,-27.45689698]

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: -0.000665797882595201
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.51370154e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.51370154e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08689183, -0.08871918,  0.06198097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.69813221e-06, 4.36045683e-06,-4.90502028e+00,-1.82208134e-03,
  4.94463953e-05,-2.22304976e-03]


--- 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,
  9.35029939e-02,-7.03721068e-02, 1.30630114e-01, 4.94605978e-01,
  4.83271653e-01, 5.04974740e-01, 5.16540365e-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,
  6.86036039e-01, 1.90497169e+00,-2.40687763e-01, 1.16625680e+01,
  2.00110215e+00,-2.71111392e+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: -0.0006519339630502996
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.70296853e-13,  4.52351017e-14,  1.00000000e+00, -7.70339547e-27,
        1.00000000e+00, -4.52351017e-14, -1.00000000e+00,  0.00000000e+00,
        1.70296853e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08689065, -0.08872313,  0.06198137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.04863788e-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,
 -4.60153686e-06, 6.84140470e-06,-4.90503532e+00,-1.82214168e-03,
  4.51903925e-05,-2.22052171e-03]


--- 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,
  9.35258200e-02,-7.03327585e-02, 1.30633357e-01, 4.94622961e-01,
  4.83197363e-01, 5.05236906e-01, 5.16337200e-01]

qacc:
[  2.16498276, -0.93280159,  4.34618846,-10.60001806,  6.34123533,
  -2.36434075,  8.14993449,-11.07603757,  4.52597538, -2.91008009,
  10.83816021,-17.42862226, -0.8285116 ,  1.15562974, 14.7361349 ,
 -49.85754038,  0.68059738,  1.88612154, -0.35346048, 11.54787161,
   1.97103709,-26.83672463]

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: -0.0006366926710173748
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.61560186e-13,  8.99113141e-14,  1.00000000e+00, -2.35172201e-26,
        1.00000000e+00, -8.99113141e-14, -1.00000000e+00,  0.00000000e+00,
        2.61560186e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08688932, -0.08872745,  0.0619818 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.26447181e-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,
 -5.37143983e-06, 1.02360071e-05,-4.90505485e+00,-1.82234342e-03,
  3.99603296e-05,-2.21728550e-03]


--- 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,
  9.35539037e-02,-7.03083011e-02, 1.30634590e-01, 4.94575700e-01,
  4.83201065e-01, 5.05454956e-01, 5.16165570e-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,  1.31444007, -3.72270775, -0.50257237, 15.45376433,
  -7.19690788, 54.74511813]

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([ 6.81980469,  0.90763504, -6.75913712,  0.90763504, 66.45355998,
        8.00778044, -6.75913712,  8.00778044,  7.8951109 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006466438543197561
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08103156, -0.03226466,  0.06198152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.51557371e-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,
 -6.01858481e-06, 1.45062662e-05,-4.90507875e+00,-1.82268673e-03,
  3.37730139e-05,-2.21334808e-03]


--- 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,
  9.35870735e-02,-7.02982995e-02, 1.30632734e-01, 4.94465154e-01,
  4.83280343e-01, 5.05631290e-01, 5.16024535e-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, 1.27149153,-3.61396534,
 -0.77214446,15.48038387,-6.43492505,53.07754296]

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([ 6.8749297 , -3.81128585,  5.72177931, -3.81128585, 24.67628305,
       11.85750837,  5.72177931, 11.85750837, 14.77323395,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006533575515468848
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.69925797e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.69925797e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0810278 , -0.03226886,  0.06198133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -6.26532833e-06, 5.66134089e-06,-4.90505396e+00,-1.83031734e-03,
  3.64313365e-05,-2.21149458e-03]


--- 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,
  9.36251872e-02,-7.03023834e-02, 1.30626859e-01, 4.94292163e-01,
  4.83433141e-01, 5.05767867e-01, 5.15913287e-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,  1.23598101, -3.5213668 , -1.00477538, 15.47758088,
  -5.81352311, 51.66975142]

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([ 6.88166066, -4.19951845,  5.45172433, -4.19951845, 29.13153166,
       17.13930092,  5.45172433, 17.13930092, 20.0842377 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000654179251305273
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.48561784e-14,  4.24280892e-14,  1.00000000e+00, -3.60028550e-27,
        1.00000000e+00, -4.24280892e-14, -1.00000000e+00,  0.00000000e+00,
        8.48561784e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08102402, -0.03226969,  0.0619813 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.31134663e-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,
 -1.03936666e-05, 3.15290241e-06,-4.90504683e+00,-1.83668271e-03,
  4.10640147e-05,-2.21106526e-03]


--- 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,
  9.36681282e-02,-7.03202390e-02, 1.30616163e-01, 4.94057443e-01,
  4.83657717e-01, 5.05866284e-01, 5.15831134e-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,
  1.20684058e+00,-3.44294068e+00,-1.20508994e+00, 1.54592186e+01,
 -5.30372328e+00, 5.04892715e+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([ 6.84952581, -4.60583824,  5.06973943, -4.60583824, 32.83136693,
       23.60439997,  5.06973943, 23.60439997, 28.29402988,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006502601893489529
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.53675992e-14,  4.26837996e-14,  1.00000000e+00, -3.64381350e-27,
        1.00000000e+00, -4.26837996e-14, -1.00000000e+00,  0.00000000e+00,
        8.53675992e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08102023, -0.03226782,  0.06198141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.78023764e-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,
 -1.79788356e-05, 6.49707394e-06,-4.90505588e+00,-1.84212029e-03,
  4.76137579e-05,-2.21200889e-03]


--- 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,
  9.37047396e-02,-7.03522764e-02, 1.30603113e-01, 4.93797245e-01,
  4.83900799e-01, 5.05889189e-01, 5.15829842e-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, -1.58239832, -3.54543837, -0.58865974,-29.19529991,
   2.57204398, 49.48841256]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006560690161478283
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.46117556e-14,  8.46117556e-14,  1.00000000e+00, -7.15914918e-27,
        1.00000000e+00, -8.46117556e-14, -1.00000000e+00,  0.00000000e+00,
        8.46117556e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10853344, -0.03389282,  0.06198125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -2.87120275e-05, 1.53353692e-05,-4.90507996e+00,-1.84687958e-03,
  5.60328437e-05,-2.21428333e-03]


--- 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,
  9.37351980e-02,-7.03981147e-02, 1.30586682e-01, 4.93511703e-01,
  4.84161885e-01, 5.05839120e-01, 5.15907212e-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 , -1.53825948, -3.45021783, -0.84511949,-28.14127049,
   2.78196112, 48.1679552 ]

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([ 6.92928355, -2.83711   ,  6.3218492 , -2.83711   , 41.54888425,
       15.53653247,  6.3218492 , 15.53653247, 13.90174529,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006600060923152296
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.41070285e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.41070285e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10853067, -0.03389425,  0.06198113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -2.48091062e-05, 2.82205268e-05,-4.90508288e+00,-1.85216120e-03,
  6.07156878e-05,-2.21700002e-03]


--- 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,
  9.37661443e-02,-7.04348081e-02, 1.30577771e-01, 4.93255369e-01,
  4.84393424e-01, 5.05826172e-01, 5.15947706e-01]

qacc:
[ -3.14965086, -2.85766678, 12.90827406,-26.32454434, -0.44606506,
   3.01872686,-13.18330386, 26.6758414 ,  5.9871547 , -1.89560476,
   7.15508519,-10.76302006, -0.2085657 , -0.03585495, -1.08744975,
   3.87268352,  0.12196874,  2.28621424,  1.87976249,  4.54094262,
   0.46754037,-33.09299131]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006796856431406512
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.12538515e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.12538515e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0923443 , -0.08842201,  0.06198057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.89239592e-05, 4.26703001e-05,-4.90510189e+00,-1.85761871e-03,
  6.29255453e-05,-2.22123813e-03]


--- 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,
  9.37975897e-02,-7.04626970e-02, 1.30574733e-01, 4.93027223e-01,
  4.84596372e-01, 5.05848930e-01, 5.15952878e-01]

qacc:
[ -1.93970231, -3.06865967, 14.27750383,-29.18920161, -3.29856095,
   1.84651268, -7.93165395, 16.17114204,  0.52490817, -1.83232035,
   8.30537491,-16.52185155, -0.90395305,  1.46986714, -1.64591902,
   5.79392639,  0.12476825,  2.2011294 ,  1.4684109 ,  4.26566611,
   0.49810626,-31.86211012]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006976240195760708
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.97858658e-14,  7.95717316e-14,  1.00000000e+00,  3.16583023e-27,
        1.00000000e+00, -7.95717316e-14, -1.00000000e+00,  0.00000000e+00,
       -3.97858658e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09234593, -0.0884176 ,  0.06198006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.80263975e-05, 3.15575328e-05,-4.90507818e+00,-1.85901811e-03,
  5.99601431e-05,-2.22476632e-03]


--- 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,
  9.38241827e-02,-7.04814081e-02, 1.30576301e-01, 4.92852210e-01,
  4.84750776e-01, 5.05886147e-01, 5.15938553e-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, -1.21307396,  2.29444964,  1.15147142,-16.17893835,
  -2.07580063,-34.29441697]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007093044393800124
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.82613898e-14,  1.17392085e-13,  1.00000000e+00, -9.18726770e-27,
        1.00000000e+00, -1.17392085e-13, -1.00000000e+00,  0.00000000e+00,
        7.82613898e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10302066, -0.08985983,  0.06197973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.69246546e-05, 2.25060938e-05,-4.90506077e+00,-1.86062946e-03,
  5.65147948e-05,-2.22749038e-03]


--- 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,
  9.38460948e-02,-7.04912301e-02, 1.30581112e-01, 4.92728609e-01,
  4.84858159e-01, 5.05937305e-01, 5.15905541e-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, -1.1702399 ,  2.22227882,  0.81079471,-15.72546863,
  -1.9675374 ,-33.1405427 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007166081118847589
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.74637494e-14,  3.87318747e-14,  1.00000000e+00,  3.00031624e-27,
        1.00000000e+00, -3.87318747e-14, -1.00000000e+00,  0.00000000e+00,
       -7.74637494e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1030206 , -0.0898576 ,  0.06197952])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.12425633e-05, 1.21820424e-05,-4.90503648e+00,-1.86133661e-03,
  5.08047816e-05,-2.23008934e-03]


--- 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,
  9.38634712e-02,-7.04924077e-02, 1.30587997e-01, 4.92654960e-01,
  4.84919809e-01, 5.06001971e-01, 5.15854509e-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,
 -1.13393033e+00, 2.16109354e+00, 5.18418679e-01,-1.53335577e+01,
 -1.88065972e+00,-3.21684050e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007174830167788193
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.54738579e-13,  3.86846447e-14,  1.00000000e+00, -5.98600696e-27,
        1.00000000e+00, -3.86846447e-14, -1.00000000e+00,  0.00000000e+00,
        1.54738579e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10302126, -0.08985729,  0.0619795 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.73605147e-06, 5.21272639e-06,-4.90502001e+00,-1.86214717e-03,
  4.63289657e-05,-2.23167800e-03]


--- 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,
  9.38764342e-02,-7.04851468e-02, 1.30595956e-01, 4.92630032e-01,
  4.84936814e-01, 5.06079781e-01, 5.15785996e-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, -1.10333323,  2.10964389,  0.26864051,-14.99752504,
  -1.81105355,-31.35462354]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007131974663010382
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.55668392e-13,  7.78341958e-14,  1.00000000e+00, -1.21163241e-26,
        1.00000000e+00, -7.78341958e-14, -1.00000000e+00,  0.00000000e+00,
        1.55668392e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1030225 , -0.08985851,  0.06197962])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.32101770e-06, 1.28456054e-06,-4.90501064e+00,-1.86301386e-03,
  4.29674470e-05,-2.23229939e-03]


--- 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,
  9.38850864e-02,-7.04696188e-02, 1.30604139e-01, 4.92652788e-01,
  4.84910076e-01, 5.06170432e-01, 5.15700438e-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 , -1.07770401,  2.06674634,  0.0560294 ,-14.71169678,
  -1.75534626,-30.67830033]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007048304671674332
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10302418, -0.08986095,  0.06197986])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.25761792e-07, 1.49376347e-07,-4.90500780e+00,-1.86390187e-03,
  4.06248282e-05,-2.23198835e-03]


--- 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,
  9.38895131e-02,-7.04459656e-02, 1.30611825e-01, 4.92722366e-01,
  4.84840340e-01, 5.06273673e-01, 5.15598180e-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,
 -1.05637863e+00, 2.03132131e+00,-1.24394472e-01,-1.44707195e+01,
 -1.71077876e+00,-3.01211347e+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: -0.0006932956638332072
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.00685106e-14,  4.00342553e-14,  1.00000000e+00, -3.20548320e-27,
        1.00000000e+00, -4.00342553e-14, -1.00000000e+00,  0.00000000e+00,
        8.00685106e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1030262 , -0.08986433,  0.06198019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.10085172e-07, 1.61172530e-06,-4.90501103e+00,-1.86478577e-03,
  3.92259942e-05,-2.23077288e-03]


--- 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,
  9.38897848e-02,-7.04143027e-02, 1.30618403e-01, 4.92838049e-01,
  4.84728209e-01, 5.06389295e-01, 5.15479489e-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,
 -1.03877524e+00, 2.00240639e+00,-2.77092564e-01,-1.42697051e+01,
 -1.67509558e+00,-2.96673068e+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: -0.0006793631693789437
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.17105692e-14,  4.08552846e-14,  1.00000000e+00, -3.33830856e-27,
        1.00000000e+00, -4.08552846e-14, -1.00000000e+00,  0.00000000e+00,
        8.17105692e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10302849, -0.08986842,  0.06198059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  1.03688275e-06, 5.51840686e-06,-4.90502001e+00,-1.86564719e-03,
  3.87125327e-05,-2.22867534e-03]


--- 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,
  9.38859588e-02,-7.03747233e-02, 1.30623356e-01, 4.92999249e-01,
  4.84574162e-01, 5.06517126e-01, 5.15344567e-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, -1.02438966,  1.97915593, -0.40600393,-14.10427771,
  -1.64645229,-29.30325113]

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: -0.0006636790369622392
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.36415619e-14,  5.22759762e-15,  1.00000000e+00, -4.37244429e-28,
        1.00000000e+00, -5.22759762e-15, -1.00000000e+00,  0.00000000e+00,
        8.36415619e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10303096, -0.08987304,  0.06198103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.58420760e-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,
  6.96331020e-07, 1.17499677e-05,-4.90503449e+00,-1.86647300e-03,
  3.90397754e-05,-2.22571332e-03]


--- 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,
  9.38756311e-02,-7.03496564e-02, 1.30626849e-01, 4.93130163e-01,
  4.84439432e-01, 5.06571096e-01, 5.15292930e-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, -1.62543643, -3.62816018, -0.36525828,-28.02515693,
   4.66505252, 51.1212961 ]

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: -0.0006673308623339619
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.31838513e-14,  8.31838513e-14,  1.00000000e+00, -6.91955312e-27,
        1.00000000e+00, -8.31838513e-14, -1.00000000e+00,  0.00000000e+00,
        8.31838513e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10852261, -0.0338959 ,  0.06198093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -4.77259996e-07, 2.02138599e-05,-4.90505428e+00,-1.86725400e-03,
  4.01743859e-05,-2.22190048e-03]


--- 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,
  9.38590005e-02,-7.03386572e-02, 1.30627734e-01, 4.93232049e-01,
  4.84323398e-01, 5.06553369e-01, 5.15321915e-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, -1.57573939, -3.5169114 , -0.65182442,-27.25178983,
   4.38531543, 49.45935235]

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([ 7.04992507, -7.01820595, -0.6680036 , -7.01820595,  7.51553195,
       -4.89177745, -0.6680036 , -4.89177745, 58.44411152,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006748853022653795
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1085221 , -0.0338999 ,  0.06198072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.95629693e-06, 1.03656268e-05,-4.90502662e+00,-1.86430019e-03,
  4.19811188e-05,-2.21953440e-03]


--- 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,
  9.38362341e-02,-7.03413470e-02, 1.30625024e-01, 4.93305952e-01,
  4.84225527e-01, 5.06465758e-01, 5.15429251e-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, -1.53392119, -3.42223709, -0.89890335,-26.59519077,
   4.14748939, 48.05635533]

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([ 7.05985005, -7.05601225, -0.23275296, -7.05601225,  7.13105976,
       -2.15875468, -0.23275296, -2.15875468, 72.5034843 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000676117982507593
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.21027582e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.21027582e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10852276, -0.03390054,  0.06198068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.68611957e-06, 2.69241077e-06,-4.90501603e+00,-1.86207734e-03,
  4.13941880e-05,-2.21887708e-03]


--- 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,
  9.38074718e-02,-7.03574052e-02, 1.30617867e-01, 4.93352730e-01,
  4.84145357e-01, 5.06309766e-01, 5.15613012e-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, -1.49898838, -3.34211943, -1.11140145,-26.04324131,
   3.94321068, 46.87924297]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006722642587692618
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.25734085e-14,  8.25734085e-14,  1.00000000e+00, -6.81836778e-27,
        1.00000000e+00, -8.25734085e-14, -1.00000000e+00,  0.00000000e+00,
        8.25734085e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10852435, -0.03389849,  0.06198079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -5.94519251e-06,-3.02928853e-06,-4.90502103e+00,-1.86043204e-03,
  3.86410856e-05,-2.21984455e-03]


--- 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,
  9.37728294e-02,-7.03865621e-02, 1.30605536e-01, 4.93373091e-01,
  4.84082491e-01, 5.06086615e-01, 5.15871566e-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 , -1.47002729, -3.27466877, -1.29395799,-25.58438157,
   3.76560526, 45.89838885]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000664371825941229
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.67108685e-13,  8.35543427e-14,  1.00000000e+00, -1.39626564e-26,
        1.00000000e+00, -8.35543427e-14, -1.00000000e+00,  0.00000000e+00,
        1.67108685e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10852667, -0.03389432,  0.06198101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -2.93963788e-06,-6.95824014e-06,-4.90504049e+00,-1.85924640e-03,
  3.38961390e-05,-2.22236916e-03]


--- 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,
  9.37385270e-02,-7.04068436e-02, 1.30599059e-01, 4.93420488e-01,
  4.83994390e-01, 5.05899683e-01, 5.16092205e-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,  0.08499083,  2.21886238,  1.46372587,  6.16740171,
  -0.57430959,-31.47906496]

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([  6.89710935,   1.65331369,   6.69601906,   1.65331369,
        70.73425419, -15.76202585,   6.69601906, -15.76202585,
        10.78891027,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006560668871287006
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.23060151e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.23060151e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09236618, -0.08843351,  0.06198124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
  2.18153934e-06,-9.19985096e-06,-4.90507356e+00,-1.85842904e-03,
  2.72904059e-05,-2.22639630e-03]


--- 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,
  9.37045731e-02,-7.04185403e-02, 1.30597053e-01, 4.93494404e-01,
  4.83880950e-01, 5.05747647e-01, 5.16276880e-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,  0.08713132,  2.14618054,  1.11788121,  5.4324288 ,
  -0.26309077,-30.57002797]

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([ 6.99796857,  0.58075421, -6.97382883,  0.58075421, 49.54238328,
        3.54293871, -6.97382883,  3.54293871,  7.29301117,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006684546682353965
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.22830020e-14,  1.24566004e-13,  1.00000000e+00,  7.75834467e-27,
        1.00000000e+00, -1.24566004e-13, -1.00000000e+00,  0.00000000e+00,
       -6.22830020e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09237029, -0.08843116,  0.06198089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.75443385e-06,-9.57962799e-06,-4.90505666e+00,-1.85316782e-03,
  3.44015708e-05,-2.22749833e-03]


--- 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,
  9.36709707e-02,-7.04219000e-02, 1.30598321e-01, 4.93594376e-01,
  4.83742134e-01, 5.05629386e-01, 5.16427211e-01]

qacc:
[ 4.05930777e+00, 1.04161762e+00,-3.33906883e+00, 6.33501912e+00,
 -9.53499598e-01,-3.14795193e-01, 1.23215112e-01, 3.11737998e+00,
  3.04940773e+00, 7.87605293e-02,-7.83311914e-01, 3.13958589e+00,
 -2.32252182e-01, 1.74390676e-01,-2.80853975e+00, 9.12671311e+00,
  8.78746253e-02, 2.08425213e+00, 8.18438854e-01, 4.83839387e+00,
 -1.40663696e-02,-2.97888268e+01]

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([ 7.04347023,  0.9332473 , -6.98136967,  0.9332473 , 64.28483501,
        7.65184363, -6.98136967,  7.65184363,  8.06634436,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006740843714010819
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09237346, -0.08843047,  0.06198073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.22911534e-06,-8.67356414e-06,-4.90504564e+00,-1.84830539e-03,
  4.06558400e-05,-2.22793136e-03]


--- 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,
  9.36377186e-02,-7.04171320e-02, 1.30601833e-01, 4.93719993e-01,
  4.83577943e-01, 5.05543953e-01, 5.16544532e-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,  0.08758225,  2.03194141,  0.56071992,  4.35690727,
   0.186445  ,-29.12373561]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006742209422736095
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.23337689e-14,  4.11668844e-14,  1.00000000e+00,  3.38942475e-27,
        1.00000000e+00, -4.11668844e-14, -1.00000000e+00,  0.00000000e+00,
       -8.23337689e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09237591, -0.08843112,  0.06198073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.13646193e-05,-6.51390744e-06,-4.90503995e+00,-1.84374201e-03,
  4.61720073e-05,-2.22768904e-03]


--- 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,
  9.36048126e-02,-7.04044114e-02, 1.30606704e-01, 4.93870897e-01,
  4.83388396e-01, 5.05490553e-01, 5.16629942e-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,  0.08652513,  1.98813955,  0.33997161,  3.96529757,
   0.34915343,-28.56291853]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006699496891081486
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.21440148e-14,  1.24288030e-13,  1.00000000e+00, -7.72375716e-27,
        1.00000000e+00, -1.24288030e-13, -1.00000000e+00,  0.00000000e+00,
        6.21440148e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09237778, -0.08843284,  0.06198085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.52517309e-05,-3.13417839e-06,-4.90503916e+00,-1.83940304e-03,
  5.10417962e-05,-2.22676903e-03]


--- 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,
  9.35722462e-02,-7.03838835e-02, 1.30612181e-01, 4.94046781e-01,
  4.83173511e-01, 5.05468520e-01, 5.16684345e-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,  0.0849066 ,  1.9518142 ,  0.15164966,  3.64548575,
   0.48244207,-28.09512078]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006621966527511763
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.28716005e-14,  8.38288007e-14,  1.00000000e+00, -5.27045087e-27,
        1.00000000e+00, -8.38288007e-14, -1.00000000e+00,  0.00000000e+00,
        6.28716005e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09237921, -0.08843541,  0.06198107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.89581574e-05, 1.43410896e-06,-4.90504293e+00,-1.83523223e-03,
  5.53363058e-05,-2.22517127e-03]


--- 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,
  9.35400114e-02,-7.03556676e-02, 1.30617625e-01, 4.94247388e-01,
  4.82933300e-01, 5.05477300e-01, 5.16708473e-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,
  8.28792330e-02, 1.92203174e+00,-8.43858586e-03, 3.38306906e+00,
  5.92871820e-01,-2.77100077e+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: -0.0006517479837821194
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.25863621e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.25863621e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09238029, -0.08843863,  0.06198137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.21483835e-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,
 -2.25346921e-05, 7.16302758e-06,-4.90505101e+00,-1.83118670e-03,
  5.91109083e-05,-2.22289686e-03]


--- 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,
  9.35129958e-02,-7.03424501e-02, 1.30621428e-01, 4.94379859e-01,
  4.82772321e-01, 5.05443974e-01, 5.16764772e-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, 1.30481029,-3.74963042,
 -0.41037475,17.02323402,-5.88733888,55.74535131]

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: -0.000653770569401399
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.49092232e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.49092232e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08100024, -0.03229149,  0.06198131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -2.60197844e-05, 1.40288269e-05,-4.90506319e+00,-1.82723331e-03,
  6.24089553e-05,-2.21994734e-03]


--- 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,
  9.34910173e-02,-7.03437887e-02, 1.30622460e-01, 4.94446059e-01,
  4.82687979e-01, 5.05370368e-01, 5.16852204e-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,  1.25927552, -3.63902327, -0.6925416 , 16.66547838,
  -5.49487961, 53.910029  ]

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([ 6.94867892, -6.2529283 ,  3.03068084, -6.2529283 , 13.71002686,
       13.95007462,  3.03068084, 13.95007462, 35.73059985,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006623861882932014
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.38048139e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.38048139e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08099944, -0.03229693,  0.06198107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.41520431e-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,
 -1.31931900e-05, 2.82463346e-06,-4.90503017e+00,-1.82761893e-03,
  5.48696674e-05,-2.21785397e-03]


--- 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,
  9.34739212e-02,-7.03593062e-02, 1.30619747e-01, 4.94447573e-01,
  4.82678072e-01, 5.05257973e-01, 5.16969881e-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,  1.22061117, -3.54469833, -0.93626975, 16.34665901,
  -5.18108906, 52.36381806]

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([ 6.96688022, -6.47810825,  2.56350026, -6.47810825, 13.39957195,
       16.25577104,  2.56350026, 16.25577104, 48.04612097,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006646236878115191
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.35226794e-14,  8.35226794e-14,  1.00000000e+00, -6.97603798e-27,
        1.00000000e+00, -8.35226794e-14, -1.00000000e+00,  0.00000000e+00,
        8.35226794e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08099799, -0.0322987 ,  0.06198101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -4.42506188e-06,-1.82435590e-06,-4.90501527e+00,-1.82717896e-03,
  4.99255899e-05,-2.21731509e-03]


--- 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,
  9.34615768e-02,-7.03886827e-02, 1.30612450e-01, 4.94385738e-01,
  4.82740738e-01, 5.05107993e-01, 5.17117045e-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,  1.18790991, -3.46477096, -1.14620803, 16.06640212,
  -4.93064481, 51.06958495]

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([ 6.94323359, -6.63797995,  2.03610286, -6.63797995, 12.1857353 ,
       17.09128841,  2.03610286, 17.09128841, 62.66322293,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000661717537415174
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.38894968e-14,  8.38894968e-14,  1.00000000e+00, -7.03744767e-27,
        1.00000000e+00, -8.38894968e-14, -1.00000000e+00,  0.00000000e+00,
        8.38894968e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08099601, -0.0322975 ,  0.06198109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.64926319e-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,
  7.19069114e-07,-4.85021472e-07,-4.90501690e+00,-1.82608956e-03,
  4.73782817e-05,-2.21826250e-03]


--- 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,
  9.34524088e-02,-7.04092838e-02, 1.30609927e-01, 4.94341217e-01,
  4.82781632e-01, 5.05003964e-01, 5.17223021e-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,  0.79410191,  2.19385957,  1.19381958, 12.72185801,
   2.67341485,-31.24792058]

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: -0.0006617956101216266
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.38796003e-14,  8.65008378e-14,  1.00000000e+00, -7.25565569e-27,
        1.00000000e+00, -8.65008378e-14, -1.00000000e+00,  0.00000000e+00,
        8.38796003e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08692858, -0.08873777,  0.06198108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
  2.56865404e-06, 6.41962974e-06,-4.90503380e+00,-1.82447720e-03,
  4.70677934e-05,-2.22064146e-03]


--- 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,
  9.34463132e-02,-7.04213720e-02, 1.30610907e-01, 4.94313448e-01,
  4.82801580e-01, 5.04944559e-01, 5.17288935e-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,  0.7681077 ,  2.12821614,  0.87562959, 12.43502965,
   2.54685436,-30.29530067]

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: -0.0006706143868369097
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.48329676e-13,  1.26751606e-13,  1.00000000e+00, -3.14761852e-26,
        1.00000000e+00, -1.26751606e-13, -1.00000000e+00,  0.00000000e+00,
        2.48329676e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08692845, -0.0887356 ,  0.06198083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
  1.67141926e-06, 2.95044410e-06,-4.90501655e+00,-1.82396253e-03,
  5.04953067e-05,-2.22251319e-03]


--- 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,
  9.34432022e-02,-7.04251708e-02, 1.30614292e-01, 4.94301952e-01,
  4.82801265e-01, 5.04928645e-01, 5.17315747e-01]

qacc:
[ 5.20852852e-01,-9.56132299e-01, 3.02787494e+00,-4.73027117e+00,
 -8.78189143e+00, 1.52493095e+00,-6.86509841e+00, 1.38919058e+01,
 -2.39701557e+00, 1.54246293e+00,-4.68320242e+00, 4.90175840e+00,
 -1.79239495e-02,-4.13862436e-01, 3.75757012e+00,-1.26046184e+01,
  7.46127183e-01, 2.07233467e+00, 6.01049657e-01, 1.21847881e+01,
  2.44185532e+00,-2.94872500e+01]

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: -0.0006733488794135462
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.24404004e-14,  2.57626251e-15,  1.00000000e+00, -2.12388113e-28,
        1.00000000e+00, -2.57626251e-15, -1.00000000e+00,  0.00000000e+00,
        8.24404004e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08692795, -0.08873508,  0.06198076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.88533994e-07, 8.49318411e-07,-4.90500565e+00,-1.82347174e-03,
  5.26732898e-05,-2.22357090e-03]


--- 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,
  9.34430018e-02,-7.04208690e-02, 1.30619137e-01, 4.94306324e-01,
  4.82781257e-01, 5.04955258e-01, 5.17304267e-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,  0.72768243,  2.02517585,  0.36534165, 11.96925434,
   2.35458826,-28.80687772]

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: -0.0006711688888906692
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.80924124e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.80924124e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08692715, -0.0887359 ,  0.06198082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.62566894e-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,
  2.24890474e-07,-5.44633173e-09,-4.90500053e+00,-1.82303256e-03,
  5.36790785e-05,-2.22384081e-03]


--- 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,
  9.34456508e-02,-7.04086242e-02, 1.30624639e-01, 4.94326225e-01,
  4.82742018e-01, 5.05023584e-01, 5.17255167e-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,
  7.12331055e-01, 1.98573600e+00, 1.63863557e-01, 1.17860247e+01,
  2.28186297e+00,-2.82386723e+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: -0.0006650748759060021
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.50398053e-13,  1.27807339e-13,  1.00000000e+00, -3.20027089e-26,
        1.00000000e+00, -1.27807339e-13, -1.00000000e+00,  0.00000000e+00,
        2.50398053e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08692612, -0.08873777,  0.06198099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.46711309e-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,
 -3.18248800e-07, 2.88595157e-07,-4.90500079e+00,-1.82266525e-03,
  5.35749965e-05,-2.22334443e-03]


--- 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,
  9.34510985e-02,-7.03885671e-02, 1.30630109e-01, 4.94361370e-01,
  4.82683926e-01, 5.05132942e-01, 5.17169000e-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,
  6.99675230e-01, 1.95308567e+00,-7.73112259e-03, 1.16325126e+01,
  2.22103357e+00,-2.77687562e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006559179947990684
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.46312369e-14,  4.49603446e-14,  1.00000000e+00, -3.80504958e-27,
        1.00000000e+00, -4.49603446e-14, -1.00000000e+00,  0.00000000e+00,
        8.46312369e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08692491, -0.08874047,  0.06198125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -7.41931094e-07, 1.65318374e-06,-4.90500609e+00,-1.82238447e-03,
  5.24105167e-05,-2.22209933e-03]


--- 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,
  9.34593036e-02,-7.03608044e-02, 1.30634965e-01, 4.94411524e-01,
  4.82607284e-01, 5.05282765e-01, 5.17046209e-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,  0.68936374,  1.92638615, -0.15340111, 11.50614679,
   2.16991129,-27.38491926]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006444187665433088
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.61414256e-14,  6.72979887e-14,  1.00000000e+00, -5.79714469e-27,
        1.00000000e+00, -6.72979887e-14, -1.00000000e+00,  0.00000000e+00,
        8.61414256e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08692356, -0.0887438 ,  0.06198158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.10525079e-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,
 -1.04864971e-06, 4.02532839e-06,-4.90501618e+00,-1.82220082e-03,
  5.02242048e-05,-2.22011971e-03]


--- 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,
  9.34725454e-02,-7.03475953e-02, 1.30636970e-01, 4.94396446e-01,
  4.82606866e-01, 5.05391897e-01, 5.16954347e-01]

qacc:
[ 4.37863442e+00, 8.73822329e-01,-3.01088804e+00, 4.72585575e+00,
 -4.60348706e-02, 8.13142787e-01,-8.96644932e-01,-7.14283947e+00,
 -3.46963753e+00,-5.52207353e-01, 3.43118869e+00,-8.07894246e+00,
 -9.62127494e-01, 1.46270037e+00, 4.20518713e+00,-1.37594846e+01,
  1.25915332e+00,-3.63839556e+00,-7.12951771e-01, 1.62501925e+01,
 -5.82198211e+00, 5.35861423e+01]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006469554882992806
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.71607328e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.71607328e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08097679, -0.03229247,  0.06198151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.56871713e-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,
 -1.24178793e-06, 7.35400857e-06,-4.90503088e+00,-1.82212189e-03,
  4.70453991e-05,-2.21741693e-03]


--- 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,
  9.34906827e-02,-7.03485608e-02, 1.30635171e-01, 4.94317442e-01,
  4.82680551e-01, 5.05461990e-01, 5.16892569e-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,  1.2238912 , -3.54362318, -0.95099002, 16.05100787,
  -5.39072636, 52.10573115]

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([ 6.84446857, -5.62892648,  3.89383316, -5.62892648, 22.1460326 ,
       22.1199459 ,  3.89383316, 22.1199459 , 38.82106949,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000649644297577065
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.70897063e-13,  8.54485315e-14,  1.00000000e+00, -1.46029031e-26,
        1.00000000e+00, -8.54485315e-14, -1.00000000e+00,  0.00000000e+00,
        1.70897063e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08097482, -0.03229422,  0.06198143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.81394777e-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,
 -9.90287061e-07, 1.10934134e-06,-4.90501390e+00,-1.82559545e-03,
  4.75909179e-05,-2.21631464e-03]


--- 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,
  9.35135982e-02,-7.03633790e-02, 1.30628747e-01, 4.94175610e-01,
  4.82826537e-01, 5.05494397e-01, 5.16860151e-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,
  1.19453471e+00,-3.46321595e+00,-1.15614098e+00, 1.58726732e+01,
 -5.03588788e+00, 5.08621471e+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([ 6.8252125 , -5.9410406 ,  3.35969675, -5.9410406 , 21.5505155 ,
       26.03914266,  3.35969675, 26.03914266, 52.87091697,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006473012843075804
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.71515653e-13,  8.57578265e-14,  1.00000000e+00, -1.47088096e-26,
        1.00000000e+00, -8.57578265e-14, -1.00000000e+00,  0.00000000e+00,
        1.71515653e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08097247, -0.03229314,  0.0619815 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.01158713e-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,
 -4.18530561e-06, 8.59690642e-07,-4.90501347e+00,-1.82830616e-03,
  5.02684564e-05,-2.21664891e-03]


--- 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,
  9.35411947e-02,-7.03917788e-02, 1.30616993e-01, 4.93971857e-01,
  4.83043300e-01, 5.05490218e-01, 5.16856474e-01]

qacc:
[ 9.15452559e-01,-8.16028712e-01, 4.46080949e+00,-1.17447123e+01,
 -2.21289800e+00, 8.98664695e-01,-3.80540872e+00, 7.24177954e+00,
 -1.81950076e+00,-4.01625313e-01,-1.30540140e+00, 8.21143876e+00,
 -1.63099615e-01, 4.51629055e-02,-1.62275694e+00, 5.50241734e+00,
  1.17026456e+00,-3.39536675e+00,-1.33270521e+00, 1.57174387e+01,
 -4.74205464e+00, 4.98250846e+01]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006409452068884963
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.66082633e-14,  8.66082633e-14,  1.00000000e+00, -7.50099127e-27,
        1.00000000e+00, -8.66082633e-14, -1.00000000e+00,  0.00000000e+00,
        8.66082633e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0809698 , -0.03228979,  0.06198168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.35557930e-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,
 -1.05291643e-05, 6.19251074e-06,-4.90502836e+00,-1.83043176e-03,
  5.49758145e-05,-2.21837086e-03]


--- 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,
  9.35706735e-02,-7.04114317e-02, 1.30610329e-01, 4.93791522e-01,
  4.83232729e-01, 5.05526116e-01, 5.16816610e-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,  0.47056243,  2.18670579,  1.27279065,  7.09621356,
   2.30336059,-31.57799569]

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: -0.0006489417906380436
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.44139377e-08,  4.54436739e-14,  1.00000000e+00,  2.92720598e-21,
        1.00000000e+00, -4.54436739e-14, -1.00000000e+00,  0.00000000e+00,
       -6.44139377e-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([ 0.08968078, -0.08859013,  0.06198145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.98043887e-05, 1.68080861e-05,-4.90505760e+00,-1.83210465e-03,
  6.16330726e-05,-2.22144071e-03]


--- 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,
  9.36006538e-02,-7.04226087e-02, 1.30607820e-01, 4.93639497e-01,
  4.83391507e-01, 5.05595458e-01, 5.16745518e-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,  0.12539288,  2.11898068,  1.03852028,  2.12791483,
   1.47690192,-30.85289082]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000660211367859237
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.40808776e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.40808776e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09236881, -0.08843837,  0.06198113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.57336594e-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,
 -1.75316403e-05, 1.00071592e-05,-4.90504632e+00,-1.83548688e-03,
  5.81977919e-05,-2.22327926e-03]


--- 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,
  9.36311244e-02,-7.04255367e-02, 1.30608322e-01, 4.93514905e-01,
  4.83520825e-01, 5.05697442e-01, 5.16643734e-01]

qacc:
[  1.3662985 , -0.52383791,  3.39178346, -9.34922365,  2.2632081 ,
   0.85077165, -4.24919048,  9.89978502, -0.44254943,  1.24418467,
  -6.12384886, 13.41745613, -0.6095377 ,  0.92440501, -3.77899162,
  12.89725312,  0.12256476,  2.06223189,  0.75269712,  2.29066024,
   1.31535263,-30.00082932]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006650779816260721
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.34656277e-14, -4.17328139e-14,  1.00000000e+00, -3.48325551e-27,
        1.00000000e+00,  4.17328139e-14, -1.00000000e+00,  0.00000000e+00,
       -8.34656277e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0923675 , -0.08843726,  0.06198099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.43710421e-05, 4.51220608e-06,-4.90503778e+00,-1.83859705e-03,
  5.38840420e-05,-2.22442988e-03]


--- 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,
  9.36620782e-02,-7.04204081e-02, 1.30610850e-01, 4.93417006e-01,
  4.83621671e-01, 5.05831384e-01, 5.16511712e-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,
  1.20802835e-01, 2.01417479e+00, 5.06595280e-01, 2.42201665e+00,
  1.18054250e+00,-2.92819484e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006647238309815673
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.08775241e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.08775241e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09236642, -0.08843754,  0.061981  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.29266114e-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,
 -1.14281585e-05, 6.99428558e-07,-4.90503443e+00,-1.84164610e-03,
  4.92965692e-05,-2.22483444e-03]


--- 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,
  9.36935117e-02,-7.04073841e-02, 1.30614560e-01, 4.93345179e-01,
  4.83694869e-01, 5.05996703e-01, 5.16349828e-01]

qacc:
[  5.39690316, -0.11601178, -0.69381856,  4.77196956,  1.98497   ,
   2.15292042, -6.90890983,  8.27670934, -5.0954695 , -0.05698145,
   1.34364692, -5.04493881, -0.32631558,  0.31428591,  6.4758779 ,
 -21.94772323,  0.11992826,  1.97385746,  0.29568846,  2.53008274,
   1.06699354,-28.68031842]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000660185178674319
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.30631598e-14,  1.26126320e-13,  1.00000000e+00, -7.95392425e-27,
        1.00000000e+00, -1.26126320e-13, -1.00000000e+00,  0.00000000e+00,
        6.30631598e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09236551, -0.08843895,  0.06198113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.15461271e-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,
 -8.63963207e-06,-1.57543086e-06,-4.90503585e+00,-1.84467094e-03,
  4.44120523e-05,-2.22450942e-03]


--- 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,
  9.37254244e-02,-7.03865985e-02, 1.30618734e-01, 4.93298903e-01,
  4.83741096e-01, 5.06192912e-01, 5.16158388e-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,
  1.19794474e-01, 1.94038115e+00, 1.15659234e-01, 2.62106355e+00,
  9.70329036e-01,-2.81815717e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006523462224522214
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.25473079e-14,  8.50946159e-14,  1.00000000e+00, -3.62054683e-27,
        1.00000000e+00, -8.50946159e-14, -1.00000000e+00,  0.00000000e+00,
        4.25473079e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09236472, -0.08844124,  0.06198135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.69031546e-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,
 -5.95751248e-06,-2.42812493e-06,-4.90504172e+00,-1.84769971e-03,
  3.92118475e-05,-2.22346877e-03]


--- 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,
  9.37578183e-02,-7.03581612e-02, 1.30622757e-01, 4.93277742e-01,
  4.83760910e-01, 5.06419607e-01, 5.15937625e-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,  0.12028164,  1.91292423, -0.03747327,  2.69970756,
   0.88705533,-27.77299692]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006419575597679111
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.72943368e-13,  4.32358420e-14,  1.00000000e+00, -7.47735213e-27,
        1.00000000e+00, -4.32358420e-14, -1.00000000e+00,  0.00000000e+00,
        1.72943368e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09236404, -0.08844421,  0.06198165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -3.34509619e-06,-1.95145865e-06,-4.90505180e+00,-1.85075424e-03,
  3.36804976e-05,-2.22172413e-03]


--- 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,
  9.37836781e-02,-7.03443501e-02, 1.30625636e-01, 4.93227939e-01,
  4.83800209e-01, 5.06569825e-01, 5.15800902e-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,
 -1.63350075e+00,-3.65656269e+00,-2.86121062e-01,-2.92753540e+01,
  3.69146272e+00, 5.15485276e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006550166013162134
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.47477012e-14,  8.47477012e-14,  1.00000000e+00, -7.18217286e-27,
        1.00000000e+00, -8.47477012e-14, -1.00000000e+00,  0.00000000e+00,
        8.47477012e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10848261, -0.03388335,  0.06198128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.77325114e-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,
 -7.73895992e-07,-2.19877873e-07,-4.90506590e+00,-1.85385183e-03,
  2.78046694e-05,-2.21928507e-03]


--- 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,
  9.38032133e-02,-7.03447131e-02, 1.30626190e-01, 4.93150336e-01,
  4.83858365e-01, 5.06646250e-01, 5.15745485e-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, -1.5811629 , -3.54349324, -0.58111698,-28.2487705 ,
   3.64761317, 49.84748783]

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([ 6.97203167, -5.82223386,  3.83546849, -5.82223386, 20.2561592 ,
       20.16528027,  3.83546849, 20.16528027, 37.58288868,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006652576722464693
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.34430831e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.34430831e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10847996, -0.03388865,  0.06198099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -3.47238754e-06,-1.45909401e-07,-4.90503008e+00,-1.85579868e-03,
  3.51588678e-05,-2.21733425e-03]


--- 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,
  9.38166028e-02,-7.03588643e-02, 1.30623400e-01, 4.93045633e-01,
  4.83934840e-01, 5.06651133e-01, 5.15769041e-01]

qacc:
[ -1.02468304, -1.96113708, 10.49862354,-25.17687954, -4.47092485,
   1.98392278, -7.88734902, 14.11071968,  2.41346405, -0.15292997,
  -2.69036698, 14.21013844, -0.53581948,  0.79755304, -0.47034307,
   1.8027823 , -1.5363973 , -3.44705829, -0.83615197,-27.38156872,
   3.606242  , 48.4096449 ]

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([ 7.00048685, -5.92184813,  3.73343419, -5.92184813, 22.94192487,
       25.28577447,  3.73343419, 25.28577447, 47.10793449,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006687655243825807
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.30054021e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.30054021e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10847889, -0.0338904 ,  0.06198089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.63321582e-06, 1.81598352e-06,-4.90501225e+00,-1.85817487e-03,
  3.97528168e-05,-2.21708161e-03]


--- 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,
  9.38239991e-02,-7.03864768e-02, 1.30616386e-01, 4.92914407e-01,
  4.84029168e-01, 5.06586340e-01, 5.15869588e-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, -1.49832971, -3.36533944, -1.0559443 ,-26.65326216,
   3.56766088, 47.20248487]

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([ 6.98480017, -5.98437476,  3.60204   , -5.98437476, 25.31737912,
       30.4574693 ,  3.60204   , 30.4574693 , 57.58637886,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006668304764195637
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.3246272e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        8.3246272e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1084791 , -0.03388928,  0.06198094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.47649189e-06, 5.48379686e-06,-4.90501072e+00,-1.86092557e-03,
  4.18947964e-05,-2.21845821e-03]


--- 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,
  9.38255309e-02,-7.04272753e-02, 1.30604392e-01, 4.92757122e-01,
  4.84140951e-01, 5.06453403e-01, 5.16045452e-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, -1.46612532, -3.2964974 , -1.24505638,-26.04549383,
   3.53181041, 46.19646658]

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: -0.0006605491509160677
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.40378814e-14,  8.40378814e-14,  1.00000000e+00, -7.06236552e-27,
        1.00000000e+00, -8.40378814e-14, -1.00000000e+00,  0.00000000e+00,
        8.40378814e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10848031, -0.03388589,  0.06198112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
  2.83239360e-06, 1.07361749e-05,-4.90502417e+00,-1.86400784e-03,
  4.18235194e-05,-2.22140734e-03]


--- 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,
  9.38219217e-02,-7.04586104e-02, 1.30598050e-01, 4.92652857e-01,
  4.84206670e-01, 5.06335991e-01, 5.16198536e-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, -1.28523443,  2.36586987,  1.41298802,-14.40932983,
  -3.2302861 ,-34.71583051]

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([ 6.99799763,  0.36344948,  6.98855317,  0.36344948, 71.01298209,
       -3.32918878,  6.98855317, -3.32918878,  7.17113675,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006684582555752522
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.07608892e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.07608892e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10306053, -0.08987223,  0.06198089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.17280505e-06, 1.75011282e-05,-4.90505159e+00,-1.86738845e-03,
  3.97216898e-05,-2.22588261e-03]


--- 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,
  9.38133755e-02,-7.04808119e-02, 1.30595878e-01, 4.92600055e-01,
  4.84227136e-01, 5.06233354e-01, 5.16330376e-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, -1.23425651,  2.28336701,  1.04257318,-14.41461644,
  -2.85253611,-33.54860475]

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([ 7.11206705,  2.13901044, -6.78278203,  2.13901044, 45.74957891,
       12.18468187, -6.78278203, 12.18468187, 10.95461449,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006826277185860707
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.13198025e-14, -4.06599012e-14,  1.00000000e+00,  3.30645514e-27,
        1.00000000e+00,  4.06599012e-14, -1.00000000e+00,  0.00000000e+00,
        8.13198025e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10306269, -0.08986847,  0.06198049])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.09237837e-06, 7.84569543e-06,-4.90503100e+00,-1.86364440e-03,
  3.95124009e-05,-2.22897335e-03]


--- 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,
  9.38000628e-02,-7.04941621e-02, 1.30596595e-01, 4.92597365e-01,
  4.84203090e-01, 5.06144864e-01, 5.16442233e-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, -1.19162592,  2.21285037,  0.72220998,-14.38557113,
  -2.54632386,-32.5513473 ]

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([ 7.16640141,  2.59196419, -6.68124471,  2.59196419, 59.21432312,
       20.19179889, -6.68124471, 20.19179889, 14.99973517,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006894485065780109
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.05152969e-14,  8.05152969e-14,  1.00000000e+00, -6.48271304e-27,
        1.00000000e+00, -8.05152969e-14, -1.00000000e+00,  0.00000000e+00,
        8.05152969e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10306503, -0.08986682,  0.0619803 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.47527029e-06, 1.49758395e-06,-4.90501804e+00,-1.86031453e-03,
  4.02330086e-05,-2.23106243e-03]


--- 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,
  9.37822924e-02,-7.04989082e-02, 1.30599163e-01, 4.92642874e-01,
  4.84135776e-01, 5.06070686e-01, 5.16534617e-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, -1.11442001,  2.151021  ,  0.46278201,-13.70250277,
  -2.21504284,-31.65688528]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006902662358794291
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.01448987e-07, -8.01448863e-07,  1.00000000e+00,  6.42320380e-13,
        1.00000000e+00,  8.01448863e-07, -1.00000000e+00,  0.00000000e+00,
        8.01448987e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10269661, -0.08981726,  0.06198027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.23045864e-06,-1.83204879e-06,-4.90501210e+00,-1.85726009e-03,
  4.18463751e-05,-2.23219194e-03]


--- 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,
  9.37649354e-02,-7.04955621e-02, 1.30603935e-01, 4.92713923e-01,
  4.84043189e-01, 5.06029198e-01, 5.16594263e-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,
  1.03351741e-01, 2.02305102e+00, 5.51124441e-01, 4.31873041e+00,
  1.92571632e-01,-2.89686251e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006885453836747435
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.41862712e-13, -8.06209039e-14,  1.00000000e+00, -1.94991905e-26,
        1.00000000e+00,  8.06209039e-14, -1.00000000e+00,  0.00000000e+00,
       -2.41862712e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09239083, -0.08843985,  0.06198032])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.63409129e-06,-2.36795237e-06,-4.90501243e+00,-1.85439711e-03,
  4.43188803e-05,-2.23239716e-03]


--- 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,
  9.37479906e-02,-7.04842996e-02, 1.30610027e-01, 4.92810126e-01,
  4.83925447e-01, 5.06019638e-01, 5.16622171e-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  ,  0.10304516,  1.97909401,  0.32983354,  3.99265328,
   0.31707651,-28.40751331]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006831139724645524
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.12619174e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.12619174e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09239236, -0.08844189,  0.06198048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.78725086e-06,-6.73794754e-07,-4.90501160e+00,-1.85203186e-03,
  4.69327762e-05,-2.23180034e-03]


--- 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,
  9.37314552e-02,-7.04652663e-02, 1.30616685e-01, 4.92931152e-01,
  4.83782659e-01, 5.06041368e-01, 5.16619156e-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 ,  0.10234283,  1.94269466,  0.14142707,  3.72825822,
   0.41738865,-27.93995482]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006742713438058212
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.64655229e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.64655229e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0923935 , -0.08844476,  0.06198073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.76069744e-06, 2.26921522e-06,-4.90501517e+00,-1.84983143e-03,
  4.90045622e-05,-2.23050930e-03]


--- 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,
  9.37153253e-02,-7.04385815e-02, 1.30623269e-01, 4.93076723e-01,
  4.83614909e-01, 5.06093859e-01, 5.16585879e-01]

qacc:
[ 2.54864984e+00,-6.35300897e-01, 4.85520055e+00,-1.51563366e+01,
 -6.63590863e-01, 1.11290396e+00,-4.92766452e+00, 1.07306212e+01,
 -1.35306838e+00,-3.81190570e-01, 4.52943225e-01, 2.76953823e+00,
 -5.41920443e-01, 9.37808782e-01,-7.33323109e+00, 2.53168362e+01,
  1.01365977e-01, 1.91289056e+00,-1.84287049e-02, 3.51342978e+00,
  4.98859835e-01,-2.75553323e+01]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006628036096892748
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.37520352e-14,  1.67504070e-13,  1.00000000e+00,  1.40288068e-26,
        1.00000000e+00, -1.67504070e-13, -1.00000000e+00,  0.00000000e+00,
       -8.37520352e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09239435, -0.08844826,  0.06198106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.49592197e-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,
 -8.59817199e-06, 6.41770901e-06,-4.90502292e+00,-1.84776234e-03,
  5.05784909e-05,-2.22852954e-03]


--- 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,
  9.36995961e-02,-7.04043413e-02, 1.30629238e-01, 4.93246609e-01,
  4.83422259e-01, 5.06176676e-01, 5.16522870e-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,  0.10020462,  1.88883283, -0.1536167 ,  3.3384963 ,
   0.56567565,-27.24417181]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000649373675320794
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.27420708e-14,  1.70968283e-13,  1.00000000e+00,  7.30753847e-27,
        1.00000000e+00, -1.70968283e-13, -1.00000000e+00,  0.00000000e+00,
       -4.27420708e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09239496, -0.08845223,  0.06198144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.37457753e-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,
 -1.03321122e-05, 1.17356837e-05,-4.90503466e+00,-1.84579928e-03,
  5.16885504e-05,-2.22586598e-03]


--- 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,
  9.36842627e-02,-7.03626220e-02, 1.30634137e-01, 4.93440621e-01,
  4.83204744e-01, 5.06289463e-01, 5.16430545e-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,  0.09892524,  1.86978066, -0.267572  ,  3.19573796,
   0.6211087 ,-26.99812043]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006345376468042535
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.37414167e-14,  4.37414167e-14,  1.00000000e+00,  1.91331153e-27,
        1.00000000e+00, -4.37414167e-14, -1.00000000e+00,  0.00000000e+00,
       -4.37414167e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09239538, -0.08845654,  0.06198186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.30887364e-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,
 -1.19867134e-05, 1.81937363e-05,-4.90505026e+00,-1.84392286e-03,
  5.23608503e-05,-2.22252279e-03]


--- 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,
  9.36625621e-02,-7.03351779e-02, 1.30636913e-01, 4.93607887e-01,
  4.83006057e-01, 5.06326843e-01, 5.16419917e-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, -1.59177559, -3.56880399, -0.53081152,-29.04563196,
   3.04237974, 50.0473411 ]

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: -0.0006262858381377023
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.86354885e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.86354885e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10848  , -0.0338668,  0.0619821])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.97902899e-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,
 -1.35801734e-05, 2.57682012e-05,-4.90506964e+00,-1.84211801e-03,
  5.26154208e-05,-2.21850323e-03]


--- 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,
  9.36346496e-02,-7.03216101e-02, 1.30636547e-01, 4.93749024e-01,
  4.82825651e-01, 5.06291210e-01, 5.16488628e-01]

qacc:
[-2.80287212e-01,-3.67650704e-02, 2.45789487e+00,-1.01754614e+01,
  2.53930400e+00,-4.84293966e+00, 1.91055333e+01,-3.33530127e+01,
  1.74871776e+00, 1.45560487e+00,-3.02319460e+00,-2.26022991e+00,
  6.15096043e-02,-5.05307688e-01,-1.89317134e+00, 6.19684157e+00,
 -1.55300085e+00,-3.46904945e+00,-7.85579745e-01,-2.81158602e+01,
  3.03569464e+00, 4.85887749e+01]

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([ 6.71213971, -4.53175376,  4.95136621, -4.53175376, 33.35588841,
       24.38577621,  4.95136621, 24.38577621, 29.03129937,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006336015356261104
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.76120844e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.76120844e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10847722, -0.03387026,  0.06198189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.56910938e-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,
 -1.62704075e-05, 1.28675545e-05,-4.90504459e+00,-1.84017076e-03,
  5.30548239e-05,-2.21653735e-03]


--- 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,
  9.36118768e-02,-7.03227509e-02, 1.30633967e-01, 4.93821101e-01,
  4.82723738e-01, 5.06215553e-01, 5.16589127e-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 ,  1.28495177, -3.67716887, -0.55320789, 17.66656975,
  -4.99499613, 55.21463868]

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([ 6.79259206,  6.77813185,  0.44298487,  6.77813185,  7.03857172,
       -3.76374609,  0.44298487, -3.76374609, 64.38184351,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006433392579894143
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.62859689e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.62859689e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08095091, -0.03231402,  0.06198161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.47804966e-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,
 -1.66680208e-05, 2.11204386e-06,-4.90503637e+00,-1.83844571e-03,
  5.10778184e-05,-2.21615521e-03]


--- 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,
  9.35940872e-02,-7.03382088e-02, 1.30628137e-01, 4.93826153e-01,
  4.82697838e-01, 5.06101315e-01, 5.16720414e-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 ,  1.2457658 , -3.57928861, -0.8127125 , 17.18751821,
  -4.76442105, 53.46508459]

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([ 6.84757809e+00, -6.84757685e+00,  4.12267525e-03, -6.84757685e+00,
        6.84759230e+00,  2.35964604e-02,  4.12267525e-03,  2.35964604e-02,
        4.60402300e+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: -0.0006500229608482067
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08095126, -0.0323188 ,  0.06198142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.63766887e-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,
 -5.93251787e-06,-3.13136353e-06,-4.90501891e+00,-1.83849136e-03,
  4.53701538e-05,-2.21545407e-03]


--- 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,
  9.35811467e-02,-7.03676493e-02, 1.30618157e-01, 4.93765888e-01,
  4.82745850e-01, 5.05949671e-01, 5.16881634e-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,  1.21229531, -3.49563043, -1.03746715, 16.77574205,
  -4.57927821, 51.99798362]

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([ 6.8544491 , -6.84994923, -0.2483305 , -6.84994923,  6.92045418,
       -1.8206845 , -0.2483305 , -1.8206845 , 57.07621552,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006508599910140522
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08095072, -0.03232011,  0.0619814 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.62267527e-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,
  9.78540381e-07,-2.01555996e-06,-4.90501889e+00,-1.83798327e-03,
  4.22531551e-05,-2.21624919e-03]


--- 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,
  9.35729415e-02,-7.04107882e-02, 1.30603250e-01, 4.93641719e-01,
  4.82866004e-01, 5.05761566e-01, 5.17072058e-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,  1.18383429, -3.42460445, -1.23168633, 16.42441858,
  -4.43109552, 50.77595006]

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([ 6.82265984, -6.80435853, -0.49939196, -6.80435853,  7.15724343,
       -4.55879714, -0.49939196, -4.55879714, 68.93757641,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000646990925730867
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.57989641e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.57989641e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08094949, -0.03231865,  0.0619815 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.00660555e-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,
  4.43261092e-06, 4.93955326e-06,-4.90503484e+00,-1.83702223e-03,
  4.15201838e-05,-2.21848589e-03]


--- 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,
  9.35651654e-02,-7.04448772e-02, 1.30595384e-01, 4.93547272e-01,
  4.82955167e-01, 5.05609611e-01, 5.17227531e-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 ,  0.10725346,  2.26247022,  1.76003888,  3.35923603,
   0.98076737,-32.87536745]

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: -0.0006638914755003472
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.36147974e-14,  8.36147974e-14,  1.00000000e+00, -6.99143435e-27,
        1.00000000e+00, -8.36147974e-14, -1.00000000e+00,  0.00000000e+00,
        8.36147974e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09240586, -0.08845182,  0.06198102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.70751509e-06, 1.73562870e-05,-4.90506562e+00,-1.83568084e-03,
  4.30085298e-05,-2.22211977e-03]


--- 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,
  9.35578016e-02,-7.04702364e-02, 1.30593002e-01, 4.93481515e-01,
  4.83014416e-01, 5.05492513e-01, 5.17349387e-01]

qacc:
[ -5.43696892, -0.7776286 ,  3.64887432, -6.70941701,  0.4923542 ,
   3.23716306,-16.79007861, 38.14743308, -0.25850735,  1.13979062,
  -7.56024088, 21.51005976, -0.68108852,  0.93602166, 15.68683615,
 -53.75832628,  0.10310238,  2.18245789,  1.37110412,  3.2029628 ,
   0.96759652,-31.69528109]

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: -0.0006808745279618111
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.63058387e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.63058387e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09240624, -0.08844756,  0.06198054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.18443055e-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,
  3.53502621e-06, 1.02924233e-05,-4.90504132e+00,-1.83461369e-03,
  4.59877676e-05,-2.22516605e-03]


--- 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,
  9.35535350e-02,-7.04870106e-02, 1.30594552e-01, 4.93432235e-01,
  4.83053752e-01, 5.05420715e-01, 5.17429805e-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,  0.77428459,  2.14625676,  0.98319915, 13.29871425,
   2.15598471,-30.45995694]

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: -0.0006904221594687676
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  4.0200876e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -4.0200876e-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([ 0.08695761, -0.08875258,  0.06198027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.46039363e-06, 5.16615261e-06,-4.90502331e+00,-1.83360673e-03,
  4.84115164e-05,-2.22741285e-03]


--- 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,
  9.35522808e-02,-7.04954418e-02, 1.30598858e-01, 4.93398987e-01,
  4.83073705e-01, 5.05392948e-01, 5.17470003e-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,
  7.53093463e-01, 2.08573745e+00, 6.88824550e-01, 1.29014590e+01,
  2.11186140e+00,-2.96030800e+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: -0.000693725785822677
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.00094334e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.00094334e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08695801, -0.08875201,  0.06198018])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.41530935e-06, 2.32918398e-06,-4.90500977e+00,-1.83308943e-03,
  5.09060583e-05,-2.22885042e-03]


--- 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,
  9.35539675e-02,-7.04957344e-02, 1.30604910e-01, 4.93381389e-01,
  4.83074725e-01, 5.05408134e-01, 5.17470998e-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 ,  0.73522518,  2.03463753,  0.43639366, 12.56866044,
   2.07199744,-28.88014819]

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: -0.0006917352003665
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08695789, -0.08875285,  0.06198023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.70490642e-07, 7.17541300e-07,-4.90500224e+00,-1.83270146e-03,
  5.21529021e-05,-2.22951106e-03]


--- 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,
  9.35585354e-02,-7.04880597e-02, 1.30611845e-01, 4.93379118e-01,
  4.83057184e-01, 5.05465367e-01, 5.17433634e-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 ,  0.72030088,  1.99185082,  0.22085697, 12.29196512,
   2.03604203,-28.27484286]

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: -0.0006855257212746851
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.09760298e-14,  1.21464045e-13,  1.00000000e+00,  9.83567610e-27,
        1.00000000e+00, -1.21464045e-13, -1.00000000e+00,  0.00000000e+00,
       -8.09760298e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08695737, -0.0887548 ,  0.06198041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.46695804e-08, 2.40565087e-07,-4.90500023e+00,-1.83244583e-03,
  5.22341434e-05,-2.22941428e-03]


--- 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,
  9.35658536e-02,-7.04725615e-02, 1.30618948e-01, 4.93392256e-01,
  4.83021104e-01, 5.05563555e-01, 5.17358857e-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 ,  0.68759175,  1.95585039,  0.04212133, 11.75598087,
   1.96948846,-27.79260906]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006760032353176888
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.06290098e-07, -3.06289687e-07,  1.00000000e+00, -9.38134981e-14,
        1.00000000e+00,  3.06289687e-07, -1.00000000e+00, -1.26217745e-29,
       -3.06290098e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08713955, -0.0887473 ,  0.06198068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.96833506e-07, 8.24076180e-07,-4.90500338e+00,-1.83232488e-03,
  5.12138223e-05,-2.22857637e-03]


--- 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,
  9.35735420e-02,-7.04494327e-02, 1.30626013e-01, 4.93430643e-01,
  4.82958606e-01, 5.05692320e-01, 5.17254737e-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,
  9.25436239e-02, 1.90767743e+00,-9.57243795e-03, 2.71190148e+00,
  9.07341183e-01,-2.78335420e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006644308972059837
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.08867286e-14, -1.67093829e-13,  1.00000000e+00,  3.49004345e-27,
        1.00000000e+00,  1.67093829e-13, -1.00000000e+00,  0.00000000e+00,
        2.08867286e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09240635, -0.08845271,  0.06198101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.34278184e-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,
 -9.44538097e-07, 2.40917984e-06,-4.90501134e+00,-1.83233662e-03,
  4.91621531e-05,-2.22701562e-03]


--- 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,
  9.35815990e-02,-7.04187661e-02, 1.30632496e-01, 4.93493923e-01,
  4.82870052e-01, 5.05851243e-01, 5.17121630e-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,  0.09212534,  1.88443344, -0.14566963,  2.68942408,
   0.88544003,-27.45948616]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000651092746561055
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.13146098e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.13146098e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09240618, -0.08845632,  0.06198139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.05801891e-06, 5.15496350e-06,-4.90502209e+00,-1.83245203e-03,
  4.69925864e-05,-2.22489494e-03]


--- 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,
  9.35900236e-02,-7.03806357e-02, 1.30637936e-01, 4.93581803e-01,
  4.82755729e-01, 5.06039983e-01, 5.16959810e-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,  0.091937  ,  1.8659438 , -0.26040686,  2.67388265,
   0.86599589,-27.16229362]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006363140129145572
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.092406  , -0.08846034,  0.06198181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.28396960e-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,
 -1.14788813e-06, 9.12470428e-06,-4.90503672e+00,-1.83261434e-03,
  4.44476546e-05,-2.22207887e-03]


--- 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,
  9.35988161e-02,-7.03350988e-02, 1.30641950e-01, 4.93694049e-01,
  4.82615853e-01, 5.06258268e-01, 5.16769475e-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 ,  0.09195211,  1.85162265, -0.35680626,  2.66449958,
   0.84860265,-26.93220556]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006205650000101481
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.34178896e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.34178896e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0924058 , -0.08846466,  0.06198226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.21413908e-06, 1.42723190e-05,-4.90505511e+00,-1.83282382e-03,
  4.15303406e-05,-2.21857464e-03]


--- 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,
  9.36129330e-02,-7.03047155e-02, 1.30644701e-01, 4.93737421e-01,
  4.82555688e-01, 5.06434705e-01, 5.16611321e-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 ,  1.33110423, -3.78838207, -0.31570359, 17.3368396 ,
  -5.72694088, 56.01521364]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006375780332542325
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.74131317e-13,  4.35328292e-14,  1.00000000e+00,  7.58042887e-27,
        1.00000000e+00, -4.35328292e-14, -1.00000000e+00,  0.00000000e+00,
       -1.74131317e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0809264 , -0.03231964,  0.06198178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.25661848e-06, 2.05615239e-05,-4.90507721e+00,-1.83308080e-03,
  3.82420018e-05,-2.21438776e-03]


--- 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,
  9.36322034e-02,-7.02890142e-02, 1.30645018e-01, 4.93713769e-01,
  4.82572588e-01, 5.06571197e-01, 5.16484302e-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,  1.28838656, -3.6705003 , -0.60839916, 16.99455028,
  -5.28372629, 54.15058611]

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([ 6.83933178, -6.0587532 ,  3.17300628, -6.0587532 , 15.1208468 ,
       15.81328596,  3.17300628, 15.81328596, 37.03429154,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006490189529592266
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.71061726e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.71061726e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08092622, -0.03232623,  0.06198145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  6.61454226e-07, 6.95220522e-06,-4.90504106e+00,-1.83735658e-03,
  3.72797350e-05,-2.21172478e-03]


--- 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,
  9.36564837e-02,-7.02875913e-02, 1.30641888e-01, 4.93624666e-01,
  4.82664293e-01, 5.06669322e-01, 5.16387517e-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,  1.25244779, -3.56961328, -0.86186053, 16.69310459,
  -4.9158971 , 52.57068272]

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([ 6.87768611, -6.31782966,  2.71801299, -6.31782966, 14.77742342,
       18.36238265,  2.71801299, 18.36238265, 49.55975056,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006536939949895876
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.49191696e-14,  8.49191696e-14,  1.00000000e+00, -7.21126537e-27,
        1.00000000e+00, -8.49191696e-14, -1.00000000e+00,  0.00000000e+00,
        8.49191696e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08092527, -0.03232902,  0.06198132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.57941117e-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,
 -1.21943583e-06, 1.34503779e-07,-4.90502356e+00,-1.84082077e-03,
  3.86641555e-05,-2.21054796e-03]


--- 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,
  9.36744700e-02,-7.03002237e-02, 1.30636206e-01, 4.93508992e-01,
  4.82774709e-01, 5.06692986e-01, 5.16371643e-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, -1.5734711 , -3.5138114 , -0.63791128,-28.69275146,
   3.04875965, 49.53956188]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006558356073543548
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.46418685e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.46418685e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1084435 , -0.03387562,  0.06198126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.77102646e-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,
 -6.51123636e-06,-5.02887454e-07,-4.90502300e+00,-1.84367453e-03,
  4.22419990e-05,-2.21079813e-03]


--- 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,
  9.36863286e-02,-7.03265483e-02, 1.30626989e-01, 4.93367229e-01,
  4.82903308e-01, 5.06644525e-01, 5.16434407e-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, -1.53193826, -3.42305475, -0.88366047,-27.7599336 ,
   3.09984803, 48.15734106]

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([ 6.92044933, -4.91016138,  4.87677497, -4.91016138, 30.30676284,
       23.54641624,  4.87677497, 23.54641624, 30.62806435,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006589233874924882
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.42452283e-14,  1.68490457e-13,  1.00000000e+00, -1.41945170e-26,
        1.00000000e+00, -1.68490457e-13, -1.00000000e+00,  0.00000000e+00,
        8.42452283e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10844173, -0.03387728,  0.06198117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -5.82477076e-06, 4.82919523e-06,-4.90501724e+00,-1.84579479e-03,
  4.57086609e-05,-2.21159918e-03]


--- 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,
  9.36922015e-02,-7.03662570e-02, 1.30613388e-01, 4.93199773e-01,
  4.83049640e-01, 5.06525866e-01, 5.16573883e-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, -1.49644264, -3.34602384, -1.0960355 ,-26.98085747,
   3.13557006, 46.99949458]

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([ 6.90279445, -5.07781556,  4.67593417, -5.07781556, 34.1239417 ,
       29.5607166 ,  4.67593417, 29.5607166 , 39.0041588 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006567621433009457
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.45224588e-14,  8.45224588e-14,  1.00000000e+00, -7.14404605e-27,
        1.00000000e+00, -8.45224588e-14, -1.00000000e+00,  0.00000000e+00,
        8.45224588e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10844137, -0.03387616,  0.06198123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.58716964e-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,
 -2.96590839e-06, 1.17761194e-05,-4.90502751e+00,-1.84816797e-03,
  4.67472796e-05,-2.21398494e-03]


--- 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,
  9.36922092e-02,-7.04190898e-02, 1.30594670e-01, 4.93006936e-01,
  4.83213315e-01, 5.06338583e-01, 5.16788441e-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, -1.46627217, -3.28104108, -1.27932259,-26.33382029,
   3.15960715, 46.03730931]

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: -0.0006504080601303225
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10844211, -0.03387283,  0.06198141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
  1.94336244e-06, 2.02471694e-05,-4.90505252e+00,-1.85078202e-03,
  4.55939196e-05,-2.21790965e-03]


--- 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,
  9.36926019e-02,-7.04625898e-02, 1.30584255e-01, 4.92843413e-01,
  4.83348132e-01, 5.06188943e-01, 5.16964899e-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,  0.09625127,  2.33322632,  2.07566523,  5.17707927,
   0.10984923,-33.36688634]

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: -0.0006715140068109943
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.2665664e-14,  8.2665664e-14,  1.0000000e+00, -6.8336120e-27,
        1.0000000e+00, -8.2665664e-14, -1.0000000e+00,  0.0000000e+00,
        8.2665664e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09240913, -0.08845384,  0.0619808 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.81511842e-06, 3.01983872e-05,-4.90509130e+00,-1.85362557e-03,
  4.24274226e-05,-2.22333490e-03]


--- 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,
  9.36933871e-02,-7.04971269e-02, 1.30580397e-01, 4.92708256e-01,
  4.83454764e-01, 5.06075413e-01, 5.17105155e-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,  0.09811252,  2.24069762,  1.63920263,  4.69502367,
   0.25473157,-32.11358724]

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([ 7.19693146, -1.68737295,  6.99632725, -1.68737295, 59.76074251,
       12.67733053,  6.99632725, 12.67733053, 10.25444776,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006933041005478396
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.00675363e-14,  1.60135073e-13,  1.00000000e+00,  1.28216207e-26,
        1.00000000e+00, -1.60135073e-13, -1.00000000e+00,  0.00000000e+00,
       -8.00675363e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09241182, -0.08844882,  0.06198018])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.53517868e-06, 2.09082017e-05,-4.90506151e+00,-1.85179538e-03,
  4.51091763e-05,-2.22713282e-03]


--- 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,
  9.36945695e-02,-7.05230196e-02, 1.30581577e-01, 4.92600638e-01,
  4.83533827e-01, 5.05996679e-01, 5.17210800e-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,  0.09928913,  2.16110224,  1.25982467,  4.30613965,
   0.36562885,-31.0339267 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007061515699471332
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.93054081e-14,  1.57221632e-13,  1.00000000e+00,  6.17966041e-27,
        1.00000000e+00, -1.57221632e-13, -1.00000000e+00,  0.00000000e+00,
       -3.93054081e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09241388, -0.08844608,  0.06197982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.68888097e-06, 1.35620533e-05,-4.90503842e+00,-1.85028521e-03,
  4.70655069e-05,-2.23014546e-03]


--- 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,
  9.36961518e-02,-7.05405394e-02, 1.30586489e-01, 4.92519837e-01,
  4.83585872e-01, 5.05951625e-01, 5.17283160e-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,  0.10000329,  2.0932422 ,  0.93260542,  3.99287864,
   0.4502569 ,-30.11118512]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007116682389528839
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.12005781e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.12005781e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09241544, -0.0884452 ,  0.06197966])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.16861898e-06, 7.99025906e-06,-4.90502128e+00,-1.84902683e-03,
  4.83862313e-05,-2.23239261e-03]


--- 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,
  9.36981359e-02,-7.05499158e-02, 1.30594008e-01, 4.92465234e-01,
  4.83611388e-01, 5.05939308e-01, 5.17323337e-01]

qacc:
[ -4.85556134, -0.27285139, -1.93902705, 11.256945  ,  2.2172973 ,
   0.84689224, -5.01247154, 10.60963923,  4.58055305,  0.3231429 ,
  -3.71078873,  8.27751534, -0.57665835,  0.84672116,-12.35977794,
  42.10075533,  0.10041476,  2.0358426 ,  0.65203092,  3.74098446,
   0.51457152,-29.3281762 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007112415967754082
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.80482349e-14,  1.56096470e-13,  1.00000000e+00,  1.21830539e-26,
        1.00000000e+00, -1.56096470e-13, -1.00000000e+00,  0.00000000e+00,
       -7.80482349e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09241661, -0.08844582,  0.06197968])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.89525795e-06, 4.04946853e-06,-4.90500952e+00,-1.84796984e-03,
  4.91393810e-05,-2.23389232e-03]


--- 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,
  9.37005224e-02,-7.05513416e-02, 1.30603178e-01, 4.92436298e-01,
  4.83610796e-01, 5.05958934e-01, 5.17332240e-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,  0.1006385 ,  1.98766255,  0.41257674,  3.53891745,
   0.56317723,-28.66850193]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007060586114688572
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.86211659e-14,  7.86211659e-14,  1.00000000e+00,  6.18128773e-27,
        1.00000000e+00, -7.86211659e-14, -1.00000000e+00,  0.00000000e+00,
       -7.86211659e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09241747, -0.08844764,  0.06197983])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.10662103e-07, 1.62043389e-06,-4.90500268e+00,-1.84707694e-03,
  4.93763641e-05,-2.23466060e-03]


--- 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,
  9.37033120e-02,-7.05449771e-02, 1.30613183e-01, 4.92432580e-01,
  4.83584456e-01, 5.06009840e-01, 5.17310612e-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,
  1.00757138e-01, 1.94755219e+00, 2.09020742e-01, 3.37736052e+00,
  5.99638066e-01,-2.81171638e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000697129415999434
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.96281866e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.96281866e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09241808, -0.08845039,  0.06198008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.27840984e-07, 6.05022337e-07,-4.90500037e+00,-1.84632049e-03,
  4.91358985e-05,-2.23471137e-03]


--- 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,
  9.37065050e-02,-7.05309548e-02, 1.30623335e-01, 4.92453699e-01,
  4.83532671e-01, 5.06091473e-01, 5.17259056e-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,
  1.00829742e-01, 1.91447705e+00, 3.65925455e-02, 3.24880337e+00,
  6.26714703e-01,-2.76607917e+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: -0.0006853095927676911
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.05007837e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.05007837e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0924185 , -0.08845388,  0.06198042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.51543053e-07, 9.23117016e-07,-4.90500233e+00,-1.84568000e-03,
  4.84469913e-05,-2.23405656e-03]


--- 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,
  9.37101015e-02,-7.05093823e-02, 1.30633052e-01, 4.92499341e-01,
  4.83455686e-01, 5.06203377e-01, 5.17178054e-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,  0.10089823,  1.88752364, -0.10897398,  3.14719744,
   0.64654594,-27.28765732]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006713204598017691
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.13447486e-14,  8.26894971e-14,  1.00000000e+00,  3.41877647e-27,
        1.00000000e+00, -8.26894971e-14, -1.00000000e+00,  0.00000000e+00,
       -4.13447486e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09241877, -0.08845791,  0.06198082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.61342211e-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,
 -1.68335905e-06, 2.50971699e-06,-4.90500833e+00,-1.84514024e-03,
  4.73311873e-05,-2.23270617e-03]


--- 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,
  9.37141020e-02,-7.04803463e-02, 1.30641842e-01, 4.92569243e-01,
  4.83353700e-01, 5.06345181e-01, 5.17067983e-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,  0.10099194,  1.86589491, -0.2314432 ,  3.06767258,
   0.6607882 ,-26.98757459]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006557671622173938
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.46507029e-14,  1.69301406e-13,  1.00000000e+00,  1.43314830e-26,
        1.00000000e+00, -1.69301406e-13, -1.00000000e+00,  0.00000000e+00,
       -8.46507029e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09241893, -0.08846233,  0.06198126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.52307244e-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,
 -2.34003472e-06, 5.31236080e-06,-4.90501820e+00,-1.84468991e-03,
  4.58042646e-05,-2.23066844e-03]


--- 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,
  9.37185070e-02,-7.04439146e-02, 1.30649296e-01, 4.92663196e-01,
  4.83226861e-01, 5.06516585e-01, 5.16929130e-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,  0.10113096,  1.84890049, -0.33410909,  3.00630625,
   0.67072304,-26.7517484 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006391545976554697
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.34254494e-14,  8.68508987e-14,  1.00000000e+00,  3.77153930e-27,
        1.00000000e+00, -8.68508987e-14, -1.00000000e+00,  0.00000000e+00,
       -4.34254494e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09241899, -0.08846702,  0.06198173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.78695942e-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,
 -2.93376844e-06, 9.28890134e-06,-4.90503184e+00,-1.84432065e-03,
  4.38775134e-05,-2.22794998e-03]


--- 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,
  9.37233173e-02,-7.04001392e-02, 1.30655071e-01, 4.92781029e-01,
  4.83075276e-01, 5.06717353e-01, 5.16761705e-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,  0.1013286 ,  1.83594511, -0.41983983,  2.95993656,
   0.67734037,-26.57260777]

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: -0.0006219013213472485
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.46301924e-14,  8.92603848e-14,  1.00000000e+00,  3.98370814e-27,
        1.00000000e+00, -8.92603848e-14, -1.00000000e+00,  0.00000000e+00,
       -4.46301924e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09241898, -0.08847187,  0.06198222])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.17944816e-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,
 -3.47340296e-06, 1.44056127e-05,-4.90504916e+00,-1.84402626e-03,
  4.15587027e-05,-2.22455592e-03]


--- 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,
  9.37285340e-02,-7.03490577e-02, 1.30658881e-01, 4.92922615e-01,
  4.82899011e-01, 5.06947302e-01, 5.16565846e-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,  0.10159322,  1.82651661, -0.49112639,  2.92601166,
   0.68140294,-26.44364218]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006043516284667955
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.83704812e-13,  4.59262031e-14,  1.00000000e+00, -8.43686451e-27,
        1.00000000e+00, -4.59262031e-14, -1.00000000e+00,  0.00000000e+00,
        1.83704812e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09241893, -0.0884768 ,  0.06198272])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -3.96530146e-06, 2.06355905e-05,-4.90507012e+00,-1.84380222e-03,
  3.88528120e-05,-2.22049007e-03]


--- 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,
  9.37271905e-02,-7.03129152e-02, 1.30662256e-01, 4.93037655e-01,
  4.82742482e-01, 5.07097403e-01, 5.16455023e-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, -1.64005705, -3.73472811, -0.10866123,-30.90446599,
   2.48342452, 52.09527887]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006250123699548665
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.88160841e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.88160841e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10841576, -0.03385226,  0.06198214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.58651534e-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,
 -4.41399200e-06, 2.79574012e-05,-4.90509469e+00,-1.84364523e-03,
  3.57625882e-05,-2.21575500e-03]


--- 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,
  9.37194799e-02,-7.02912145e-02, 1.30663944e-01, 4.93126607e-01,
  4.82605035e-01, 5.07170882e-01, 5.16426400e-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, -1.59175777, -3.61047816, -0.42178652,-29.62621593,
   2.63876674, 50.3339211 ]

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([ 6.7724918 , -2.90688199,  6.11691772, -2.90688199, 30.87059694,
       11.45190292,  6.11691772, 11.45190292, 12.21466577,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006409020897573114
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.66140899e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.66140899e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10840985, -0.03385977,  0.06198169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -7.54222580e-06, 1.59980718e-05,-4.90504824e+00,-1.84432914e-03,
  4.09232032e-05,-2.21280779e-03]


--- 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,
  9.37055686e-02,-7.02835291e-02, 1.30662857e-01, 4.93189893e-01,
  4.82486107e-01, 5.07170427e-01, 5.16477535e-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, -1.5501929 , -3.50380663, -0.6939648 ,-28.55702027,
   2.74387689, 48.82867898]

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([ 6.84128538, -3.32278199,  5.98015932, -3.32278199, 37.17637931,
       16.85522047,  5.98015932, 16.85522047, 16.20662501,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006492567540462846
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10840613, -0.03386345,  0.06198145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.40766073e-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,
 -8.39957079e-06, 6.39786313e-06,-4.90502101e+00,-1.84504991e-03,
  4.31797611e-05,-2.21147380e-03]


--- 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,
  9.36855981e-02,-7.02894950e-02, 1.30658051e-01, 4.93227895e-01,
  4.82385205e-01, 5.07098266e-01, 5.16606336e-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, -1.51476832, -3.41285218, -0.92948849,-27.66779798,
   2.81018513, 47.5513656 ]

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([ 6.85940874, -3.75006458,  5.74356196, -3.75006458, 43.07840264,
       23.64796741,  5.74356196, 23.64796741, 22.29954946,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006514644466956293
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.52097939e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.52097939e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10840417, -0.03386402,  0.06198139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.54750403e-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,
 -7.11450316e-06,-1.12031053e-06,-4.90501104e+00,-1.84584862e-03,
  4.28850302e-05,-2.21170509e-03]


--- 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,
  9.36596884e-02,-7.03088040e-02, 1.30648715e-01, 4.93240951e-01,
  4.82301904e-01, 5.06956221e-01, 5.16811018e-01]

qacc:
[  1.35583414, -0.77069507,  4.5112025 ,-10.40198981, -2.01060263,
   1.06566816, -2.45802237, -0.94916003,  0.87683782,  0.5625669 ,
  -1.1540103 , -1.23858863,  0.11263738, -0.29319383,-14.10308709,
  47.53265798, -1.48484541, -3.33575429, -1.13274249,-26.93297198,
   2.84633385, 46.47510013]

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([ 6.83680122, -4.1623288 ,  5.4237321 , -4.1623288 , 47.67149755,
       31.33772634,  5.4237321 , 31.33772634, 30.88627828,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000648710972351571
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.28357204e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.28357204e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10840362, -0.03386208,  0.06198147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -3.79197207e-06,-6.75913683e-06,-4.90501680e+00,-1.84674646e-03,
  4.03092788e-05,-2.21345792e-03]


--- 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,
  9.36332155e-02,-7.03419300e-02, 1.30635790e-01, 4.93206706e-01,
  4.82265764e-01, 5.06758204e-01, 5.17071562e-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,
 -1.40765783e-01,-3.45423089e+00,-8.97016784e-01,-5.58576897e+00,
 -5.29480544e-01, 5.14517276e+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([ 6.78120012,  6.74087083,  0.73846836,  6.74087083,  7.36861422,
       -5.36202059,  0.73846836, -5.36202059, 55.72667954,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006419576026509104
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12046455e-07,  8.64716782e-14,  1.00000000e+00, -9.68884502e-21,
        1.00000000e+00, -8.64716782e-14, -1.00000000e+00,  0.00000000e+00,
        1.12046455e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09465278, -0.03310605,  0.06198166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.28481714e-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,
  1.48627672e-06,-1.06606017e-05,-4.90503712e+00,-1.84775161e-03,
  3.56570055e-05,-2.21669331e-03]


--- 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,
  9.36115991e-02,-7.03888291e-02, 1.30618515e-01, 4.93106728e-01,
  4.82304665e-01, 5.06521658e-01, 5.17362325e-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,
  1.21411968e+00,-3.44330904e+00,-1.08763051e+00, 1.67374846e+01,
 -4.96013482e+00, 5.27506033e+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: -0.000642759317648095
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.63638219e-14,  4.31819109e-14,  1.00000000e+00, -3.72935487e-27,
        1.00000000e+00, -4.31819109e-14, -1.00000000e+00,  0.00000000e+00,
        8.63638219e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08087653, -0.03235603,  0.06198163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.23310182e-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,
  1.08725190e-05,-7.69423579e-06,-4.90506176e+00,-1.84906228e-03,
  3.06024746e-05,-2.22000936e-03]


--- 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,
  9.35931601e-02,-7.04398724e-02, 1.30606709e-01, 4.92977526e-01,
  4.82374434e-01, 5.06281330e-01, 5.17655561e-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,  0.7943252 , -1.03603623,  1.36708656, 13.05368116,
  -0.92023742, 16.89947731]

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: -0.0006387055072055255
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.25233818e-07,  8.69119659e-14,  1.00000000e+00,  5.43403003e-20,
        1.00000000e+00, -8.69119659e-14, -1.00000000e+00,  0.00000000e+00,
       -6.25233818e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08678424, -0.06099741,  0.06198174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.05411327e-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,
  1.94669425e-05, 5.59486392e-06,-4.90509004e+00,-1.84935534e-03,
  2.90948022e-05,-2.22303299e-03]


--- 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,
  9.35749105e-02,-7.04818883e-02, 1.30601785e-01, 4.92876489e-01,
  4.82417785e-01, 5.06078198e-01, 5.17909939e-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,  0.04737465,  2.2568605 ,  1.72065861,  6.15901088,
  -0.49553122,-32.52721398]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006641054090040927
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.1793931e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        4.1793931e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09245911, -0.08846913,  0.06198102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.15353866e-05, 1.26783257e-05,-4.90509887e+00,-1.84811429e-03,
  3.20890597e-05,-2.22702337e-03]


--- 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,
  9.35595686e-02,-7.05150043e-02, 1.30602188e-01, 4.92791626e-01,
  4.82444041e-01, 5.05922067e-01, 5.18118734e-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,  0.72692861,  2.22496246,  1.33178518, 15.59136471,
   0.92289927,-31.08424434]

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([ 7.09599995,  3.81182647, -5.98524805,  3.81182647, 33.32992803,
       16.70760856, -5.98524805, 16.70760856, 17.73657893,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006806201768999551
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.50580071e-07, -2.50579826e-07,  1.00000000e+00, -6.27903105e-14,
        1.00000000e+00,  2.50579826e-07, -1.00000000e+00,  0.00000000e+00,
       -2.50580071e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08719748, -0.08877459,  0.06198055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.62588767e-05, 6.26367093e-06,-4.90506939e+00,-1.84323720e-03,
  3.80527700e-05,-2.23029936e-03]


--- 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,
  9.35471597e-02,-7.05395095e-02, 1.30606545e-01, 4.92722288e-01,
  4.82453346e-01, 5.05811672e-01, 5.18283772e-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,  0.73324571,  2.15269341,  0.98866081, 14.99506893,
   1.17741645,-30.12368356]

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([ 7.17638054,  0.89491061, -7.12036323,  0.89491061, 48.88655513,
        5.24227155, -7.12036323,  5.24227155,  7.83524642,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006907068540940031
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08701899, -0.08878351,  0.06198026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.19020813e-05, 2.98889621e-06,-4.90504290e+00,-1.83944819e-03,
  4.43237944e-05,-2.23258430e-03]


--- 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,
  9.35376236e-02,-7.05556551e-02, 1.30613681e-01, 4.92668242e-01,
  4.82445593e-01, 5.05745615e-01, 5.18406815e-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,  0.7181893 ,  2.08990885,  0.69439898, 14.21985682,
   1.34606027,-29.31838877]

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([ 7.20387265,  1.06594834, -7.12457264,  1.06594834, 63.30098481,
        8.393012  , -7.12457264,  8.393012  ,  8.45959951,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006941831476271615
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.99661464e-14,  1.19949220e-13,  1.00000000e+00, -9.59187686e-27,
        1.00000000e+00, -1.19949220e-13, -1.00000000e+00,  0.00000000e+00,
        7.99661464e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08702196, -0.08878335,  0.06198017])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.12970041e-06, 7.80674945e-07,-4.90502327e+00,-1.83613432e-03,
  4.90579589e-05,-2.23416496e-03]


--- 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,
  9.35309076e-02,-7.05636531e-02, 1.30622585e-01, 4.92629274e-01,
  4.82420728e-01, 5.05722720e-01, 5.18489316e-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 ,  0.7050167 ,  2.03690475,  0.44216341, 13.58735067,
   1.47488035,-28.63401081]

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: -0.0006923252580060546
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.01807396e-14,  4.00903698e-14,  1.00000000e+00,  3.21447550e-27,
        1.00000000e+00, -4.00903698e-14, -1.00000000e+00,  0.00000000e+00,
       -8.01807396e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08702388, -0.0887845 ,  0.06198022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.81561395e-06,-4.37137681e-07,-4.90500991e+00,-1.83319655e-03,
  5.23684948e-05,-2.23504732e-03]


--- 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,
  9.35269661e-02,-7.05636810e-02, 1.30632396e-01, 4.92605192e-01,
  4.82378731e-01, 5.05741997e-01, 5.18532464e-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,
  6.93647664e-01, 1.99250610e+00, 2.26919462e-01, 1.30726293e+01,
  1.57289604e+00,-2.80569759e+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: -0.0006862176309885143
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08702498, -0.08878671,  0.0619804 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.87031280e-06,-6.84148487e-07,-4.90500229e+00,-1.83057175e-03,
  5.43860576e-05,-2.23523078e-03]


--- 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,
  9.35257605e-02,-7.05558864e-02, 1.30642384e-01, 4.92595830e-01,
  4.82319600e-01, 5.05802621e-01, 5.18537231e-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,  0.68396675,  1.95563467,  0.04394571, 12.65527231,
   1.64707367,-27.57478753]

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: -0.000676781960788353
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.23033313e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.23033313e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08702542, -0.08878973,  0.06198067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.24511490e-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,
 -7.73944876e-07, 1.68213800e-08,-4.90499996e+00,-1.82821312e-03,
  5.52109203e-05,-2.23471700e-03]


--- 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,
  9.35272583e-02,-7.05403905e-02, 1.30651927e-01, 4.92601040e-01,
  4.82243341e-01, 5.05903908e-01, 5.18504399e-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,
  6.75843385e-01, 1.92532543e+00,-1.11055890e-01, 1.23185943e+01,
  1.70279457e+00,-2.71762315e+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: -0.000664797867490935
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.35007962e-14,  8.35007962e-14,  1.00000000e+00,  6.97238296e-27,
        1.00000000e+00, -8.35007962e-14, -1.00000000e+00,  0.00000000e+00,
       -8.35007962e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08702535, -0.08879339,  0.06198101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -3.16859661e-06, 1.64231229e-06,-4.90500260e+00,-1.82608580e-03,
  5.49195402e-05,-2.23350872e-03]


--- 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,
  9.35314326e-02,-7.05172917e-02, 1.30660503e-01, 4.92620696e-01,
  4.82149963e-01, 5.06045292e-01, 5.18434591e-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,  0.66914383,  1.90072828, -0.24192547, 12.04898307,
   1.74421377,-26.85140356]

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: -0.0006509216049019745
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.52808553e-14,  4.26404277e-14,  1.00000000e+00, -3.63641214e-27,
        1.00000000e+00, -4.26404277e-14, -1.00000000e+00,  0.00000000e+00,
        8.52808553e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0870249 , -0.08879751,  0.0619814 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.77156424e-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,
 -5.35290478e-06, 4.16960218e-06,-4.90500996e+00,-1.82416373e-03,
  5.35696469e-05,-2.23160904e-03]


--- 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,
  9.35382619e-02,-7.04866685e-02, 1.30667670e-01, 4.92654694e-01,
  4.82039471e-01, 5.06226316e-01, 5.18328292e-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,  0.66373814,  1.88110202, -0.35205352, 11.83533993,
   1.77453569,-26.5916428 ]

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: -0.0006357026937869603
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.73225043e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.73225043e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08702415, -0.08880196,  0.06198184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -7.35706647e-06, 7.57734535e-06,-4.90502185e+00,-1.82242734e-03,
  5.12041702e-05,-2.22902093e-03]


--- 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,
  9.35477293e-02,-7.04485821e-02, 1.30673059e-01, 4.92702944e-01,
  4.81911861e-01, 5.06446611e-01, 5.18185872e-01]

qacc:
[  2.1874021 , -0.45931313,  1.20305044,  0.12879804, -3.39545062,
   1.78873278, -8.80355134, 17.95968802,  3.57291335,  1.07778159,
  -2.42100773,  1.43052443, -0.36309245,  0.34349393,  7.66155663,
 -26.43257756,  0.65950383,  1.86580446, -0.44441138, 11.6686132 ,
   1.79622678,-26.38942027]

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: -0.0006195985467457726
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.95921263e-14, -4.47960631e-14,  1.00000000e+00, -4.01337454e-27,
        1.00000000e+00,  4.47960631e-14, -1.00000000e+00,  0.00000000e+00,
       -8.95921263e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08702319, -0.08880663,  0.06198229])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.27603160e-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,
 -9.20455146e-06, 1.18457629e-05,-4.90503814e+00,-1.82086186e-03,
  4.78542689e-05,-2.22574699e-03]


--- 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,
  9.35598219e-02,-7.04030786e-02, 1.30676363e-01, 4.92765376e-01,
  4.81767119e-01, 5.06705887e-01, 5.18007597e-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,  0.65632767,  1.85428131, -0.52159164, 11.54141343,
   1.81117993,-26.23821157]

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: -0.0006029872378257584
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.20602423e-14,  9.20602423e-14,  1.00000000e+00,  8.47508822e-27,
        1.00000000e+00, -9.20602423e-14, -1.00000000e+00,  0.00000000e+00,
       -9.20602423e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08702208, -0.08881142,  0.06198277])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.09138593e-05, 1.69565648e-05,-4.90505874e+00,-1.81945615e-03,
  4.35416666e-05,-2.22178923e-03]


--- 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,
  9.35733736e-02,-7.03502339e-02, 1.30677626e-01, 4.92847130e-01,
  4.81600915e-01, 5.06999385e-01, 5.17797150e-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,  0.3647762 ,  1.83528713, -0.50995829,  7.07251908,
   1.34534048,-26.61222828]

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: -0.0005861532315296977
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.21883410e-08, -1.15420699e-13,  1.00000000e+00, -7.17782178e-21,
        1.00000000e+00,  1.15420699e-13, -1.00000000e+00,  0.00000000e+00,
       -6.21883410e-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([ 0.08978465, -0.08864979,  0.06198324])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.24998407e-05, 2.28927152e-05,-4.90508360e+00,-1.81820178e-03,
  3.82804566e-05,-2.21714904e-03]


--- 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,
  9.35925572e-02,-7.03127501e-02, 1.30678175e-01, 4.92864178e-01,
  4.81515706e-01, 5.07245513e-01, 5.17619083e-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,  1.40794961, -3.84022926, -0.17855461, 15.06745212,
  -8.4423518 , 56.67042953]

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([ 6.46800904,  1.21749134, -6.35238977,  1.21749134, 57.47542399,
        9.77601941, -6.35238977,  9.77601941,  8.34166909,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006042536092055045
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.18673060e-14,  9.18673060e-14,  1.00000000e+00, -8.43960192e-27,
        1.00000000e+00, -9.18673060e-14, -1.00000000e+00,  0.00000000e+00,
        9.18673060e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08078798, -0.03235678,  0.06198273])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.40097549e-05, 2.97997451e-05,-4.90511128e+00,-1.81715538e-03,
  3.29922300e-05,-2.21206275e-03]


--- 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,
  9.36171570e-02,-7.02901304e-02, 1.30676785e-01, 4.92817380e-01,
  4.81508698e-01, 5.07447325e-01, 5.17472334e-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,  1.35407686, -3.71601775, -0.48487347, 15.23047966,
  -7.42726933, 54.7445977 ]

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([ 6.60127574, -3.188141  ,  5.78036317, -3.188141  , 20.21592974,
        7.50911932,  5.78036317,  7.50911932, 10.74290673,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006202456086001479
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.94986606e-14,  4.47493303e-14,  1.00000000e+00, -4.00500513e-27,
        1.00000000e+00, -4.47493303e-14, -1.00000000e+00,  0.00000000e+00,
        8.94986606e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08078385, -0.03236635,  0.06198228])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -8.02319749e-06, 1.47583135e-05,-4.90506795e+00,-1.82687623e-03,
  3.31800367e-05,-2.20875875e-03]


--- 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,
  9.36469932e-02,-7.02819473e-02, 1.30672390e-01, 4.92707541e-01,
  4.81577496e-01, 5.07607315e-01, 5.17355979e-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,  1.30908385, -3.60915412, -0.75130482, 15.32412738,
  -6.60639437, 53.10332392]

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([ 6.67356371, -3.51853104,  5.67066062, -3.51853104, 24.44134825,
       11.02455351,  5.67066062, 11.02455351, 13.51407778,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006289470851687934
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.64781343e-13,  8.82604476e-14,  1.00000000e+00, -2.33697198e-26,
        1.00000000e+00, -8.82604476e-14, -1.00000000e+00,  0.00000000e+00,
        2.64781343e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08077986, -0.03237171,  0.06198203])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.23492499e-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,
 -6.66886932e-06, 6.58922622e-06,-4.90504407e+00,-1.83476750e-03,
  3.53939985e-05,-2.20694950e-03]


--- 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,
  9.36819164e-02,-7.02878355e-02, 1.30664066e-01, 4.92535385e-01,
  4.81720058e-01, 5.07727516e-01, 5.17269224e-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,  1.2717602 , -3.51783696, -0.9820516 , 15.3724186 ,
  -5.93977433, 51.71419338]

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([ 6.69628003, -3.88559911,  5.45364886, -3.88559911, 28.95541531,
       15.85912082,  5.45364886, 15.85912082, 17.99553807,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006316869258910646
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.31816448e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.31816448e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08077596, -0.03237364,  0.06198195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.36149827e-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,
 -9.33716263e-06, 4.68572708e-06,-4.90503781e+00,-1.84132207e-03,
  3.95832415e-05,-2.20657232e-03]


--- 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,
  9.37105985e-02,-7.03080359e-02, 1.30653584e-01, 4.92338761e-01,
  4.81881358e-01, 5.07771525e-01, 5.17262968e-01]

qacc:
[-1.68964519e+00, 3.89877535e-01,-3.13258466e+00, 9.55647672e+00,
 -1.79794401e+00,-4.90090157e-02, 2.46427065e+00,-1.03694735e+01,
  7.51250755e-01,-2.55474576e-01, 2.82122996e+00,-1.07779709e+01,
  3.97039246e-01,-1.12512918e+00,-5.65528040e+00, 1.90471446e+01,
 -1.56026541e+00,-3.57804068e+00,-5.39640942e-01,-2.96341446e+01,
  1.99072395e+00, 4.92611376e+01]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006413863444785367
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73097390e-13,  8.65486952e-14,  1.00000000e+00, -1.49813533e-26,
        1.00000000e+00, -8.65486952e-14, -1.00000000e+00,  0.00000000e+00,
        1.73097390e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10830515, -0.03381538,  0.06198168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.55781371e-05, 8.58487094e-06,-4.90504772e+00,-1.84690168e-03,
  4.56985388e-05,-2.20757521e-03]


--- 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,
  9.37332066e-02,-7.03421511e-02, 1.30639908e-01, 4.92117602e-01,
  4.82060906e-01, 5.07742010e-01, 5.17335095e-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, -1.51853109, -3.47869206, -0.79835951,-28.51188149,
   2.29563558, 47.98887028]

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([ 6.82345559, -1.43316419,  6.67125075, -1.43316419, 41.72280096,
        7.49731856,  6.67125075,  7.49731856,  8.43408137,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006470876682573984
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.57861368e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.57861368e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10830126, -0.0338171 ,  0.06198151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.19059277e-05, 1.63418228e-05,-4.90504307e+00,-1.85196034e-03,
  5.00135797e-05,-2.20973970e-03]


--- 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,
  9.37498847e-02,-7.03898439e-02, 1.30622142e-01, 4.91871865e-01,
  4.82258275e-01, 5.07641169e-01, 5.17483785e-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, -1.48246621, -3.39440676, -1.02250569,-27.57833296,
   2.53385057, 46.91266168]

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([ 6.82405598, -1.90409381,  6.5530273 , -1.90409381, 51.40026351,
       12.95237713,  6.5530273 , 12.95237713, 10.58759   ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006471606650551437
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.57764605e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.57764605e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10829917, -0.03381612,  0.06198151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00146893e-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,
 -6.40659179e-06, 2.58024559e-05,-4.90505483e+00,-1.85703409e-03,
  5.18290559e-05,-2.21336808e-03]


--- 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,
  9.37607570e-02,-7.04508300e-02, 1.30599511e-01, 4.91601519e-01,
  4.82473095e-01, 5.07470799e-01, 5.17707492e-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,
 -1.45147274e+00,-3.32332528e+00,-1.21636701e+00,-2.68050327e+01,
  2.72010720e+00, 4.60109912e+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([ 6.78737126, -2.40334129,  6.34762627, -2.40334129, 61.01428647,
       20.53142057,  6.34762627, 20.53142057, 14.56098753,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006427059371260646
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.63709949e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.63709949e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10829851, -0.03381297,  0.06198163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.47882121e-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,
  9.03859823e-07, 3.68616829e-05,-4.90508162e+00,-1.86219677e-03,
  5.14002460e-05,-2.21845222e-03]


--- 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,
  9.37719283e-02,-7.05022645e-02, 1.30586302e-01, 4.91360467e-01,
  4.82660305e-01, 5.07339369e-01, 5.17890612e-01]

qacc:
[ -0.44884498, -0.33058091,  0.22366031,  1.47516544, -2.23149458,
   0.83666191, -5.25406822, 13.9111615 , -3.1569547 , -0.91750107,
   4.64916657, -9.21842436, -0.75130852,  1.09896258,  6.79831911,
 -23.7401997 ,  0.07475115,  2.38790391,  2.35540256,  6.524723  ,
  -0.50602651,-33.95811399]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006726131418360454
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.65061156e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.65061156e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09249262, -0.08846399,  0.06198077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.00126359e-05, 4.94674045e-05,-4.90512242e+00,-1.86749872e-03,
  4.89210340e-05,-2.22498095e-03]


--- 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,
  9.37834287e-02,-7.05445554e-02, 1.30580606e-01, 4.91147778e-01,
  4.82820332e-01, 5.07245112e-01, 5.18035503e-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,  0.08227265,  2.28591368,  1.87862078,  5.80058929,
  -0.24869398,-32.60286244]

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([ 7.24233264, -0.83018955,  7.19459293, -0.83018955, 50.52555327,
        4.99448373,  7.19459293,  4.99448373,  7.81864992,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006990710897409741
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.94070189e-14, -7.94070189e-14,  1.00000000e+00, -6.30547465e-27,
        1.00000000e+00,  7.94070189e-14, -1.00000000e+00,  0.00000000e+00,
       -7.94070189e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09249706, -0.08845789,  0.06198002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.71589248e-06, 3.76816461e-05,-4.90508826e+00,-1.86509375e-03,
  5.07347285e-05,-2.22947280e-03]


--- 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,
  9.37952815e-02,-7.05780546e-02, 1.30580764e-01, 4.90962622e-01,
  4.82953615e-01, 5.07186523e-01, 5.18144131e-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,
  8.81044475e-02, 2.19791181e+00, 1.46315815e+00, 5.22157118e+00,
 -5.11704471e-02,-3.14305745e+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([ 7.3703527 , -1.11846789,  7.28499338, -1.11846789, 73.51803795,
       10.15568001,  7.28499338, 10.15568001,  8.92955823,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00071557721593761
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.55150695e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.55150695e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0925005 , -0.08845432,  0.06197955])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.15701293e-06, 2.79132643e-05,-4.90506115e+00,-1.86323757e-03,
  5.16999808e-05,-2.23318733e-03]


--- 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,
  9.38075050e-02,-7.06030630e-02, 1.30585339e-01, 4.90804269e-01,
  4.83060580e-01, 5.07162325e-01, 5.18218122e-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,  0.09268293,  2.12268974,  1.10426594,  4.75961751,
   0.09972062,-30.4250612 ]

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([ 7.43369169,  1.52542745, -7.27549608,  1.52542745, 62.92769616,
       11.63523102, -7.27549608, 11.63523102,  9.87320929,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007238985969837131
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.66836011e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -7.66836011e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09250315, -0.08845281,  0.06197932])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.14850835e-06, 1.99926604e-05,-4.90504029e+00,-1.86180888e-03,
  5.19446588e-05,-2.23614019e-03]


--- 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,
  9.38149627e-02,-7.06193693e-02, 1.30592708e-01, 4.90696659e-01,
  4.83121924e-01, 5.07152019e-01, 5.18272926e-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, -1.19146089,  2.17552971,  0.69865561,-14.98599885,
  -2.27170152,-32.78069846]

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([  7.45886205,  -6.73540682,  -3.20451525,  -6.73540682,
        19.50717626, -25.32373589,  -3.20451525, -25.32373589,
        60.68552827,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0007272379234114779
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.52662972e-13,  3.81657429e-14,  1.00000000e+00, -5.82649573e-27,
        1.00000000e+00, -3.81657429e-14, -1.00000000e+00,  0.00000000e+00,
        1.52662972e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10318629, -0.08981861,  0.06197923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.52501213e-07, 1.37707725e-05,-4.90502503e+00,-1.86071801e-03,
  5.15632801e-05,-2.23834729e-03]


--- 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,
  9.38177985e-02,-7.06272030e-02, 1.30601762e-01, 4.90638418e-01,
  4.83138649e-01, 5.07155097e-01, 5.18309461e-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, -1.1554676 ,  2.1181641 ,  0.4211771 ,-14.77164007,
  -2.08599598,-31.82303845]

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: -0.0007253820055797278
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.53053566e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.53053566e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10318828, -0.08981878,  0.06197928])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.07087190e-06, 6.30292894e-06,-4.90501007e+00,-1.85885327e-03,
  4.93860996e-05,-2.24049593e-03]


--- 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,
  9.38161320e-02,-7.06267568e-02, 1.30611555e-01, 4.90628388e-01,
  4.83111603e-01, 5.07171137e-01, 5.18328469e-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, -1.12555731,  2.06996659,  0.18481078,-14.58078428,
  -1.93598331,-31.02423363]

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: -0.0007188134706614113
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.86130432e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.86130432e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1031906 , -0.0898204 ,  0.06197947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.30510391e-07, 1.81556579e-06,-4.90500192e+00,-1.85714404e-03,
  4.82027010e-05,-2.24168748e-03]


--- 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,
  9.38100621e-02,-7.06181914e-02, 1.30621285e-01, 4.90665599e-01,
  4.83041494e-01, 5.07199789e-01, 5.18330549e-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,
 -1.10088254e+00, 2.02980089e+00,-1.58686606e-02,-1.44143333e+01,
 -1.81422037e+00,-3.03623373e+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: -0.0007085507947973274
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  3.9172316e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -3.9172316e-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([ 0.10319317, -0.08982316,  0.06197976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.63092660e-07, 6.88280928e-08,-4.90500007e+00,-1.85552258e-03,
  4.79481050e-05,-2.24195795e-03]


--- 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,
  9.37996693e-02,-7.06016394e-02, 1.30630271e-01, 4.90749243e-01,
  4.82928903e-01, 5.07240762e-01, 5.18316182e-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, -1.08070586,  1.99664178, -0.18576168,-14.27220877,
  -1.71475979,-29.81843715]

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: -0.00069545410317845
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.98200068e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.98200068e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10319593, -0.08982679,  0.06198013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.50017106e-06, 8.74175388e-07,-4.90500413e+00,-1.85393839e-03,
  4.85708778e-05,-2.24133617e-03]


--- 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,
  9.37851740e-02,-7.05772151e-02, 1.30638002e-01, 4.90877955e-01,
  4.82774840e-01, 5.07294457e-01, 5.18285269e-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, -1.02563121,  1.96806515, -0.31396192,-13.56525537,
  -1.55638122,-29.32946435]

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: -0.0006802277970314376
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.61057329e-07, -6.61057240e-07,  1.00000000e+00,  4.36996733e-13,
        1.00000000e+00,  6.61057240e-07, -1.00000000e+00,  5.04870979e-29,
        6.61057329e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1028263 , -0.08978358,  0.06198057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.36939895e-06, 4.08398905e-06,-4.90501380e+00,-1.85235364e-03,
  5.00311877e-05,-2.23984511e-03]


--- 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,
  9.37710729e-02,-7.05452542e-02, 1.30645240e-01, 4.91030943e-01,
  4.82595932e-01, 5.07378246e-01, 5.18224947e-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,  0.09854265,  1.8841836 , -0.12312055,  3.30012256,
   0.56801863,-27.07529024]

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: -0.000665699801150138
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09251036, -0.08847229,  0.06198098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -8.98244663e-06, 9.54515189e-06,-4.90502870e+00,-1.85073870e-03,
  5.22316152e-05,-2.23750218e-03]


--- 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,
  9.37573595e-02,-7.05058392e-02, 1.30651505e-01, 4.91208000e-01,
  4.82392263e-01, 5.07491780e-01, 5.18135598e-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 ,  0.09693227,  1.86348558, -0.24343874,  3.18461919,
   0.60869463,-26.82214017]

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: -0.0006501901429342982
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.53767961e-14,  8.53767961e-14,  1.00000000e+00,  7.28919730e-27,
        1.00000000e+00, -8.53767961e-14, -1.00000000e+00,  0.00000000e+00,
       -8.53767961e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09251061, -0.08847684,  0.06198142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.06624844e-05, 1.54746161e-05,-4.90504324e+00,-1.84893795e-03,
  5.26989591e-05,-2.23436651e-03]


--- 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,
  9.37440275e-02,-7.04590347e-02, 1.30656392e-01, 4.91408962e-01,
  4.82163885e-01, 5.07634782e-01, 5.18017518e-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,
  9.53565927e-02, 1.84741713e+00,-3.44427445e-01, 3.08989250e+00,
  6.43179586e-01,-2.66268514e+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: -0.0006336708064119678
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  8.7602507e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -8.7602507e-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([ 0.09251076, -0.08848161,  0.06198189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.60834229e-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,
 -1.22807921e-05, 2.25187228e-05,-4.90506149e+00,-1.84721562e-03,
  5.27493967e-05,-2.23055808e-03]


--- 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,
  9.37310708e-02,-7.04048886e-02, 1.30659563e-01, 4.91633701e-01,
  4.81910812e-01, 5.07807030e-01, 5.17870924e-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,  0.09382918,  1.83537694, -0.42889038,  3.0121582 ,
   0.67290029,-26.48315023]

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: -0.0006165479671254442
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09251083, -0.08848651,  0.06198238])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.62058210e-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,
 -1.38494335e-05, 3.06558073e-05,-4.90508340e+00,-1.84556170e-03,
  5.23964231e-05,-2.22607991e-03]


--- 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,
  9.37184836e-02,-7.03434351e-02, 1.30660737e-01, 4.91882125e-01,
  4.81633026e-01, 5.08008354e-01, 5.17695968e-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,  0.09235819,  1.82684921, -0.49926328,  2.9483772 ,
   0.69896538,-26.38555906]

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: -0.0005991555437996621
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.26489821e-14,  1.44764034e-13,  1.00000000e+00, -1.34122404e-26,
        1.00000000e+00, -1.44764034e-13, -1.00000000e+00,  0.00000000e+00,
        9.26489821e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09251084, -0.08849147,  0.06198287])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.53443201e-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,
 -1.53779016e-05, 3.98689307e-05,-4.90510895e+00,-1.84396797e-03,
  5.16502924e-05,-2.22093398e-03]


--- 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,
  9.36992464e-02,-7.02972107e-02, 1.30662197e-01, 4.92102454e-01,
  4.81375477e-01, 5.08129010e-01, 5.17607703e-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, -1.66249789, -3.80726691,  0.07137919,-31.15757829,
   2.93483514, 53.15936599]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006258855765562399
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.86921720e-14,  8.86921720e-14,  1.00000000e+00, -7.86630138e-27,
        1.00000000e+00, -8.86921720e-14, -1.00000000e+00,  0.00000000e+00,
        8.86921720e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10826177, -0.03379464,  0.06198211])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.68738017e-05, 5.01449682e-05,-4.90513813e+00,-1.84242754e-03,
  5.05186598e-05,-2.21512128e-03]


--- 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,
  9.36735657e-02,-7.02656741e-02, 1.30662583e-01, 4.92295471e-01,
  4.81137435e-01, 5.08172283e-01, 5.17603003e-01]

qacc:
[ 2.95103842e+00, 3.41819162e-02,-1.50460406e-01,-3.47066637e-01,
  4.42742947e-02,-6.61515871e-01, 4.37432956e-01, 5.18620466e+00,
 -3.74118220e+00,-5.04362796e-01,-2.75309835e+00, 1.89317256e+01,
 -9.55403459e-01, 1.62219998e+00, 7.94014205e-01,-2.06391142e+00,
 -1.61087761e+00,-3.67195166e+00,-2.68426236e-01,-2.98849648e+01,
  2.96306669e+00, 5.12116878e+01]

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([ 6.80858291, -3.90484221,  5.57754503, -3.90484221, 26.8736573 ,
       14.04756914,  5.57754503, 14.04756914, 16.64329345,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006452803971460641
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.60264026e-14,  8.60264026e-14,  1.00000000e+00, -7.40054194e-27,
        1.00000000e+00, -8.60264026e-14, -1.00000000e+00,  0.00000000e+00,
        8.60264026e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10825579, -0.03380421,  0.06198156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.72737586e-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,
 -2.17773976e-05, 3.19108300e-05,-4.90508995e+00,-1.84050138e-03,
  5.36085992e-05,-2.21137268e-03]


--- 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,
  9.36416185e-02,-7.02483590e-02, 1.30660712e-01, 4.92461874e-01,
  4.80918267e-01, 5.08140920e-01, 5.17679175e-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,
 -1.56659941e+00,-3.55539674e+00,-5.64326387e-01,-2.88156612e+01,
  2.96166790e+00, 4.95443584e+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([ 6.89957287, -4.28295352,  5.40928969, -4.28295352, 31.68310627,
       19.62304252,  5.40928969, 19.62304252, 22.43665516,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006563681216886358
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.45731982e-14,  8.45731982e-14,  1.00000000e+00, -7.15262585e-27,
        1.00000000e+00, -8.45731982e-14, -1.00000000e+00,  0.00000000e+00,
        8.45731982e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10825201, -0.03380949,  0.06198125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -2.41494041e-05, 1.63538277e-05,-4.90506161e+00,-1.83877521e-03,
  5.37962136e-05,-2.20929855e-03]


--- 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,
  9.36150508e-02,-7.02460599e-02, 1.30657670e-01, 4.92557319e-01,
  4.80780078e-01, 5.08068423e-01, 5.17787873e-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,  1.34485342, -3.75397583, -0.29272891, 18.09065615,
  -5.23902788, 56.84116982]

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([ 7.0149085 ,  7.00207287,  0.42416597,  7.00207287,  7.20586183,
       -3.15223096,  0.42416597, -3.15223096, 59.0514994 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000670547321478851
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.27848378e-14,  4.13924189e-14,  1.00000000e+00, -3.42666468e-27,
        1.00000000e+00, -4.13924189e-14, -1.00000000e+00,  0.00000000e+00,
        8.27848378e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08072604, -0.03242728,  0.06198085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -2.41881664e-05, 3.14345579e-06,-4.90505102e+00,-1.83723304e-03,
  5.14409754e-05,-2.20882864e-03]


--- 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,
  9.35936772e-02,-7.02583256e-02, 1.30652252e-01, 4.92584186e-01,
  4.80719946e-01, 5.07956504e-01, 5.17927932e-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,  1.29851344, -3.64121498, -0.59387519, 17.53661174,
  -4.95807736, 54.78376891]

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([ 7.09604501, -7.09190179,  0.24245389, -7.09190179,  7.1284143 ,
        0.94681845,  0.24245389,  0.94681845, 34.79097438,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006806258016420763
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.15589875e-14,  1.22338481e-13,  1.00000000e+00, -9.97780266e-27,
        1.00000000e+00, -1.22338481e-13, -1.00000000e+00,  0.00000000e+00,
        8.15589875e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08072686, -0.03243431,  0.06198056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.04108065e-05,-4.04663827e-06,-4.90502691e+00,-1.83789073e-03,
  4.42438050e-05,-2.20754734e-03]


--- 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,
  9.35773391e-02,-7.02847700e-02, 1.30643416e-01, 4.92544479e-01,
  4.80735403e-01, 5.07806560e-01, 5.18098356e-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,  1.25889954, -3.54466655, -0.85450837, 17.05923259,
  -4.73278171, 53.05647961]

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([ 7.12127855e+00, -7.12126756e+00, -1.25097964e-02, -7.12126756e+00,
        7.12139606e+00, -6.68904769e-02, -1.25097964e-02, -6.68904769e-02,
        4.51990352e+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: -0.0006837805527839663
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08072663, -0.03243722,  0.06198047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.54858140e-07,-4.52100271e-06,-4.90502144e+00,-1.83788276e-03,
  3.98280030e-05,-2.20781868e-03]


--- 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,
  9.35659018e-02,-7.03250647e-02, 1.30630263e-01, 4.92439868e-01,
  4.80824365e-01, 5.07619720e-01, 5.18298299e-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 ,  1.22519069, -3.46256653, -1.07940549, 16.65077337,
  -4.55278727, 51.61509865]

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([ 7.10177688, -7.09626014, -0.27986926, -7.09626014,  7.1794039 ,
       -1.9682816 , -0.27986926, -1.9682816 , 57.00878745,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000681341514765732
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  4.0736657e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -4.0736657e-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([ 0.08072554, -0.03243682,  0.06198054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  4.94493885e-06, 1.08356073e-06,-4.90503278e+00,-1.83734136e-03,
  3.79403207e-05,-2.20957594e-03]


--- 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,
  9.35592510e-02,-7.03789321e-02, 1.30612017e-01, 4.92271727e-01,
  4.80985084e-01, 5.07396888e-01, 5.18527043e-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,
  1.19661696e+00,-3.39318123e+00,-1.27319244e+00, 1.63036917e+01,
 -4.40959752e+00, 5.04204329e+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([ 7.04632141, -7.02527938, -0.54414611, -7.02527938,  7.42223737,
       -4.85331902, -0.54414611, -4.85331902, 69.70581955,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006744380789403953
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.23072614e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.23072614e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08072377, -0.03243379,  0.06198073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.34158367e-06, 1.22998426e-05,-4.90505955e+00,-1.83636197e-03,
  3.83810393e-05,-2.21276503e-03]


--- 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,
  9.35572901e-02,-7.04461390e-02, 1.30588010e-01, 4.92041176e-01,
  4.81216096e-01, 5.07138772e-01, 5.18783978e-01]

qacc:
[ -4.68637261,  2.49596669,-11.92684519, 25.52885008, -2.04870994,
   2.01850509, -5.03973589,  0.24772434,  4.32448085, -2.60896524,
  10.97302477,-19.98151804,  0.44080522, -1.03616725,-17.18570053,
  58.32184916,  1.17248017, -3.33488777, -1.4401618 , 16.01097241,
  -4.29625561, 49.43833408]

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: -0.0006640248488935796
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.35980029e-14,  8.35980029e-14,  1.00000000e+00, -6.98862609e-27,
        1.00000000e+00, -8.35980029e-14, -1.00000000e+00,  0.00000000e+00,
        8.35980029e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08072147, -0.03242869,  0.06198102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.59928059e-06, 2.87970158e-05,-4.90510068e+00,-1.83501269e-03,
  4.09941644e-05,-2.21734216e-03]


--- 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,
  9.35587898e-02,-7.05035366e-02, 1.30573914e-01, 4.91829600e-01,
  4.81423895e-01, 5.06932254e-01, 5.18993610e-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 ,  0.86514717,  2.45235576,  2.47765469, 15.10264825,
   2.52310449,-34.86052298]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006847234778909889
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.10709038e-14, -4.05354519e-14,  1.00000000e+00, -3.28624572e-27,
        1.00000000e+00,  4.05354519e-14, -1.00000000e+00,  0.00000000e+00,
       -8.10709038e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08708369, -0.08881494,  0.06198043])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.91181252e-06, 5.03545314e-05,-4.90515537e+00,-1.83334138e-03,
  4.56592816e-05,-2.22327193e-03]


--- 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,
  9.35636083e-02,-7.05515593e-02, 1.30567693e-01, 4.91636151e-01,
  4.81609589e-01, 5.06775069e-01, 5.19158096e-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,  0.82970876,  2.34369881,  1.968784  , 14.44476585,
   2.40599341,-33.2837059 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007141241977141888
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.55466378e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.55466378e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08708632, -0.08880724,  0.06197959])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.02868800e-06, 3.89639445e-05,-4.90511301e+00,-1.83387558e-03,
  5.14454697e-05,-2.22844502e-03]


--- 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,
  9.35716239e-02,-7.05905833e-02, 1.30567574e-01, 4.91460097e-01,
  4.81774130e-01, 5.06665263e-01, 5.19279281e-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,  0.79927136,  2.24968746,  1.52533402, 13.88255809,
   2.30222852,-31.9289768 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007327586483104886
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.57563918e-14,  7.57563918e-14,  1.00000000e+00,  5.73903089e-27,
        1.00000000e+00, -7.57563918e-14, -1.00000000e+00,  0.00000000e+00,
       -7.57563918e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08708798, -0.08880248,  0.06197906])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.80761551e-07, 2.95024007e-05,-4.90507976e+00,-1.83447850e-03,
  5.55895016e-05,-2.23273992e-03]


--- 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,
  9.35827333e-02,-7.06209307e-02, 1.30572023e-01, 4.91300812e-01,
  4.81918336e-01, 5.06601169e-01, 5.19358725e-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,  0.77344941,  2.16914739,  1.14238815, 13.40651951,
   2.21034787,-30.77354872]

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: -0.0007425344653675808
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.73795115e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.73795115e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08708884, -0.08880011,  0.06197879])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.94862394e-06, 2.17445188e-05,-4.90505445e+00,-1.83517309e-03,
  5.82617164e-05,-2.23619568e-03]


--- 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,
  9.35941975e-02,-7.06429736e-02, 1.30580207e-01, 4.91169084e-01,
  4.82033731e-01, 5.06570291e-01, 5.19406347e-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,  0.08871952,  2.0761005 ,  0.93330859,  2.968152  ,
   0.99291993,-30.27474214]

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: -0.0007453140956379389
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.44802112e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.44802112e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09253157, -0.08845763,  0.06197871])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.10168819e-06, 1.55045168e-05,-4.90503618e+00,-1.83597722e-03,
  5.95976124e-05,-2.23884533e-03]


--- 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,
  9.36060127e-02,-7.06569413e-02, 1.30590976e-01, 4.91064126e-01,
  4.82121185e-01, 5.06571703e-01, 5.19423042e-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,
  8.77308500e-02, 2.01883386e+00, 6.46589517e-01, 2.90538728e+00,
  9.51206863e-01,-2.94067270e+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: -0.0007427218149114873
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.60551240e-14, -7.47401653e-14,  1.00000000e+00, -4.18956923e-27,
        1.00000000e+00,  7.47401653e-14, -1.00000000e+00,  0.00000000e+00,
       -5.60551240e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09253152, -0.08845841,  0.06197879])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.79898472e-06, 9.57547987e-06,-4.90502161e+00,-1.83641208e-03,
  5.88634368e-05,-2.24091611e-03]


--- 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,
  9.36181763e-02,-7.06630257e-02, 1.30603357e-01, 4.90985276e-01,
  4.82181430e-01, 5.06604625e-01, 5.19409550e-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,  0.0870865 ,  1.9708001 ,  0.40281402,  2.85516327,
   0.91437753,-28.67995556]

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: -0.0007354026365771343
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.66130190e-14, -3.01936101e-13,  1.00000000e+00,  1.70935142e-26,
        1.00000000e+00,  3.01936101e-13, -1.00000000e+00,  0.00000000e+00,
        5.66130190e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09253142, -0.08846046,  0.061979  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.48900638e-06, 5.29253988e-06,-4.90501209e+00,-1.83689570e-03,
  5.77286120e-05,-2.24224363e-03]


--- 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,
  9.36306868e-02,-7.06613869e-02, 1.30616523e-01, 4.90931977e-01,
  4.82215073e-01, 5.06668408e-01, 5.19366481e-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,  0.08674793,  1.9308248 ,  0.19630114,  2.81602174,
   0.88161972,-28.07535525]

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: -0.000724388957554542
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.91579229e-14, -1.53263383e-13,  1.00000000e+00,  2.93620808e-27,
        1.00000000e+00,  1.53263383e-13, -1.00000000e+00,  0.00000000e+00,
        1.91579229e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09253129, -0.0884635 ,  0.06197931])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.16945444e-06, 2.52067683e-06,-4.90500721e+00,-1.83743003e-03,
  5.62054499e-05,-2.24284644e-03]


--- 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,
  9.36435441e-02,-7.06521566e-02, 1.30629777e-01, 4.90903765e-01,
  4.82222617e-01, 5.06762511e-01, 5.19294327e-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,
  8.66804589e-02, 1.89785952e+00, 2.19398405e-02, 2.78666258e+00,
  8.52245339e-01,-2.75764119e+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: -0.0007105523945406811
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.76549225e-14, -1.56247876e-13,  1.00000000e+00,  1.52583742e-26,
        1.00000000e+00,  1.56247876e-13, -1.00000000e+00,  0.00000000e+00,
        9.76549225e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09253113, -0.08846729,  0.06197971])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.83823181e-06, 1.15246505e-06,-4.90500665e+00,-1.83801667e-03,
  5.43029188e-05,-2.24273990e-03]


--- 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,
  9.36567488e-02,-7.06354424e-02, 1.30642531e-01, 4.90900256e-01,
  4.82204472e-01, 5.06886491e-01, 5.19193481e-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,  0.0868535 ,  1.87098408, -0.12478729,  2.7659435 ,
   0.82567552,-27.1689731 ]

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: -0.000694625629012624
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.99788019e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.99788019e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09253095, -0.08847165,  0.06198016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.49335540e-06, 1.10257555e-06,-4.90501016e+00,-1.83865701e-03,
  5.20272437e-05,-2.24193669e-03]


--- 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,
  9.36703024e-02,-7.06113306e-02, 1.30654294e-01, 4.90921134e-01,
  4.82160971e-01, 5.07039984e-01, 5.19064247e-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,
  8.72403098e-02, 1.84939943e+00,-2.47829275e-01, 2.75286969e+00,
  8.01424990e-01,-2.68409839e+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: -0.0006772216530323283
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.19689550e-14,  1.63937910e-13,  1.00000000e+00,  1.34378192e-26,
        1.00000000e+00, -1.63937910e-13, -1.00000000e+00,  0.00000000e+00,
       -8.19689550e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09253075, -0.0884764 ,  0.06198066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.13289545e-06, 2.30332468e-06,-4.90501754e+00,-1.83935241e-03,
  4.93823831e-05,-2.24044709e-03]


--- 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,
  9.36842073e-02,-7.05798891e-02, 1.30664655e-01, 4.90966143e-01,
  4.82092375e-01, 5.07222700e-01, 5.18906851e-01]

qacc:
[-4.85438909e+00,-1.14140309e+00, 5.54918976e+00,-1.17687236e+01,
 -1.18753750e+00,-1.04267209e+00, 5.81043358e+00,-1.27269047e+01,
 -1.67808012e-02,-9.75741846e-01, 5.07843123e+00,-1.02789750e+01,
 -2.19410232e-01, 6.69004334e-02,-4.41077115e+00, 1.57670398e+01,
  8.78177068e-02, 1.83241618e+00,-3.50615659e-01, 2.74657909e+00,
  7.79087342e-01,-2.65822074e+01]

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: -0.0006588505470150191
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.42545422e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.42545422e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09253053, -0.08848143,  0.06198118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -7.54933913e-07, 4.70109419e-06,-4.90502867e+00,-1.84010422e-03,
  4.63704076e-05,-2.23827933e-03]


--- 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,
  9.36984665e-02,-7.05411698e-02, 1.30673271e-01, 4.91035078e-01,
  4.81998886e-01, 5.07434410e-01, 5.18721453e-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 ,  0.08856563,  1.81944161, -0.43611438,  2.74632637,
   0.75832182,-26.38395882]

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: -0.0006399340139897763
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.33725587e-14,  8.67451175e-14,  1.00000000e+00,  3.76235770e-27,
        1.00000000e+00, -8.67451175e-14, -1.00000000e+00,  0.00000000e+00,
       -4.33725587e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09253031, -0.08848661,  0.06198172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.80221977e-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,
 -3.57536499e-07, 8.25345789e-06,-4.90504345e+00,-1.84091388e-03,
  4.29917993e-05,-2.23543984e-03]


--- 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,
  9.37130835e-02,-7.04952107e-02, 1.30679860e-01, 4.91127778e-01,
  4.81880651e-01, 5.07674938e-01, 5.18508149e-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,  0.08946673,  1.80996692, -0.50689026,  2.75146731,
   0.73884193,-26.23886574]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006208179276517289
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.47080768e-14,  8.94161537e-14,  1.00000000e+00,  3.99762427e-27,
        1.00000000e+00, -8.94161537e-14, -1.00000000e+00,  0.00000000e+00,
       -4.47080768e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09253009, -0.08849186,  0.06198226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.47578424e-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,
  6.12656152e-08, 1.29268714e-05,-4.90506182e+00,-1.84178292e-03,
  3.92456896e-05,-2.23193348e-03]


--- 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,
  9.37280626e-02,-7.04420373e-02, 1.30684188e-01, 4.91244122e-01,
  4.81737770e-01, 5.07944158e-01, 5.18266983e-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,  0.090506  ,  1.80355534, -0.56515987,  2.76144455,
   0.72040584,-26.14065904]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006017831507575816
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.61222212e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.61222212e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09252986, -0.0884971 ,  0.0619828 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.03487254e-07, 1.86948057e-05,-4.90508375e+00,-1.84271301e-03,
  3.51300490e-05,-2.22776370e-03]


--- 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,
  9.37434083e-02,-7.03816647e-02, 1.30686065e-01, 4.91384024e-01,
  4.81570298e-01, 5.08241981e-01, 5.17997951e-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,  0.09167042,  1.79983161, -0.61284083,  2.77577497,
   0.70280842,-26.08399465]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005830548625037901
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.52074235e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.52074235e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09252963, -0.08850228,  0.06198333])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  9.71195845e-07, 2.55362295e-05,-4.90510922e+00,-1.84370599e-03,
  3.06418395e-05,-2.22293273e-03]


--- 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,
  9.37520828e-02,-7.03366749e-02, 1.30688549e-01, 4.91495678e-01,
  4.81423367e-01, 5.08458319e-01, 5.17816259e-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,
 -1.66780948e+00,-3.84572539e+00, 1.51666395e-01,-3.14518564e+01,
  2.86790298e+00, 5.36148255e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005883007301321352
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.43584605e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.43584605e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10822834, -0.03376417,  0.06198318])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.40602213e-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,
  1.46651459e-06, 3.34343619e-05,-4.90513826e+00,-1.84476385e-03,
  2.57771371e-05,-2.21744170e-03]


--- 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,
  9.37543044e-02,-7.03065231e-02, 1.30690275e-01, 4.91579775e-01,
  4.81296253e-01, 5.08596597e-01, 5.17718787e-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,
 -1.61323498e+00,-3.70948353e+00,-1.89330494e-01,-3.01180709e+01,
  2.96505885e+00, 5.16598355e+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([ 6.53245155, -3.51705533,  5.50483833, -3.51705533, 28.19012366,
       13.83714229,  5.50483833, 13.83714229, 15.37303727,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006119805303126252
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.07073812e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.07073812e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10822129, -0.03377588,  0.06198251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.58390206e-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,
 -3.44185238e-06, 2.09431703e-05,-4.90507604e+00,-1.84561637e-03,
  3.38306897e-05,-2.21332559e-03]


--- 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,
  9.37502625e-02,-7.02907372e-02, 1.30690049e-01, 4.91636935e-01,
  4.81188325e-01, 5.08659706e-01, 5.17702833e-01]

qacc:
[  1.83493457, -0.28512483, -2.501069  , 13.72763807,  1.15295441,
   0.70099256, -3.69356739,  9.24717312,  2.73501734,  1.53699615,
  -7.59755671, 17.61867318, -0.23743347,  0.23344894,  2.02134308,
  -8.03740278, -1.56584962, -3.59148901, -0.48796281,-28.99005238,
   3.02471553, 49.97744885]

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([ 6.6570998 , -3.88806211,  5.40369788, -3.88806211, 32.94713859,
       18.91617662,  5.40369788, 18.91617662, 20.26764411,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006269630906083207
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.85397435e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.85397435e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10821656, -0.0337831 ,  0.06198209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.06104711e-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,
 -5.82480989e-06, 1.10208976e-05,-4.90503459e+00,-1.84663751e-03,
  3.87077361e-05,-2.21089986e-03]


--- 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,
  9.37401202e-02,-7.02889119e-02, 1.30686832e-01, 4.91667706e-01,
  4.81099033e-01, 5.08650062e-01, 5.17766068e-01]

qacc:
[  1.11144094, -0.56657792,  1.64957339, -0.92404506,  3.81472641,
   1.51897994, -9.38185453, 25.11036358, -1.54508185,  1.23090768,
  -6.07524246, 13.20334944, -0.08786466,  0.21088211,-19.56462906,
  66.13415401, -1.52513036, -3.49015268, -0.74780208,-28.0420647 ,
   3.05601298, 48.54080006]

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([ 6.7218982 , -4.25674448,  5.2023112 , -4.25674448, 37.34293535,
       25.05538901,  5.2023112 , 25.05538901, 27.22324554,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006347803576108729
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.7449384e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        8.7449384e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10821372, -0.03378664,  0.06198187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -5.87514178e-06, 3.33952540e-06,-4.90501168e+00,-1.84783828e-03,
  4.08119727e-05,-2.21010321e-03]


--- 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,
  9.37240160e-02,-7.03007015e-02, 1.30679723e-01, 4.91672563e-01,
  4.81027902e-01, 5.08569669e-01, 5.17906498e-01]

qacc:
[ -2.34823714,  0.79913161, -6.34715825, 19.22153912,  2.34092278,
  -1.37193148,  4.78213989, -7.02835536, -7.11386363,  0.63177554,
   0.10275813, -7.69680009, -0.63677212,  1.19742643, -7.44628406,
  26.01992532, -1.49044994, -3.40372061, -0.97292434,-27.25046973,
   3.06569832, 47.32279789]

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([ 6.73819259, -4.60099361,  4.92281395, -4.60099361, 40.67730291,
       31.72040041,  4.92281395, 31.72040041, 36.38492738,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006367500590938741
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74357742e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.74357742e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1082124 , -0.03378718,  0.06198181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.38047065e-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,
 -3.74900114e-06,-2.34639892e-06,-4.90500552e+00,-1.84921779e-03,
  4.04578985e-05,-2.21088123e-03]


--- 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,
  9.37020672e-02,-7.03258129e-02, 1.30667945e-01, 4.91651913e-01,
  4.80974517e-01, 5.08420169e-01, 5.18122420e-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, -1.46115598, -3.33044209, -1.16747839,-26.59416286,
   3.0587504 , 46.29773432]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006339986384232416
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.75114418e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.75114418e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10821231, -0.03378533,  0.06198189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.37029469e-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,
  4.31169645e-07,-6.21462904e-06,-4.90501472e+00,-1.85076825e-03,
  3.78876624e-05,-2.21318651e-03]


--- 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,
  9.36743720e-02,-7.03639990e-02, 1.30650824e-01, 4.91606096e-01,
  4.80938521e-01, 5.08202894e-01, 5.18412389e-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, -1.43661596, -3.26866147, -1.33544112,-26.05464983,
   3.03883604, 45.44207891]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006274838348139522
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.8466265e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        8.8466265e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10821318, -0.03378156,  0.06198207])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.39365270e-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,
  6.57298650e-06,-8.38709727e-06,-4.90503821e+00,-1.85247810e-03,
  3.32851951e-05,-2.21697821e-03]


--- 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,
  9.36461832e-02,-7.04157421e-02, 1.30629458e-01, 4.91512968e-01,
  4.80949207e-01, 5.07930800e-01, 5.18757328e-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, -0.12338332, -3.38928212, -1.0615234 , -5.32580691,
  -0.33437071, 50.81938252]

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([ 6.58662543,  6.58019055,  0.29107866,  6.58019055,  6.67407392,
       -1.97688048,  0.29107866, -1.97688048, 51.276436  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006184848764826844
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.13465961e-06,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.13465961e-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([ 0.09446115, -0.03310509,  0.06198232])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.14672589e-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,
  1.46104398e-05,-8.93922104e-06,-4.90507519e+00,-1.85433374e-03,
  2.67877530e-05,-2.22222146e-03]


--- 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,
  9.36180312e-02,-7.04580901e-02, 1.30616368e-01, 4.91447627e-01,
  4.80935724e-01, 5.07697159e-01, 5.19060356e-01]

qacc:
[-3.45021249e+00, 3.06087309e+00,-1.33065862e+01, 2.61046782e+01,
 -1.55588155e+00, 5.14818852e-01,-1.97306263e+00, 2.76158443e+00,
  6.51599020e+00,-2.06375674e+00, 9.51636635e+00,-2.06665325e+01,
 -1.09067935e+00, 1.97300860e+00,-5.50170382e+00, 1.88023353e+01,
  9.18475301e-03, 2.34878508e+00, 2.06911442e+00, 7.99585813e+00,
 -1.41597821e+00,-3.28925872e+01]

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: -0.0006300696306980463
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.81032009e-14, -4.40516004e-14,  1.00000000e+00, -3.88108700e-27,
        1.00000000e+00,  4.40516004e-14, -1.00000000e+00,  0.00000000e+00,
       -8.81032009e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0925744 , -0.08850038,  0.06198199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.00765259e-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,
  2.55127601e-05,-7.39767780e-07,-4.90511685e+00,-1.85613631e-03,
  2.13044268e-05,-2.22729497e-03]


--- 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,
  9.35899606e-02,-7.04914129e-02, 1.30609860e-01, 4.91409563e-01,
  4.80897560e-01, 5.07500237e-01, 5.19324261e-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,
  2.03765619e-02, 2.25631580e+00, 1.64542255e+00, 6.83747609e+00,
 -9.04386995e-01,-3.17876058e+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([ 6.88504828,  0.06188466, -6.88477016,  0.06188466, 29.04422445,
        0.19918066, -6.88477016,  0.19918066,  6.88683864,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006545929727679867
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06003184e-13, -1.69605094e-13,  1.00000000e+00,  1.79786799e-26,
        1.00000000e+00,  1.69605094e-13, -1.00000000e+00,  0.00000000e+00,
        1.06003184e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09258145, -0.08849521,  0.06198129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.33440043e-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,
  1.81727458e-05,-5.06974189e-06,-4.90508586e+00,-1.84898867e-03,
  2.95420657e-05,-2.22999544e-03]


--- 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,
  9.35647862e-02,-7.05157769e-02, 1.30608568e-01, 4.91386799e-01,
  4.80843944e-01, 5.07350233e-01, 5.19541968e-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,  0.72401862,  2.23968748,  1.30410688, 16.42958879,
   0.54964645,-30.52597143]

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([ 7.01525267,  3.10319123, -6.29157963,  3.10319123, 36.38191407,
       14.48449696, -6.29157963, 14.48449696, 14.15943054,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006705898771354329
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.27795842e-14,  4.13897921e-14,  1.00000000e+00,  3.42622978e-27,
        1.00000000e+00, -4.13897921e-14, -1.00000000e+00,  0.00000000e+00,
       -8.27795842e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08713922, -0.08884401,  0.06198083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.47189458e-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,
  1.17349853e-05,-8.11900478e-06,-4.90506188e+00,-1.84259269e-03,
  3.66278903e-05,-2.23208991e-03]


--- 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,
  9.35424473e-02,-7.05314797e-02, 1.30611150e-01, 4.91379229e-01,
  4.80774337e-01, 5.07245598e-01, 5.19715685e-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,  0.70889608,  2.16529579,  0.96841566, 15.36313386,
   0.87092535,-29.71915145]

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([ 7.09759334, -0.45119933, -7.08323729, -0.45119933, 42.77736501,
       -2.27278692, -7.08323729, -2.27278692,  7.24236894,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006808190836781053
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.15358332e-14,  8.15358332e-14,  1.00000000e+00,  6.64809209e-27,
        1.00000000e+00, -8.15358332e-14, -1.00000000e+00,  0.00000000e+00,
       -8.15358332e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08714437, -0.08884283,  0.06198054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  7.00706177e-06,-8.39757051e-06,-4.90503854e+00,-1.83725236e-03,
  4.35901184e-05,-2.23319675e-03]


--- 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,
  9.35228889e-02,-7.05387737e-02, 1.30616447e-01, 4.91386733e-01,
  4.80688347e-01, 5.07185016e-01, 5.19847238e-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,
  6.95113229e-01, 2.10220161e+00, 6.78733950e-01, 1.44929018e+01,
  1.12131538e+00,-2.90216310e+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([ 7.12736522, -0.1315815 , -7.12615053, -0.1315815 , 56.00243105,
       -0.90245838, -7.12615053, -0.90245838,  7.14402875,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006845430778678468
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.10922687e-14,  4.05461344e-14,  1.00000000e+00,  3.28797802e-27,
        1.00000000e+00, -4.05461344e-14, -1.00000000e+00,  0.00000000e+00,
       -8.10922687e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08714803, -0.08884313,  0.06198044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.82733678e-06,-7.90112614e-06,-4.90502205e+00,-1.83243746e-03,
  4.89515252e-05,-2.23367290e-03]


--- 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,
  9.35060615e-02,-7.05378713e-02, 1.30623464e-01, 4.91409191e-01,
  4.80585690e-01, 5.07167374e-01, 5.19938127e-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,
  6.82764774e-01, 2.04910831e+00, 4.30137663e-01, 1.37835653e+01,
  1.31666285e+00,-2.84246843e+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([ 7.11509163,  0.28484047, -7.10938779,  0.28484047, 72.70884901,
        2.62804018, -7.10938779,  2.62804018,  7.22038511,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006830060961688367
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.06373761e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.06373761e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08715051, -0.08884463,  0.06198048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.22239453e-07,-6.58497219e-06,-4.90501174e+00,-1.82804137e-03,
  5.28833167e-05,-2.23349687e-03]


--- 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,
  9.34919216e-02,-7.05289497e-02, 1.30631352e-01, 4.91446489e-01,
  4.80466156e-01, 5.07191734e-01, 5.19989583e-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,  0.67185653,  2.004791  ,  0.21775433, 13.20624233,
   1.4692699 ,-27.91903937]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006772721221560696
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.19628469e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.19628469e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08715207, -0.08884707,  0.06198065])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.33079990e-06,-4.42615766e-06,-4.90500711e+00,-1.82398492e-03,
  5.55177967e-05,-2.23265543e-03]


--- 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,
  9.34804310e-02,-7.05121556e-02, 1.30639389e-01, 4.91498519e-01,
  4.80329587e-01, 5.07257312e-01, 5.20002609e-01]

qacc:
[-2.75907307e+00, 1.06063365e+00,-4.39984528e+00, 7.17855537e+00,
 -3.69791494e+00, 3.43669649e-01,-1.34046013e+00, 2.26140052e+00,
 -5.49595456e-01, 2.08300970e+00,-9.03898129e+00, 1.67799760e+01,
  1.76641027e-01,-5.95922750e-01,-2.44796219e+01, 8.31154235e+01,
  6.62341988e-01, 1.96813364e+00, 3.69992734e-02, 1.27374011e+01,
  1.58869027e+00,-2.74956077e+01]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006682462658646887
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.30699011e-14,  1.24604852e-13,  1.00000000e+00,  1.03509127e-26,
        1.00000000e+00, -1.24604852e-13, -1.00000000e+00,  0.00000000e+00,
       -8.30699011e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0871529 , -0.08885026,  0.06198091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.46566660e-06,-1.41528260e-06,-4.90500773e+00,-1.82020902e-03,
  5.69567552e-05,-2.23114067e-03]


--- 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,
  9.34715570e-02,-7.04876089e-02, 1.30646960e-01, 4.91565186e-01,
  4.80175861e-01, 5.07363458e-01, 5.19978011e-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,  0.65414567,  1.93814214, -0.11631261, 12.35791181,
   1.68234318,-27.14586892]

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: -0.0006566947295621878
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.22655678e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.22655678e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08715317, -0.08885402,  0.06198124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.31455241e-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,
 -1.03778346e-05, 2.44877113e-06,-4.90501331e+00,-1.81666930e-03,
  5.72780401e-05,-2.22894802e-03]


--- 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,
  9.34652718e-02,-7.04554065e-02, 1.30653547e-01, 4.91646407e-01,
  4.80004876e-01, 5.07509635e-01, 5.19916436e-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,  0.64717783,  1.9139439 , -0.24592934, 12.05224198,
   1.75598782,-26.86204492]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006432629323713662
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.62962071e-14,  8.62962071e-14,  1.00000000e+00,  7.44703536e-27,
        1.00000000e+00, -8.62962071e-14, -1.00000000e+00,  0.00000000e+00,
       -8.62962071e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08715301, -0.08885821,  0.06198162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.31061539e-05, 7.16218687e-06,-4.90502360e+00,-1.81333217e-03,
  5.65406657e-05,-2.22607486e-03]


--- 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,
  9.34615519e-02,-7.04156249e-02, 1.30658714e-01, 4.91742113e-01,
  4.79816541e-01, 5.07695407e-01, 5.19818386e-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,  0.64134354,  1.8947802 , -0.35516679, 11.80778512,
   1.81409083,-26.63715097]

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: -0.0006284916702071902
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.83244025e-14,  8.83244025e-14,  1.00000000e+00,  7.80120007e-27,
        1.00000000e+00, -8.83244025e-14, -1.00000000e+00,  0.00000000e+00,
       -8.83244025e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08715251, -0.08886269,  0.06198204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.32811448e-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,
 -1.56804936e-05, 1.27182965e-05,-4.90503844e+00,-1.81017197e-03,
  5.47887645e-05,-2.22251971e-03]


--- 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,
  9.34633544e-02,-7.03907680e-02, 1.30662125e-01, 4.91775602e-01,
  4.79707243e-01, 5.07834367e-01, 5.19751840e-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,  1.38059751, -3.73117688, -0.43886366, 14.19444461,
  -8.70016984, 55.21099922]

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([ 6.63732646,  0.86030164, -6.581336  ,  0.86030164, 47.5269504 ,
        5.34502575, -6.581336  ,  5.34502575,  7.33601961,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006245820823780751
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.88772714e-14,  8.88772714e-14,  1.00000000e+00, -7.89916937e-27,
        1.00000000e+00, -8.88772714e-14, -1.00000000e+00,  0.00000000e+00,
        8.88772714e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08060308, -0.03246162,  0.06198215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.03752778e-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,
 -1.81241210e-05, 1.91088312e-05,-4.90505771e+00,-1.80716887e-03,
  5.20546394e-05,-2.21828154e-03]


--- 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,
  9.34704712e-02,-7.03804000e-02, 1.30662688e-01, 4.91747420e-01,
  4.79674467e-01, 5.07929444e-01, 5.19715846e-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,  1.32859304, -3.62222296, -0.71194287, 14.44644799,
  -7.68949702, 53.49428323]

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([ 6.71499166, -3.13898316,  5.93615176, -3.13898316, 21.08097993,
        7.59660417,  5.93615176,  7.59660417, 10.73200697,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006339459894732086
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.75644805e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.75644805e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08059744, -0.03246777,  0.06198189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.37927880e-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,
 -8.42627932e-06, 8.09156422e-06,-4.90502354e+00,-1.81490713e-03,
  4.99466065e-05,-2.21551364e-03]


--- 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,
  9.34827293e-02,-7.03841487e-02, 1.30659459e-01, 4.91658107e-01,
  4.79716077e-01, 5.07983014e-01, 5.19709582e-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,  1.28530545, -3.52917133, -0.94811132, 14.61467078,
  -6.87961464, 52.04212549]

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([ 6.74165988, -3.45369374,  5.78981671, -3.45369374, 25.54106446,
       11.21406585,  5.78981671, 11.21406585, 13.430982  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006371694171177777
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.61364480e-13,  8.71214935e-14,  1.00000000e+00, -2.27704639e-26,
        1.00000000e+00, -8.71214935e-14, -1.00000000e+00,  0.00000000e+00,
        2.61364480e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08059223, -0.03247031,  0.06198179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.65381985e-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,
 -3.22690128e-06, 3.32914535e-06,-4.90500728e+00,-1.82086453e-03,
  4.98591475e-05,-2.21428289e-03]


--- 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,
  9.34999852e-02,-7.04016982e-02, 1.30651623e-01, 4.91508157e-01,
  4.79830262e-01, 5.07996991e-01, 5.19732343e-01]

qacc:
[  3.33247823, -1.56362492,  6.42223516,-10.92369991, -0.29580346,
  -1.39553767,  6.48212854,-14.32452406,  2.07068213, -1.31866288,
   4.20929906, -3.71708953, -0.56099163,  0.64973959, 15.88134115,
 -54.52557983,  1.24944519, -3.45018258, -1.15178315, 14.72455551,
  -6.22907687, 50.82205744]

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([ 6.72722022, -3.80643433,  5.54676028, -3.80643433, 30.28406816,
       16.16575986,  5.54676028, 16.16575986, 17.82088574,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006354235059088109
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.73608715e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.73608715e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08058731, -0.03246994,  0.06198184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.94333240e-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,
 -1.95725061e-06, 4.34382989e-06,-4.90500742e+00,-1.82550408e-03,
  5.17471886e-05,-2.21452140e-03]


--- 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,
  9.35221206e-02,-7.04327816e-02, 1.30638478e-01, 4.91298006e-01,
  4.80015494e-01, 5.07972913e-01, 5.19783527e-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,  1.21988672, -3.38350196, -1.32719375, 14.79494015,
  -5.70493017, 49.80466559]

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([ 6.6798525 , -4.18955488,  5.2026973 , -4.18955488, 34.59837784,
       22.48183728,  5.2026973 , 22.48183728, 24.78371011,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006297052970216516
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.81541754e-14,  8.81541754e-14,  1.00000000e+00, -7.77115865e-27,
        1.00000000e+00, -8.81541754e-14, -1.00000000e+00,  0.00000000e+00,
        8.81541754e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08058263, -0.03246725,  0.061982  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.78474003e-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,
 -4.19861311e-06, 1.07781431e-05,-4.90502277e+00,-1.82916224e-03,
  5.55649817e-05,-2.21617351e-03]


--- 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,
  9.35473052e-02,-7.04550354e-02, 1.30630321e-01, 4.91105177e-01,
  4.80179578e-01, 5.07995624e-01, 5.19792001e-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,  0.76230466,  2.20742202,  1.24681214, 13.65544968,
   2.3399644 ,-31.59408085]

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: -0.0006324496215400627
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.31657485e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.31657485e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08715689, -0.08886184,  0.06198192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.79806338e-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,
 -9.64617632e-06, 2.23740862e-05,-4.90505242e+00,-1.83208367e-03,
  6.12707738e-05,-2.21919396e-03]


--- 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,
  9.35754666e-02,-7.04687191e-02, 1.30625875e-01, 4.90929107e-01,
  4.80323236e-01, 5.08063670e-01, 5.19759087e-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,
  7.44196005e-01, 2.14250232e+00, 9.28004507e-01, 1.32552043e+01,
  2.24660626e+00,-3.05916772e+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: -0.0006443184981503036
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.61548309e-14,  1.29232246e-13,  1.00000000e+00,  1.11339823e-26,
        1.00000000e+00, -1.29232246e-13, -1.00000000e+00,  0.00000000e+00,
       -8.61548309e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08715814, -0.08885853,  0.06198158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.42657616e-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,
 -1.07699609e-05, 1.63826639e-05,-4.90504175e+00,-1.83364422e-03,
  5.97163955e-05,-2.22103975e-03]


--- 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,
  9.36064588e-02,-7.04740569e-02, 1.30624065e-01, 4.90769695e-01,
  4.80446776e-01, 5.08175469e-01, 5.19686150e-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,  0.70769242,  2.08649212,  0.65877047, 12.59909743,
   2.12495252,-29.77154912]

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: -0.0006498270671178982
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.65657462e-07, -2.65657376e-07,  1.00000000e+00, -7.05738642e-14,
        1.00000000e+00,  2.65657376e-07, -1.00000000e+00,  1.26217745e-29,
       -2.65657462e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08734098, -0.08884489,  0.06198143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.13440213e-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,
 -1.17107634e-05, 1.18093682e-05,-4.90503746e+00,-1.83533131e-03,
  5.69547943e-05,-2.22209004e-03]


--- 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,
  9.36377679e-02,-7.04712865e-02, 1.30624713e-01, 4.90637451e-01,
  4.80541905e-01, 5.08319970e-01, 5.19581733e-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,
  7.92346773e-02, 2.02704678e+00, 6.14718048e-01, 2.99771475e+00,
  9.41498545e-01,-2.98583180e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006524959507581835
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.25375446e-14,  8.50750892e-14,  1.00000000e+00, -3.61888540e-27,
        1.00000000e+00, -8.50750892e-14, -1.00000000e+00,  0.00000000e+00,
        4.25375446e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09260752, -0.08849276,  0.06198135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.10225133e-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,
 -1.24222402e-05, 8.48570729e-06,-4.90503877e+00,-1.83714452e-03,
  5.30512688e-05,-2.22238162e-03]


--- 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,
  9.36694028e-02,-7.04605729e-02, 1.30626927e-01, 4.90531715e-01,
  4.80609357e-01, 5.08496418e-01, 5.19446509e-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 ,  0.08144034,  1.98579003,  0.39147199,  2.97114485,
   0.88809985,-29.15489877]

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: -0.0006507099283882961
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.26542986e-14,  1.70617195e-13,  1.00000000e+00,  7.27755677e-27,
        1.00000000e+00, -1.70617195e-13, -1.00000000e+00,  0.00000000e+00,
       -4.26542986e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09260757, -0.088493  ,  0.0619814 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.67744951e-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,
 -1.11312972e-05, 5.50905199e-06,-4.90503914e+00,-1.83883497e-03,
  4.81170869e-05,-2.22231935e-03]


--- 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,
  9.37013727e-02,-7.04420544e-02, 1.30629942e-01, 4.90451931e-01,
  4.80649747e-01, 5.08704187e-01, 5.19281016e-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,  0.08376026,  1.95123368,  0.2001552 ,  2.95621791,
   0.83839133,-28.57097398]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006452049301286789
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.60364648e-14,  1.72072930e-13,  1.00000000e+00,  1.48045465e-26,
        1.00000000e+00, -1.72072930e-13, -1.00000000e+00,  0.00000000e+00,
       -8.60364648e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09260756, -0.08849433,  0.06198156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.85426807e-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,
 -9.86021709e-06, 4.02861555e-06,-4.90504406e+00,-1.84060036e-03,
  4.28411978e-05,-2.22152306e-03]


--- 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,
  9.37336875e-02,-7.04158453e-02, 1.30633104e-01, 4.90397636e-01,
  4.80663588e-01, 5.08942756e-01, 5.19085681e-01]

qacc:
[-1.20056606e-01,-1.29200548e+00, 5.52284765e+00,-1.04288543e+01,
  4.90144890e+00, 2.50415954e+00,-1.16459795e+01, 2.34823947e+01,
 -4.71499210e+00,-1.88310379e+00, 8.19418051e+00,-1.60115020e+01,
  3.05741759e-01,-7.34248043e-01,-1.10975924e+01, 3.81469225e+01,
  8.61974955e-02, 1.92263829e+00, 3.68308510e-02, 2.95167062e+00,
  7.91709251e-01,-2.80909708e+01]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006367845355244872
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09260752, -0.08849651,  0.0619818 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.55373429e-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,
 -8.60137348e-06, 3.93730817e-06,-4.90505327e+00,-1.84244337e-03,
  3.72194729e-05,-2.22000770e-03]


--- 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,
  9.37663572e-02,-7.03820390e-02, 1.30635858e-01, 4.90368442e-01,
  4.80651302e-01, 5.09211702e-01, 5.18860829e-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,  0.08875265,  1.89932145, -0.10211534,  2.95637892,
   0.74748764,-27.70138502]

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: -0.00062613009380387
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.86575358e-14,  4.98698639e-14,  1.00000000e+00, -4.42133925e-27,
        1.00000000e+00, -4.98698639e-14, -1.00000000e+00,  0.00000000e+00,
        8.86575358e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09260743, -0.08849936,  0.0619821 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.26845219e-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,
 -7.34760176e-06, 5.14912266e-06,-4.90506656e+00,-1.84436688e-03,
  3.12463471e-05,-2.21778556e-03]


--- 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,
  9.37926822e-02,-7.03631885e-02, 1.30637993e-01, 4.90313639e-01,
  4.80659006e-01, 5.09400451e-01, 5.18720191e-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 , -1.58616479, -3.73897269, -0.15464922,-31.19126517,
   1.91052874, 51.65416417]

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: -0.0006433879420279787
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.7255888e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.7255888e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10808763, -0.0337426 ,  0.06198161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05546142e-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,
 -6.09210261e-06, 7.59488191e-06,-4.90508378e+00,-1.84637406e-03,
  2.49150968e-05,-2.21486660e-03]


--- 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,
  9.38128551e-02,-7.03588010e-02, 1.30638265e-01, 4.90233328e-01,
  4.80686064e-01, 5.09512418e-01, 5.18661053e-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, -1.53806339, -3.61572783, -0.46577641,-29.79702808,
   2.24032341, 49.9792389 ]

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([ 6.90563057, -1.79164653,  6.66916308, -1.79164653, 29.28057195,
        6.01094702,  6.66916308,  6.01094702,  8.52044973,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000657109109102702
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.44778294e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.44778294e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10808131, -0.03374866,  0.06198122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.64196982e-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,
 -6.31893600e-06, 5.02323871e-06,-4.90503989e+00,-1.85090838e-03,
  3.31874329e-05,-2.21344777e-03]


--- 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,
  9.38270423e-02,-7.03684551e-02, 1.30635595e-01, 4.90127633e-01,
  4.80731928e-01, 5.09550440e-01, 5.18681083e-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, -1.49640105, -3.51041316, -0.73551157,-28.6343316 ,
   2.49197991, 48.55078162]

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([ 6.95781954, -2.20845065,  6.59802989, -2.20845065, 36.94609842,
       10.03748621,  6.59802989, 10.03748621, 10.31750316,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006635093647938128
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.36629506e-14,  8.36629506e-14,  1.00000000e+00, -6.99948931e-27,
        1.00000000e+00, -8.36629506e-14, -1.00000000e+00,  0.00000000e+00,
        8.36629506e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1080773 , -0.03375107,  0.06198104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -4.58749490e-06, 4.61062415e-06,-4.90501526e+00,-1.85532490e-03,
  3.84515273e-05,-2.21355059e-03]


--- 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,
  9.38353871e-02,-7.03917933e-02, 1.30629051e-01, 4.89996684e-01,
  4.80796121e-01, 5.09516861e-01, 5.18778284e-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, -1.46059323, -3.42101612, -0.96844357,-27.66863607,
   2.68304749, 47.34182019]

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([ 6.96148694, -2.66573211,  6.43087651, -2.66573211, 45.14671468,
       15.82857136,  6.43087651, 15.82857136, 13.52275908,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006639602802807204
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10807513, -0.03375051,  0.06198103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -9.46918581e-07, 6.11106798e-06,-4.90500788e+00,-1.85972915e-03,
  4.10835578e-05,-2.21515854e-03]


--- 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,
  9.38380119e-02,-7.04285138e-02, 1.30617831e-01, 4.89840601e-01,
  4.80878232e-01, 5.09413599e-01, 5.18950959e-01]

qacc:
[ -5.11735007,  1.89668906, -7.00275945,  8.64198638,  1.6976923 ,
  -1.66391415,  3.23852928,  1.96305119,  0.40439849, -0.06944119,
  -0.92268698,  4.28715151, -0.57993259,  0.74674147, 18.79058816,
 -64.34405783, -1.43001958, -3.34557669, -1.16914272,-26.87019751,
   2.82700262, 46.32666258]

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([ 6.92622058, -3.1391173 ,  6.17401604, -3.1391173 , 52.89714043,
       23.37345883,  6.17401604, 23.37345883, 18.81022419,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000659630604482403
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.41549056e-14,  8.41549056e-14,  1.00000000e+00, -7.08204813e-27,
        1.00000000e+00, -8.41549056e-14, -1.00000000e+00,  0.00000000e+00,
        8.41549056e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10807442, -0.03374759,  0.06198115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.98402304e-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,
  4.55702602e-06, 9.35424365e-06,-4.90501619e+00,-1.86419195e-03,
  4.13725305e-05,-2.21825169e-03]


--- 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,
  9.38350203e-02,-7.04783633e-02, 1.30601243e-01, 4.89659483e-01,
  4.80977905e-01, 5.09242210e-01, 5.19197667e-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,
 -1.40407287e+00,-3.28227232e+00,-1.34192531e+00,-2.62136978e+01,
  2.93419468e+00, 4.54817571e+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: -0.0006515112167635451
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.70407354e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.70407354e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10807487, -0.03374279,  0.06198138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00313008e-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,
  1.18869677e-05, 1.42300562e-05,-4.90503899e+00,-1.86876050e-03,
  3.95382796e-05,-2.22280951e-03]


--- 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,
  9.38266847e-02,-7.05185666e-02, 1.30591573e-01, 4.89531289e-01,
  4.81033264e-01, 5.09087833e-01, 5.19418612e-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   , -1.33601099,  2.41157096,  1.72959881,-12.60031312,
  -4.00224522,-35.42099993]

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([ 7.02168857,  0.4475147 ,  7.00741329,  0.4475147 , 58.74172338,
       -3.30299851,  7.00741329, -3.30299851,  7.23262809,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006713859501523127
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.13973977e-07,  1.13974146e-07,  1.00000000e+00,  1.29900868e-14,
        1.00000000e+00, -1.13974146e-07, -1.00000000e+00,  0.00000000e+00,
       -1.13973977e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10296161, -0.08974914,  0.06198081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.10164282e-05, 2.06771531e-05,-4.90507539e+00,-1.87346600e-03,
  3.57458719e-05,-2.22881237e-03]


--- 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,
  9.38185261e-02,-7.05498131e-02, 1.30588154e-01, 4.89429791e-01,
  4.81064580e-01, 5.08969669e-01, 5.19601025e-01]

qacc:
[  5.06351881, -0.6274007 ,  1.20030162,  0.54533738,  1.42671025,
  -0.97669015,  3.73983767, -4.74421102, -3.3779973 ,  2.32395208,
  -7.87288532, 11.55759617, -0.75691038,  1.13901301, 10.37505637,
 -34.94042269,  0.04422521,  2.23920709,  1.56262866,  6.90696847,
  -0.95489811,-31.19447055]

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([ 7.18334108,  3.41874186, -6.31764142,  3.41874186, 37.24360639,
       16.26687563, -6.31764142, 16.26687563, 15.98603261,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006915856479180055
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.02664882e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.02664882e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09264431, -0.08849088,  0.06198024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.59675098e-05, 9.11466768e-06,-4.90505108e+00,-1.86705912e-03,
  3.68016381e-05,-2.23264442e-03]


--- 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,
  9.38105800e-02,-7.05724231e-02, 1.30589513e-01, 4.89354524e-01,
  4.81071590e-01, 5.08886347e-01, 5.19747017e-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,  0.05316363,  2.15911485,  1.19452826,  6.06290751,
  -0.59468635,-30.2933549 ]

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([ 7.27394991, -0.27734821, -7.26866049, -0.27734821, 38.36506066,
       -1.18633465, -7.26866049, -1.18633465,  7.31921655,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007031124189295079
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.89506055e-14, -1.57901211e-13,  1.00000000e+00, -1.24663962e-26,
        1.00000000e+00,  1.57901211e-13, -1.00000000e+00,  0.00000000e+00,
       -7.89506055e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09264942, -0.08848929,  0.06197991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.13211227e-05, 4.43079234e-06,-4.90503074e+00,-1.86275155e-03,
  4.05669435e-05,-2.23485642e-03]


--- 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,
  9.38028735e-02,-7.05866686e-02, 1.30594381e-01, 4.89305057e-01,
  4.81054146e-01, 5.08836705e-01, 5.19858324e-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,
  5.98633037e-02, 2.09113051e+00, 8.77299888e-01, 5.38890537e+00,
 -3.11802402e-01,-2.95152713e+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([ 7.30894991e+00,  5.82855399e-03, -7.30894759e+00,  5.82855399e-03,
        5.09786946e+01,  3.48246395e-02, -7.30894759e+00,  3.48246395e-02,
        7.30897769e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.0007076120270010505
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.84485694e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -7.84485694e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0926534 , -0.0884893 ,  0.06197978])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.32966718e-06, 1.12292021e-06,-4.90501607e+00,-1.85898712e-03,
  4.34760024e-05,-2.23639921e-03]


--- 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,
  9.37954263e-02,-7.05927786e-02, 1.30601671e-01, 4.89281003e-01,
  4.81012176e-01, 5.08819770e-01, 5.19936370e-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,
  6.48440847e-02, 2.03385182e+00, 6.05451549e-01, 4.85068645e+00,
 -8.94784762e-02,-2.88495746e+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([ 7.29972604,  0.38865881, -7.28937203,  0.38865881, 67.54203747,
        3.21203325, -7.28937203,  3.21203325,  7.47098703,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007064234673604536
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.85805594e-14, -1.57161119e-13,  1.00000000e+00, -1.23498086e-26,
        1.00000000e+00,  1.57161119e-13, -1.00000000e+00,  0.00000000e+00,
       -7.85805594e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09265648, -0.08849061,  0.06197982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.82321474e-06,-8.47357889e-07,-4.90500653e+00,-1.85563988e-03,
  4.56548563e-05,-2.23726597e-03]


--- 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,
  9.37882531e-02,-7.05909449e-02, 1.30610455e-01, 4.89282019e-01,
  4.80945655e-01, 5.08834722e-01, 5.19982315e-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 ,  0.068508  ,  1.98595137,  0.3735449 ,  4.42092923,
   0.08541811,-28.28520456]

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: -0.0007006916928135737
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.92233614e-14,  7.92233614e-14,  1.00000000e+00,  6.27634100e-27,
        1.00000000e+00, -7.92233614e-14, -1.00000000e+00,  0.00000000e+00,
       -7.92233614e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09265887, -0.08849296,  0.06197998])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.75991080e-07,-1.52250530e-06,-4.90500174e+00,-1.85261626e-03,
  4.71978346e-05,-2.23745467e-03]


--- 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,
  9.37813646e-02,-7.05813263e-02, 1.30619945e-01, 4.89307804e-01,
  4.80854586e-01, 5.08880880e-01, 5.19997106e-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,  0.07116622,  1.94622022,  0.17647186,  4.07787617,
   0.22317653,-27.81148982]

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: -0.0006913906872013376
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.60578244e-13, -8.02891220e-14,  1.00000000e+00, -1.28926862e-26,
        1.00000000e+00,  8.02891220e-14, -1.00000000e+00,  0.00000000e+00,
       -1.60578244e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0926607 , -0.08849612,  0.06198025])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.20493045e-06,-9.44234940e-07,-4.90500136e+00,-1.84984660e-03,
  4.81754578e-05,-2.23696603e-03]


--- 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,
  9.37747684e-02,-7.05640533e-02, 1.30629473e-01, 4.89358099e-01,
  4.80738980e-01, 5.08957680e-01, 5.19981503e-01]

qacc:
[-2.25273986e+00, 1.68847174e+00,-6.79778933e+00, 1.19695845e+01,
 -5.83491684e+00, 2.19772023e+00,-8.48832225e+00, 1.27638373e+01,
  1.46493750e+00,-4.47961594e-01,-1.58625052e-01, 5.14508704e+00,
 -1.26924700e+00, 2.28512586e+00, 4.87765960e+00,-1.68757458e+01,
  7.30596708e-02, 1.91358348e+00, 9.58328359e-03, 3.80421059e+00,
  3.31860018e-01,-2.74185512e+01]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006793450723274891
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.08563729e-14,  8.17127458e-14,  1.00000000e+00,  3.33848642e-27,
        1.00000000e+00, -8.17127458e-14, -1.00000000e+00,  0.00000000e+00,
       -4.08563729e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0926621 , -0.08849991,  0.06198059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -4.88814597e-06, 8.48979106e-07,-4.90500514e+00,-1.84727889e-03,
  4.86403577e-05,-2.23580216e-03]


--- 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,
  9.37684696e-02,-7.05392320e-02, 1.30638476e-01, 4.89432686e-01,
  4.80598853e-01, 5.09064656e-01, 5.19936115e-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,  0.07437476,  1.88710003, -0.13126981,  3.58615391,
   0.41778817,-27.09746646]

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: -0.0006652497282440134
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.17220398e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.17220398e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09266316, -0.08850415,  0.06198099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -7.42428816e-06, 3.82301902e-06,-4.90501290e+00,-1.84487413e-03,
  4.86316976e-05,-2.23396568e-03]


--- 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,
  9.37624719e-02,-7.05069468e-02, 1.30646481e-01, 4.89531385e-01,
  4.80434210e-01, 5.09201431e-01, 5.19861420e-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,  0.07525559,  1.86595395, -0.24974422,  3.41274264,
   0.48591371,-26.84029926]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006496872690699013
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.54428798e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.54428798e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09266395, -0.08850873,  0.06198143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -9.85076061e-06, 7.94844459e-06,-4.90502450e+00,-1.84260297e-03,
  4.81784692e-05,-2.23145925e-03]


--- 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,
  9.37567774e-02,-7.04672639e-02, 1.30653089e-01, 4.89654048e-01,
  4.80245046e-01, 5.09367698e-01, 5.19757787e-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,  0.07581338,  1.84944217, -0.34903807,  3.27525118,
   0.5401173 ,-26.64005527]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006331434191768348
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.76754769e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.76754769e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09266454, -0.08851352,  0.0619819 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.27685051e-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,
 -1.21952443e-05, 1.32003648e-05,-4.90503983e+00,-1.84044319e-03,
  4.73019491e-05,-2.22828517e-03]


--- 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,
  9.37513874e-02,-7.04202331e-02, 1.30657969e-01, 4.89800560e-01,
  4.80031338e-01, 5.09563219e-01, 5.19625491e-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,  0.07613377,  1.83696094, -0.43193568,  3.16673182,
   0.58343832,-26.49060336]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006160204388487439
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.50562577e-14,  9.01125153e-14,  1.00000000e+00,  4.06013271e-27,
        1.00000000e+00, -9.01125153e-14, -1.00000000e+00,  0.00000000e+00,
       -4.50562577e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09266497, -0.08851843,  0.06198239])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.68641490e-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,
 -1.44782867e-05, 1.95580668e-05,-4.90505883e+00,-1.83837783e-03,
  4.60175321e-05,-2.22444524e-03]


--- 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,
  9.37398894e-02,-7.03878347e-02, 1.30661292e-01, 4.89923818e-01,
  4.79837130e-01, 5.09678823e-01, 5.19575287e-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, -1.52701979, -3.65808904, -0.38948324,-31.32195776,
   0.9902181 , 50.29554133]

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: -0.0006016854732938254
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.22594174e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.22594174e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10802805, -0.03370192,  0.0619828 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.67152091e-05, 2.70045239e-05,-4.90508147e+00,-1.83639386e-03,
  4.43360991e-05,-2.21994062e-03]


--- 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,
  9.37224170e-02,-7.03696343e-02, 1.30661983e-01, 4.90023527e-01,
  4.79661866e-01, 5.09717820e-01, 5.19604832e-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,
 -1.49361080e+00,-3.54951212e+00,-6.57789222e-01,-2.99345241e+01,
  1.44747364e+00, 4.88598691e+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([ 6.54707697, -1.12280299,  6.45007986, -1.12280299, 29.04353904,
        3.91609026,  6.45007986,  3.91609026,  7.22877362,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006137356068861427
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.04479887e-14,  9.04479887e-14,  1.00000000e+00, -8.18083866e-27,
        1.00000000e+00, -9.04479887e-14, -1.00000000e+00,  0.00000000e+00,
        9.04479887e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1080206 , -0.03370683,  0.06198246])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.06251667e-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,
 -1.68180576e-05, 1.37273439e-05,-4.90504400e+00,-1.83853993e-03,
  4.76168237e-05,-2.21805742e-03]


--- 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,
  9.36990861e-02,-7.03652596e-02, 1.30659109e-01, 4.90099515e-01,
  4.79505059e-01, 5.09682938e-01, 5.19712100e-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, -1.46459431, -3.45643045, -0.89126954,-28.79119628,
   1.78905574, 47.62888833]

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([ 6.59401611, -1.4974271 ,  6.42174124, -1.4974271 , 36.13998558,
        6.88955435,  6.42174124,  6.88955435,  8.20052827,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006193730144806592
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79249499e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.79249499e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10801557, -0.03370861,  0.0619823 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.88699389e-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,
 -1.52576658e-05, 2.72568153e-06,-4.90502470e+00,-1.84023795e-03,
  4.81023372e-05,-2.21763186e-03]


--- 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,
  9.36699964e-02,-7.03743935e-02, 1.30651861e-01, 4.90151690e-01,
  4.79366287e-01, 5.09576403e-01, 5.19895348e-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, -1.43972019, -3.37714075, -1.09369681,-27.85354374,
   2.03994692, 46.5817131 ]

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([ 6.59750316, -1.92974296,  6.30897298, -1.92974296, 44.11270066,
       11.47487689,  6.30897298, 11.47487689, 10.10735539,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006197921255680361
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10801248, -0.03370785,  0.06198229])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12818425e-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,
 -1.19843592e-05,-6.24777965e-06,-4.90502182e+00,-1.84166490e-03,
  4.61248096e-05,-2.21865923e-03]


--- 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,
  9.36461394e-02,-7.03976608e-02, 1.30641386e-01, 4.90137062e-01,
  4.79305612e-01, 5.09428923e-01, 5.20109569e-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,
  1.30818174e+00,-3.53332875e+00,-8.06514553e-01, 1.66160798e+01,
 -5.89104685e+00, 5.46676501e+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([ 6.62721802,  6.59686163,  0.63358928,  6.59686163,  6.96442185,
       -3.510929  ,  0.63358928, -3.510929  , 43.18262315,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006233655860278242
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.78101430e-13,  8.90507151e-14,  1.00000000e+00, -1.58600597e-26,
        1.00000000e+00, -8.90507151e-14, -1.00000000e+00,  0.00000000e+00,
        1.78101430e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08045931, -0.03252632,  0.06198218])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.70838141e-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,
 -6.97356856e-06,-1.33693647e-05,-4.90503405e+00,-1.84293985e-03,
  4.19350483e-05,-2.22112646e-03]


--- 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,
  9.36273686e-02,-7.04347656e-02, 1.30626805e-01, 4.90057201e-01,
  4.79320602e-01, 5.09242207e-01, 5.20353799e-01]

qacc:
[-2.34606676e+00,-6.69988091e-01, 1.85059268e+00,-1.28588421e+00,
  2.44323435e+00, 2.55833951e+00,-1.16868610e+01, 2.31309611e+01,
 -1.69198595e+00,-2.46536776e+00, 4.28964274e+00, 7.14136835e+00,
  2.39448928e-02,-3.58317470e-01,-3.64596621e+00, 1.22681495e+01,
  1.27154359e+00,-3.45939934e+00,-1.02650411e+00, 1.63292899e+01,
 -5.48497243e+00, 5.29950766e+01]

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([ 6.65476312, -6.48755533,  1.48239605, -6.48755533,  8.13861867,
        6.49394268,  1.48239605,  6.49394268, 35.07484188,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006266816192591201
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.77159022e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.77159022e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0804579 , -0.03253093,  0.06198209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.37911292e-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,
  5.68665167e-06,-9.12277723e-06,-4.90503767e+00,-1.84478310e-03,
  3.75834986e-05,-2.22169483e-03]


--- 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,
  9.36086802e-02,-7.04629242e-02, 1.30618536e-01, 4.90005325e-01,
  4.79309433e-01, 5.09092128e-01, 5.20559751e-01]

qacc:
[-1.45554268e+00, 5.82447850e-01,-2.43801036e+00, 3.65719137e+00,
 -1.57366569e+00, 8.56248361e-01,-3.01469890e+00, 3.88674554e+00,
 -4.00059447e+00,-9.75072230e-01, 2.68870230e-01, 7.69775864e+00,
 -6.41259629e-01, 8.70641339e-01, 1.41024600e+01,-4.80790368e+01,
  2.06302580e-02, 2.23654790e+00, 1.57785255e+00, 6.16179003e+00,
 -5.16383930e-01,-3.21015523e+01]

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: -0.0006342880065385165
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.31275897e-13, -1.75034529e-13,  1.00000000e+00,  2.29778148e-26,
        1.00000000e+00,  1.75034529e-13, -1.00000000e+00,  0.00000000e+00,
        1.31275897e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09269545, -0.08852013,  0.06198187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  1.43814584e-05, 9.42047436e-07,-4.90505757e+00,-1.84582523e-03,
  3.56917152e-05,-2.22380761e-03]


--- 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,
  9.35901025e-02,-7.04824321e-02, 1.30615158e-01, 4.89980825e-01,
  4.79272077e-01, 5.08977247e-01, 5.20729516e-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,
  2.76312950e-02, 2.16269566e+00, 1.22281608e+00, 5.39623144e+00,
 -2.01671953e-01,-3.10927339e+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([ 6.84919984,  1.28085431, -6.72836909,  1.28085431, 44.49558589,
        7.16660086, -6.72836909,  7.16660086,  8.21347868,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006502204844356374
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09269993, -0.08851639,  0.06198141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.06970050e-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,
  9.36015077e-06,-2.62292682e-06,-4.90503716e+00,-1.84098999e-03,
  4.08807937e-05,-2.22576182e-03]


--- 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,
  9.35743355e-02,-7.04933128e-02, 1.30615416e-01, 4.89971941e-01,
  4.79217737e-01, 5.08907666e-01, 5.20855877e-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,  0.70269912,  2.15678559,  0.90901041, 14.93658557,
   1.1451958 ,-29.87687542]

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([ 6.92951198,  4.57817971, -5.20176959,  4.57817971, 34.59303265,
       24.34720858, -5.20176959, 24.34720858, 28.35796907,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006600341001719717
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.68206919e-13,  8.41034595e-14,  1.00000000e+00,  1.41467838e-26,
        1.00000000e+00, -8.41034595e-14, -1.00000000e+00,  0.00000000e+00,
       -1.68206919e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08725705, -0.08889855,  0.06198113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.90404543e-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,
  4.89132333e-06,-4.72024562e-06,-4.90502281e+00,-1.83660704e-03,
  4.52225056e-05,-2.22702243e-03]


--- 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,
  9.35613256e-02,-7.04958016e-02, 1.30618204e-01, 4.89978490e-01,
  4.79146201e-01, 5.08882106e-01, 5.20940495e-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,  0.68927305,  2.09797043,  0.63232737, 14.17578659,
   1.33392571,-29.16964442]

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([ 6.96338801,  0.73129863, -6.92488086,  0.73129863, 67.1561928 ,
        6.35663144, -6.92488086,  6.35663144,  7.63467694,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00066419408496185
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.35767022e-14,  1.25365053e-13,  1.00000000e+00,  1.04775977e-26,
        1.00000000e+00, -1.25365053e-13, -1.00000000e+00,  0.00000000e+00,
       -8.35767022e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08726014, -0.08889835,  0.06198102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.54668007e-06,-4.43590717e-06,-4.90501062e+00,-1.83293772e-03,
  4.91313603e-05,-2.22729734e-03]


--- 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,
  9.35510252e-02,-7.04900969e-02, 1.30622568e-01, 4.90000302e-01,
  4.79057325e-01, 5.08899489e-01, 5.20984734e-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 ,  0.67736802,  2.04837238,  0.39427781, 13.55464007,
   1.47981902,-28.56720967]

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: -0.000663274711923928
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.36925489e-14,  1.25538823e-13,  1.00000000e+00,  1.05066641e-26,
        1.00000000e+00, -1.25538823e-13, -1.00000000e+00,  0.00000000e+00,
       -8.36925489e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08726219, -0.08889938,  0.06198104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.92951992e-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,
 -1.42342350e-06,-3.23377769e-06,-4.90500445e+00,-1.82961930e-03,
  5.16691412e-05,-2.22688092e-03]


--- 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,
  9.35433926e-02,-7.04763646e-02, 1.30627694e-01, 4.90037221e-01,
  4.78951013e-01, 5.08958906e-01, 5.20989714e-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,  0.66696207,  2.00691584,  0.19039955, 13.04872736,
   1.59254697,-28.05922565]

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: -0.0006582930876150167
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.43258911e-14,  1.68651782e-13,  1.00000000e+00,  1.42217118e-26,
        1.00000000e+00, -1.68651782e-13, -1.00000000e+00,  0.00000000e+00,
       -8.43258911e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08726344, -0.08890139,  0.06198119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -4.09488369e-06,-1.11848541e-06,-4.90500383e+00,-1.82659115e-03,
  5.29522253e-05,-2.22576902e-03]


--- 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,
  9.35383920e-02,-7.04547418e-02, 1.30632886e-01, 4.90089109e-01,
  4.78827195e-01, 5.09059598e-01, 5.20956340e-01]

qacc:
[ 5.60916839e-01,-6.02759106e-01,-2.44201325e-01, 6.23458666e+00,
 -1.39282839e+00,-2.25679021e+00, 1.24393312e+01,-3.10722303e+01,
  1.42535857e+00,-1.30342522e+00, 3.74823410e+00,-3.13456920e+00,
 -3.35054677e-01, 5.78348197e-01,-1.46667647e+01, 5.01402183e+01,
  6.57989244e-01, 1.97260720e+00, 1.64577579e-02, 1.26380551e+01,
  1.67959549e+00,-2.76358111e+01]

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: -0.0006501159548688018
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.53865388e-14,  2.13466347e-13,  1.00000000e+00,  1.82271525e-26,
        1.00000000e+00, -2.13466347e-13, -1.00000000e+00,  0.00000000e+00,
       -8.53865388e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08726405, -0.08890419,  0.06198142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.16888169e-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,
 -6.52492222e-06, 1.89902580e-06,-4.90500837e+00,-1.82380823e-03,
  5.30698579e-05,-2.22396037e-03]


--- 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,
  9.35359928e-02,-7.04253409e-02, 1.30637552e-01, 4.90155846e-01,
  4.78685818e-01, 5.09200937e-01, 5.20885343e-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,  0.65036033,  1.94455176, -0.13144039, 12.3062929 ,
   1.7467578 ,-27.28785082]

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: -0.0006394781814384048
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.68069511e-14,  8.68069511e-14,  1.00000000e+00,  7.53544676e-27,
        1.00000000e+00, -8.68069511e-14, -1.00000000e+00,  0.00000000e+00,
       -8.68069511e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08726417, -0.08890757,  0.06198172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.09615330e-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,
 -8.75686225e-06, 5.80468061e-06,-4.90501781e+00,-1.82123688e-03,
  5.20899177e-05,-2.22145525e-03]


--- 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,
  9.35390504e-02,-7.04105337e-02, 1.30639717e-01, 4.90159733e-01,
  4.78622068e-01, 5.09298280e-01, 5.20845096e-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,  1.36419764, -3.64844984, -0.62525504, 14.77977154,
  -7.63826262, 54.19901961]

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([ 6.73858459,  0.92215232, -6.67518969,  0.92215232, 50.56957032,
        6.0550856 , -6.67518969,  6.0550856 ,  7.57507186,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006367974659946679
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.71723809e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.71723809e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08041789, -0.03255163,  0.0619818 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30659514e-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,
 -1.08237374e-05, 1.05831367e-05,-4.90503193e+00,-1.81885172e-03,
  5.00634054e-05,-2.21825471e-03]


--- 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,
  9.35473814e-02,-7.04099291e-02, 1.30638385e-01, 4.90101490e-01,
  4.78633645e-01, 5.09354058e-01, 5.20834722e-01]

qacc:
[ 1.35400244e+00,-2.90126015e+00, 1.18319712e+01,-1.97370386e+01,
 -2.25257471e+00, 1.71580259e+00,-6.07035864e+00, 1.06647388e+01,
  4.19367144e-01, 1.87709084e-01,-1.95112676e+00, 6.63944842e+00,
 -1.68671375e-01, 2.95802108e-02, 6.85420423e+00,-2.31213434e+01,
  1.31832760e+00,-3.55064232e+00,-8.74322350e-01, 1.48978983e+01,
 -6.83388665e+00, 5.26299348e+01]

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([ 6.77958253, -3.74638039,  5.65043124, -3.74638039, 23.7134557 ,
       11.22759091,  5.65043124, 11.22759091, 14.22376239,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006417614959222662
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.64981018e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.64981018e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08041314, -0.03255529,  0.06198166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.78892691e-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,
 -4.04507104e-06, 3.55913350e-06,-4.90500934e+00,-1.82464876e-03,
  4.88195820e-05,-2.21649039e-03]


--- 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,
  9.35608330e-02,-7.04231943e-02, 1.30632696e-01, 4.89981771e-01,
  4.78718600e-01, 5.09370234e-01, 5.20853465e-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,  1.28017889, -3.46744286, -1.08922306, 14.96522862,
  -6.18804131, 51.30996065]

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([ 6.7762011 , -4.09295589,  5.40042716, -4.09295589, 27.96166728,
       16.05635552,  5.40042716, 16.05635552, 18.94523012,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006413516158201432
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.65533817e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.65533817e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08040858, -0.03255579,  0.06198167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.59971442e-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,
 -1.36084590e-06, 2.48510720e-06,-4.90500369e+00,-1.82909652e-03,
  4.96317149e-05,-2.21622597e-03]


--- 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,
  9.35792791e-02,-7.04500478e-02, 1.30621910e-01, 4.89801143e-01,
  4.78875287e-01, 5.09348389e-01, 5.20900680e-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,  1.24860625, -3.39707478, -1.27430593, 14.99942731,
  -5.66802745, 50.20732142]

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([ 6.7372053 , -4.46367877,  5.04633602, -4.46367877, 31.71045104,
       22.08979869,  5.04633602, 22.08979869, 26.27648392,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006366306643444675
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.71952206e-14,  8.71952206e-14,  1.00000000e+00, -7.60300650e-27,
        1.00000000e+00, -8.71952206e-14, -1.00000000e+00,  0.00000000e+00,
        8.71952206e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08040414, -0.03255376,  0.0619818 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.50626869e-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,
 -2.31714384e-06, 6.95540784e-06,-4.90501368e+00,-1.83254111e-03,
  5.24366057e-05,-2.21739948e-03]


--- 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,
  9.36007273e-02,-7.04681349e-02, 1.30615690e-01, 4.89637742e-01,
  4.79010982e-01, 5.09372770e-01, 5.20905694e-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,  0.75054591,  2.19159749,  1.14169046, 13.52179294,
   2.2959108 ,-31.23608765]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000645494595500895
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  4.2998928e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -4.2998928e-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([ 0.08726765, -0.08890658,  0.06198155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.27042755e-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,
 -6.58133078e-06, 1.66727109e-05,-4.90503829e+00,-1.83523400e-03,
  5.71783115e-05,-2.21996074e-03]


--- 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,
  9.36224499e-02,-7.04778029e-02, 1.30613455e-01, 4.89502620e-01,
  4.79117083e-01, 5.09430985e-01, 5.20878180e-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,  0.06857627,  2.1047665 ,  0.99596495,  3.07798543,
   0.9981911 ,-30.96944928]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006552455748603664
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.35385648e-14, -8.47180864e-14,  1.00000000e+00,  5.38286562e-27,
        1.00000000e+00,  8.47180864e-14, -1.00000000e+00,  0.00000000e+00,
        6.35385648e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0927149 , -0.0885132 ,  0.06198127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.24581707e-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,
 -7.62109222e-06, 1.17032660e-05,-4.90502945e+00,-1.83647187e-03,
  5.58494859e-05,-2.22144198e-03]


--- 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,
  9.36444511e-02,-7.04792659e-02, 1.30614092e-01, 4.89394969e-01,
  4.79194476e-01, 5.09522092e-01, 5.20819024e-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,
  6.96663571e-02, 2.05123981e+00, 7.18125124e-01, 3.01935836e+00,
  9.49873168e-01,-3.00908906e+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: -0.0006598175619700608
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.68262121e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.68262121e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09271501, -0.08851178,  0.06198114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -6.83442989e-06, 7.05642602e-06,-4.90502196e+00,-1.83743873e-03,
  5.29090715e-05,-2.22246930e-03]


--- 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,
  9.36667359e-02,-7.04727056e-02, 1.30616644e-01, 4.89314104e-01,
  4.79243912e-01, 5.09645301e-01, 5.20728959e-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,  0.07088567,  2.0058373 ,  0.47878735,  2.97475398,
   0.90568071,-29.35256322]

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: -0.0006593025752471837
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.3147582e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        6.3147582e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09271507, -0.08851181,  0.06198115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.08082027e-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,
 -6.06333691e-06, 4.07408564e-06,-4.90501955e+00,-1.83847257e-03,
  4.95926276e-05,-2.22273693e-03]


--- 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,
  9.36893096e-02,-7.04582745e-02, 1.30620290e-01, 4.89259447e-01,
  4.79266017e-01, 5.09799945e-01, 5.20608581e-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,  0.07223485,  1.96770858,  0.27358672,  2.94257816,
   0.86496989,-28.7368254 ]

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: -0.0006547121963339231
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.35903282e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.35903282e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09271507, -0.08851299,  0.06198129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.43911272e-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,
 -5.30316331e-06, 2.61908960e-06,-4.90502183e+00,-1.83957460e-03,
  4.59058364e-05,-2.22226365e-03]


--- 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,
  9.37121781e-02,-7.04360992e-02, 1.30624330e-01, 4.89230513e-01,
  4.79261315e-01, 5.09985473e-01, 5.20458370e-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,  0.07371174,  1.93603978,  0.09835652,  2.9214003 ,
   0.82717191,-28.22801387]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006469095885829057
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.29048759e-14,  8.58097518e-14,  1.00000000e+00,  3.68165675e-27,
        1.00000000e+00, -8.58097518e-14, -1.00000000e+00,  0.00000000e+00,
       -4.29048759e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09271504, -0.08851509,  0.06198151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.45947173e-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,
 -4.54941106e-06, 2.58133055e-06,-4.90502848e+00,-1.84074610e-03,
  4.18515424e-05,-2.22106513e-03]


--- 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,
  9.37353479e-02,-7.04062836e-02, 1.30628166e-01, 4.89226899e-01,
  4.79230235e-01, 5.10201428e-01, 5.20278701e-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,  0.0753125 ,  1.91007945, -0.05074927,  2.90995474,
   0.79179225,-27.81243168]

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: -0.0006366274962923274
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.35978273e-14,  8.71956545e-14,  1.00000000e+00,  3.80154108e-27,
        1.00000000e+00, -8.71956545e-14, -1.00000000e+00,  0.00000000e+00,
       -4.35978273e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09271498, -0.08851789,  0.0619818 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.04744051e-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,
 -3.79771260e-06, 3.87253806e-06,-4.90503928e+00,-1.84198857e-03,
  3.74303064e-05,-2.21915428e-03]


--- 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,
  9.37523545e-02,-7.03910935e-02, 1.30630463e-01, 4.89197493e-01,
  4.79218875e-01, 5.10339502e-01, 5.20181387e-01]

qacc:
[ 1.27434618e+00, 7.35599131e-01,-5.22157749e+00, 1.64753213e+01,
 -3.29770186e-01,-1.31606652e+00, 5.88269387e+00,-1.22574774e+01,
 -6.28427175e+00, 9.39257299e-01,-8.19800940e+00, 2.40709471e+01,
 -7.69778756e-01, 1.21648651e+00,-3.14508397e-02, 4.90056756e-01,
 -1.54080796e+00,-3.65637277e+00,-3.85056598e-01,-3.02647846e+01,
  2.13272341e+00, 5.05465751e+01]

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: -0.0006364777715876652
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10792397, -0.03368413,  0.06198181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -3.04380469e-06, 6.42196534e-06,-4.90505405e+00,-1.84330373e-03,
  3.26408313e-05,-2.21654160e-03]


--- 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,
  9.37633659e-02,-7.03900921e-02, 1.30630111e-01, 4.89142463e-01,
  4.79226654e-01, 5.10402675e-01, 5.20163987e-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 , -1.49880169, -3.54716029, -0.66202199,-29.05146092,
   2.38741592, 49.04250446]

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([ 6.81516037, -2.35313458,  6.39602756, -2.35313458, 34.60956991,
       10.22571988,  6.39602756, 10.22571988, 10.57726033,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006460794384703789
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.59200091e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.59200091e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10791914, -0.03368829,  0.06198153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.05858875e-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,
 -3.32925663e-06, 3.43487778e-06,-4.90502016e+00,-1.84653820e-03,
  3.86968946e-05,-2.21543089e-03]


--- 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,
  9.37685269e-02,-7.04029067e-02, 1.30626152e-01, 4.89061982e-01,
  4.79253073e-01, 5.10393414e-01, 5.20224406e-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, -1.46259308, -3.45403535, -0.90187735,-28.04150045,
   2.57917559, 47.76457888]

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([ 6.84187358, -2.77882574,  6.25214856, -2.77882574, 41.9863971 ,
       15.62031127,  6.25214856, 15.62031127, 13.78446662,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006493283589039667
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.70980215e-13,  8.54901075e-14,  1.00000000e+00, -1.46171170e-26,
        1.00000000e+00, -8.54901075e-14, -1.00000000e+00,  0.00000000e+00,
        1.70980215e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10791627, -0.03368924,  0.06198144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.63923541e-06, 2.48025455e-06,-4.90500422e+00,-1.84973502e-03,
  4.19976915e-05,-2.21584684e-03]


--- 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,
  9.37679614e-02,-7.04292219e-02, 1.30617758e-01, 4.88956210e-01,
  4.79297695e-01, 5.10313748e-01, 5.20360858e-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, -1.43161983, -3.37512467, -1.10896612,-27.20466419,
   2.72198696, 46.68705378]

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([ 6.82635229, -3.2217398 ,  6.01826206, -3.2217398 , 49.04408869,
       22.60030559,  6.01826206, 22.60030559, 18.92491218,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006474398801377956
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.57394685e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.57394685e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10791496, -0.03368762,  0.06198149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.35462583e-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,
  1.96740268e-06, 3.35669120e-06,-4.90500454e+00,-1.85296818e-03,
  4.28567650e-05,-2.21776579e-03]


--- 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,
  9.37617746e-02,-7.04687716e-02, 1.30604213e-01, 4.88825290e-01,
  4.79360146e-01, 5.10165330e-01, 5.20571823e-01]

qacc:
[ -1.58373127, -0.56690811, -1.90142543, 15.0812861 , -0.56404389,
  -1.29268162,  6.00604467,-13.41063086, -1.07915693,  0.48945675,
  -3.21913729,  7.52691944,  0.56080124, -1.53299611, 12.90822543,
 -44.93964583, -1.40530918, -3.30864415, -1.28749583,-26.51504032,
   2.82658432, 45.78599557]

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: -0.0006414475796177876
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.65404329e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.65404329e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10791488, -0.03368394,  0.06198166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  7.44079665e-06, 5.92744448e-06,-4.90501982e+00,-1.85628597e-03,
  4.15138262e-05,-2.22116355e-03]


--- 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,
  9.37556814e-02,-7.04992809e-02, 1.30597248e-01, 4.88721614e-01,
  4.79397953e-01, 5.10053529e-01, 5.20743876e-01]

qacc:
[ 2.08197368e+00, 1.97699566e-01,-3.40733316e+00, 1.25342181e+01,
  2.73396869e+00,-4.46386626e-01, 6.29509260e+00,-2.30707396e+01,
 -6.54559392e-01,-7.64982039e-01, 1.56493260e+00, 3.40720114e-01,
 -4.41860351e-01, 6.07332337e-01,-2.13257480e+00, 6.37867429e+00,
  2.33830720e-02, 2.26012475e+00, 1.64499042e+00, 6.90335264e+00,
 -9.11276909e-01,-3.16650567e+01]

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([  6.95932551,   1.59637021,   6.7737592 ,   1.59637021,
        59.89031913, -12.47423459,   6.7737592 , -12.47423459,
         9.89912539,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006636945087229035
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.36396121e-14,  1.67279224e-13,  1.00000000e+00,  1.39911694e-26,
        1.00000000e+00, -1.67279224e-13, -1.00000000e+00,  0.00000000e+00,
       -8.36396121e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09273569, -0.08851559,  0.06198103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.21126839e-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,
  1.47428246e-05, 1.01080708e-05,-4.90504906e+00,-1.85971921e-03,
  3.81499659e-05,-2.22601713e-03]


--- 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,
  9.37497223e-02,-7.05210716e-02, 1.30595371e-01, 4.88644676e-01,
  4.79410879e-01, 5.09976922e-01, 5.20879189e-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,
  3.35138185e-02, 2.17963664e+00, 1.27213060e+00, 6.04466483e+00,
 -5.47871476e-01,-3.07208327e+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([ 7.07972689,  0.06939634, -7.07938677,  0.06939634, 38.47708776,
        0.30777553, -7.07938677,  0.30777553,  7.08274389,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00067859103699415
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09274094, -0.08851289,  0.0619806 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.03571206e-05, 5.22706279e-06,-4.90502885e+00,-1.85571093e-03,
  4.16427902e-05,-2.22822168e-03]


--- 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,
  9.37439280e-02,-7.05344185e-02, 1.30597291e-01, 4.88594009e-01,
  4.79398806e-01, 5.09934301e-01, 5.20979546e-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 ,  0.04121873,  2.11093785,  0.94912355,  5.35916927,
  -0.26303892,-29.90368866]

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([ 7.13988717,  0.33857379, -7.13185506,  0.33857379, 50.37769917,
        2.05264823, -7.13185506,  2.05264823,  7.23733347,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006861137572788528
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  8.0906629e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -8.0906629e-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([ 0.09274504, -0.08851195,  0.06198039])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.62765790e-06, 1.78466108e-06,-4.90501443e+00,-1.85224124e-03,
  4.42752714e-05,-2.22974091e-03]


--- 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,
  9.37383220e-02,-7.05395544e-02, 1.30601896e-01, 4.88569193e-01,
  4.79361688e-01, 5.09924650e-01, 5.21046415e-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,  0.04704968,  2.05278048,  0.67109343,  4.81200903,
  -0.03969208,-29.20321758]

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([ 7.15193455,  0.70190238, -7.11740829,  0.70190238, 65.89345507,
        5.79295319, -7.11740829,  5.79295319,  7.72322222,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006876274474029304
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.03642637e-14,  1.61457055e-13,  1.00000000e+00,  6.51709514e-27,
        1.00000000e+00, -1.61457055e-13, -1.00000000e+00,  0.00000000e+00,
       -4.03642637e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09274824, -0.08851243,  0.06198035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.37940338e-06,-2.67139786e-07,-4.90500529e+00,-1.84918236e-03,
  4.61762137e-05,-2.23056979e-03]


--- 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,
  9.37329217e-02,-7.05366745e-02, 1.30608232e-01, 4.88569853e-01,
  4.79299525e-01, 5.09947116e-01, 5.21080995e-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,  0.05143531,  2.00393698,  0.43298819,  4.37538152,
   0.13554154,-28.60827585]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006843040754188345
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.05602957e-14,  8.11205913e-14,  1.00000000e+00,  3.29027517e-27,
        1.00000000e+00, -8.11205913e-14, -1.00000000e+00,  0.00000000e+00,
       -4.05602957e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09275072, -0.08851406,  0.06198044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.83234793e-07,-9.79167025e-07,-4.90500098e+00,-1.84643967e-03,
  4.74417969e-05,-2.23070788e-03]


--- 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,
  9.37277402e-02,-7.05259415e-02, 1.30615488e-01, 4.88595663e-01,
  4.79212341e-01, 5.10000985e-01, 5.21084260e-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,
  5.47088091e-02, 1.96326114e+00, 2.29930414e-01, 4.02713345e+00,
  2.73131174e-01,-2.81079273e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006771443419905793
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.09891568e-14,  1.63956627e-13,  1.00000000e+00, -6.72044390e-27,
        1.00000000e+00, -1.63956627e-13, -1.00000000e+00,  0.00000000e+00,
        4.09891568e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09275264, -0.08851659,  0.06198065])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.15588362e-06,-4.00250974e-07,-4.90500116e+00,-1.84394297e-03,
  4.81437322e-05,-2.23015727e-03]


--- 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,
  9.37227872e-02,-7.05074897e-02, 1.30622974e-01, 4.88646341e-01,
  4.79100170e-01, 5.10085666e-01, 5.21056996e-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,
  5.71291930e-02, 1.92971591e+00, 5.73984533e-02, 3.74962431e+00,
  3.81275341e-01,-2.76919386e+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: -0.0006669983908360183
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.16126575e-14,  1.66450630e-13,  1.00000000e+00,  6.92645307e-27,
        1.00000000e+00, -1.66450630e-13, -1.00000000e+00,  0.00000000e+00,
       -4.16126575e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09275412, -0.08851983,  0.06198094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -4.60779561e-06, 1.42516756e-06,-4.90500559e+00,-1.84164007e-03,
  4.83353713e-05,-2.22892121e-03]


--- 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,
  9.37180698e-02,-7.04814283e-02, 1.30630105e-01, 4.88721650e-01,
  4.78963044e-01, 5.10200673e-01, 5.20999832e-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 ,  0.05889778,  1.90238148, -0.08869598,  3.52881171,
   0.4663952 ,-27.3510027 ]

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: -0.000654584950423559
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.48035861e-14,  8.48035861e-14,  1.00000000e+00,  7.19164822e-27,
        1.00000000e+00, -8.48035861e-14, -1.00000000e+00,  0.00000000e+00,
       -8.48035861e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09275526, -0.0885236 ,  0.06198129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.70012291e-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,
 -6.92379064e-06, 4.45801176e-06,-4.90501406e+00,-1.83949203e-03,
  4.80562666e-05,-2.22700332e-03]


--- 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,
  9.37135931e-02,-7.04478451e-02, 1.30636388e-01, 4.88821390e-01,
  4.78800985e-01, 5.10345605e-01, 5.20913264e-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,  0.06017091,  1.88045251, -0.21199104,  3.3535182 ,
   0.53351976,-27.07680241]

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: -0.0006405085995519894
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.66673004e-14,  1.73334601e-13,  1.00000000e+00,  1.50224419e-26,
        1.00000000e+00, -1.73334601e-13, -1.00000000e+00,  0.00000000e+00,
       -8.66673004e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09275612, -0.08852777,  0.06198169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.78239002e-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,
 -9.14153040e-06, 8.66473533e-06,-4.90502642e+00,-1.83746968e-03,
  4.73355684e-05,-2.22440708e-03]


--- 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,
  9.37093607e-02,-7.04068091e-02, 1.30641408e-01, 4.88945400e-01,
  4.78614002e-01, 5.10520143e-01, 5.20797673e-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 ,  0.06106987,  1.86322967, -0.31569168,  3.21484519,
   0.58658686,-26.86198643]

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: -0.000625275100213124
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.43893825e-14,  2.66336295e-13,  1.00000000e+00,  1.18225037e-26,
        1.00000000e+00, -2.66336295e-13, -1.00000000e+00,  0.00000000e+00,
       -4.43893825e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09275678, -0.0885322 ,  0.06198212])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.45202771e-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,
 -1.12886902e-05, 1.40170462e-05,-4.90504257e+00,-1.83555108e-03,
  4.61945547e-05,-2.22113548e-03]


--- 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,
  9.36990907e-02,-7.03803047e-02, 1.30644583e-01, 4.89045840e-01,
  4.78446528e-01, 5.10615736e-01, 5.20763533e-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, -1.50940357, -3.6329314 , -0.46127636,-30.93860739,
   1.12798951, 49.92187619]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006205275418185163
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10787464, -0.033661  ,  0.06198226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.03442903e-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,
 -1.33856420e-05, 2.04914028e-05,-4.90506243e+00,-1.83371960e-03,
  4.46485156e-05,-2.21719091e-03]


--- 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,
  9.36829156e-02,-7.03679101e-02, 1.30644864e-01, 4.89122492e-01,
  4.78298012e-01, 5.10635537e-01, 5.20808552e-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, -1.47626832, -3.52744487, -0.72368329,-29.61826835,
   1.54096541, 48.52142529]

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([ 6.68071488, -1.30729064,  6.55156031, -1.30729064, 30.56046597,
        4.76493743,  6.55156031,  4.76493743,  7.63150489,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006298092879321732
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.81396199e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.81396199e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10786822, -0.03366461,  0.061982  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.21670476e-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,
 -1.31011193e-05, 9.06417264e-06,-4.90503052e+00,-1.83577952e-03,
  4.74514275e-05,-2.21577817e-03]


--- 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,
  9.36721389e-02,-7.03698529e-02, 1.30642345e-01, 4.89132925e-01,
  4.78227709e-01, 5.10613988e-01, 5.20884436e-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,  1.34959996, -3.58432951, -0.6998691 , 16.31583209,
  -6.19167967, 54.65013238]

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([ 6.74708541,  6.61614014,  1.3228194 ,  6.61614014,  8.14848117,
       -7.00914333,  1.3228194 , -7.00914333, 41.80362796,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000637825779743334
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.703184e-14,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
        8.703184e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08031411, -0.03259755,  0.06198177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.87378131e-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,
 -1.11289694e-05,-1.76233909e-07,-4.90501629e+00,-1.83746135e-03,
  4.75495390e-05,-2.21582111e-03]


--- 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,
  9.36665994e-02,-7.03857887e-02, 1.30636078e-01, 4.89078549e-01,
  4.78233187e-01, 5.10552998e-01, 5.20990238e-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,
  1.30930008e+00,-3.49827088e+00,-9.36967134e-01, 1.61199678e+01,
 -5.68255215e+00, 5.29739114e+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([ 6.78098395, -6.07366939,  3.01534136, -6.07366939, 12.84272339,
       12.20989496,  3.01534136, 12.20989496, 31.37483799,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006419313948478472
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.72950417e-13,  4.32376043e-14,  1.00000000e+00, -7.47796169e-27,
        1.00000000e+00, -4.32376043e-14, -1.00000000e+00,  0.00000000e+00,
        1.72950417e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08031196, -0.03260177,  0.06198165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.42599896e-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,
 -1.65521612e-06,-2.78037102e-06,-4.90500400e+00,-1.84065076e-03,
  4.42908655e-05,-2.21500003e-03]


--- 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,
  9.36661610e-02,-7.04154232e-02, 1.30625242e-01, 4.88960561e-01,
  4.78312399e-01, 5.10454106e-01, 5.21125152e-01]

qacc:
[ 3.24536698e-02,-6.80910605e-01, 1.34710425e+00,-5.99830699e-01,
  2.11414854e+00,-2.23752831e-01, 2.86252285e+00,-1.06429986e+01,
 -6.72052078e+00, 3.79867902e+00,-1.00894030e+01, 4.57004932e+00,
 -4.28771663e-01, 6.24402821e-01, 6.72318745e+00,-2.38040649e+01,
  1.27528846e+00,-3.42467688e+00,-1.14223176e+00, 1.59367633e+01,
 -5.27574482e+00, 5.15754384e+01]

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([ 6.77175861, -6.22891296,  2.65656885, -6.22891296, 13.00584132,
       14.61718512,  2.65656885, 14.61718512, 41.04498063,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006408132472444927
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.66260981e-14,  1.29939147e-13,  1.00000000e+00, -1.12561213e-26,
        1.00000000e+00, -1.29939147e-13, -1.00000000e+00,  0.00000000e+00,
        8.66260981e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08030943, -0.0326027 ,  0.06198168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12277789e-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,
  3.83854678e-06, 5.77493961e-07,-4.90500854e+00,-1.84293805e-03,
  4.33781166e-05,-2.21570541e-03]


--- 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,
  9.36707095e-02,-7.04585064e-02, 1.30609127e-01, 4.88779958e-01,
  4.78463628e-01, 5.10318543e-01, 5.21288494e-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,
  1.24671095e+00,-3.36216890e+00,-1.31964124e+00, 1.57703200e+01,
 -4.95048359e+00, 5.04163822e+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([ 6.72794453, -6.34409013,  2.24003529, -6.34409013, 12.48785663,
       16.3128687 ,  2.24003529, 16.3128687 , 52.92824767,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006355110511665485
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.73488370e-14,  8.73488370e-14,  1.00000000e+00, -7.62981933e-27,
        1.00000000e+00, -8.73488370e-14, -1.00000000e+00,  0.00000000e+00,
        8.73488370e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08030659, -0.03260102,  0.06198183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.37752202e-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,
  5.75894790e-06, 9.47266977e-06,-4.90502854e+00,-1.84453890e-03,
  4.46698310e-05,-2.21787097e-03]


--- 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,
  9.36754763e-02,-7.04925261e-02, 1.30600135e-01, 4.88629015e-01,
  4.78584983e-01, 5.10219619e-01, 5.21415420e-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,  0.05457586,  2.26587786,  1.78042442,  4.44520559,
   0.4607038 ,-33.01873372]

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: -0.0006553917517176655
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.46991911e-14, -8.46991911e-14,  1.00000000e+00,  7.17395297e-27,
        1.00000000e+00,  8.46991911e-14, -1.00000000e+00,  0.00000000e+00,
        8.46991911e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09277499, -0.0885272 ,  0.06198126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.16848065e-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,
  4.40619436e-06, 2.36016574e-05,-4.90506299e+00,-1.84560841e-03,
  4.80525820e-05,-2.22144385e-03]


--- 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,
  9.36804712e-02,-7.05178003e-02, 1.30596706e-01, 4.88506757e-01,
  4.78677288e-01, 5.10155927e-01, 5.21507557e-01]

qacc:
[ -3.08574545, -0.86889748,  5.8955266 ,-17.00073183,  2.2723277 ,
   1.85825447,-10.17847209, 23.14470902,  5.7062362 , -0.53951803,
   0.64498973,  2.74060116, -1.11048699,  1.94577497, -8.06494416,
  28.20345975,  0.05701312,  2.18637141,  1.39109886,  4.09931205,
   0.53877993,-31.81933364]

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: -0.0006733640593527962
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.06096355e-14, -1.64877084e-13,  1.00000000e+00,  3.39805660e-27,
        1.00000000e+00,  1.64877084e-13, -1.00000000e+00,  0.00000000e+00,
        2.06096355e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09277674, -0.08852248,  0.06198075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.02601921e-06, 1.55784818e-05,-4.90503929e+00,-1.84443565e-03,
  4.93730480e-05,-2.22450793e-03]


--- 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,
  9.36857015e-02,-7.05346029e-02, 1.30597489e-01, 4.88412338e-01,
  4.78741272e-01, 5.10126270e-01, 5.21566268e-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,  0.05887631,  2.11792397,  1.05271825,  3.8201762 ,
   0.59653394,-30.79371647]

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: -0.0006834188303565664
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09277808, -0.08851993,  0.06198047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.89492866e-06, 9.48414720e-06,-4.90502190e+00,-1.84348199e-03,
  5.00853284e-05,-2.22678070e-03]


--- 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,
  9.36911732e-02,-7.05431672e-02, 1.30601314e-01, 4.88345032e-01,
  4.78777566e-01, 5.10129632e-01, 5.21592686e-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,  0.06032719,  2.05954697,  0.76070509,  3.59556556,
   0.6387377 ,-29.92293893]

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: -0.0006869956075156031
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.04013873e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.04013873e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09277911, -0.08851912,  0.06198037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.46765445e-07, 5.14198103e-06,-4.90501015e+00,-1.84270493e-03,
  5.02518649e-05,-2.22828430e-03]


--- 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,
  9.36968908e-02,-7.05436908e-02, 1.30607180e-01, 4.88304220e-01,
  4.78786717e-01, 5.10165158e-01, 5.21587749e-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,  0.06148648,  2.01018847,  0.51010121,  3.41550155,
   0.66904193,-29.18875451]

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: -0.0006853333113103072
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.09987641e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.09987641e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09277989, -0.08851973,  0.06198041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.33397327e-07, 2.40652354e-06,-4.90500353e+00,-1.84207302e-03,
  4.99196766e-05,-2.22903809e-03]


--- 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,
  9.37028582e-02,-7.05363390e-02, 1.30614229e-01, 4.88289377e-01,
  4.78769185e-01, 5.10232130e-01, 5.21552227e-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,  0.06244438,  1.96882087,  0.29600471,  3.271872  ,
   0.69024427,-28.57437169]

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: -0.000679491818329242
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.16950988e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.16950988e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09278047, -0.08852145,  0.06198058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -5.80131252e-07, 1.15910511e-06,-4.90500163e+00,-1.84156304e-03,
  4.91239885e-05,-2.22905867e-03]


--- 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,
  9.37090786e-02,-7.05212494e-02, 1.30621734e-01, 4.88300060e-01,
  4.78725358e-01, 5.10329953e-01, 5.21486743e-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,  0.06326826,  1.93448687,  0.11380586,  3.15809752,
   0.70449083,-28.06476501]

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: -0.0006703731128477608
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.14031755e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.14031755e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09278089, -0.08852406,  0.06198084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.21914533e-06, 1.30354557e-06,-4.90500411e+00,-1.84115778e-03,
  4.78909868e-05,-2.22836014e-03]


--- 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,
  9.37155551e-02,-7.04985345e-02, 1.30629077e-01, 4.88335899e-01,
  4.78655554e-01, 5.10458131e-01, 5.21391797e-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,
  6.40083157e-02, 1.90631993e+00,-4.07015878e-02, 3.06884948e+00,
  7.13428495e-01,-2.76467269e+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: -0.0006587410641537561
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.42685453e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.42685453e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09278119, -0.08852734,  0.06198117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.80192825e-06, 2.76227419e-06,-4.90501075e+00,-1.84084453e-03,
  4.62399020e-05,-2.22695428e-03]


--- 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,
  9.37222904e-02,-7.04682853e-02, 1.30635734e-01, 4.88396590e-01,
  4.78560032e-01, 5.10616260e-01, 5.21267783e-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,
  6.47018139e-02, 1.88354992e+00,-1.71283380e-01, 2.99981510e+00,
  7.18320395e-01,-2.73087788e+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: -0.0006452393957787489
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.30159345e-14, -8.60318691e-14,  1.00000000e+00, -3.70074125e-27,
        1.00000000e+00,  8.60318691e-14, -1.00000000e+00,  0.00000000e+00,
       -4.30159345e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09278139, -0.08853112,  0.06198156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -2.34161018e-06, 5.47296880e-06,-4.90502136e+00,-1.84061393e-03,
  4.41845828e-05,-2.22485079e-03]


--- 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,
  9.37292872e-02,-7.04305742e-02, 1.30641266e-01, 4.88481883e-01,
  4.78438990e-01, 5.10804013e-01, 5.21115000e-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,
  6.53762690e-02, 1.86550032e+00,-2.81270243e-01, 2.94750370e+00,
  7.20133980e-01,-2.70410148e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006304077176419731
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.80559512e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.80559512e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09278152, -0.08853527,  0.06198198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.95301557e-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,
 -2.84754563e-06, 9.38571117e-06,-4.90503580e+00,-1.84045913e-03,
  4.17346824e-05,-2.22205749e-03]


--- 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,
  9.37365482e-02,-7.03854567e-02, 1.30645303e-01, 4.88591578e-01,
  4.78292579e-01, 5.11021128e-01, 5.20933666e-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,  0.06605181,  1.85158129, -0.37358569,  2.90908833,
   0.71960841,-26.83491988]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006146956640139117
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.51533616e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.51533616e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09278158, -0.08853967,  0.06198243])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.03184097e-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,
 -3.32631862e-06, 1.44606094e-05,-4.90505398e+00,-1.84037518e-03,
  3.88965565e-05,-2.21858050e-03]


--- 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,
  9.37375566e-02,-7.03552547e-02, 1.30648556e-01, 4.88674631e-01,
  4.78166383e-01, 5.11159032e-01, 5.20836308e-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, -1.56316058, -3.72885611, -0.19621222,-30.77904264,
   2.2735273 , 51.56248606]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006354315668251898
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74719526e-13,  8.73597632e-14,  1.00000000e+00, -1.52634565e-26,
        1.00000000e+00, -8.73597632e-14, -1.00000000e+00,  0.00000000e+00,
        1.74719526e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10782412, -0.03365349,  0.06198184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.80543395e-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,
 -3.78247634e-06, 2.06658217e-05,-4.90507586e+00,-1.84035855e-03,
  3.56739425e-05,-2.21442445e-03]


--- 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,
  9.37324906e-02,-7.03394852e-02, 1.30649811e-01, 4.88731410e-01,
  4.78059749e-01, 5.11220888e-01, 5.20820208e-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, -1.51858815, -3.60814511, -0.49933349,-29.511015  ,
   2.46671641, 49.87870349]

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([ 6.83806598, -2.72432896,  6.27193575, -2.72432896, 31.46935533,
       10.69904692,  6.27193575, 10.69904692, 11.4853909 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006488648916189305
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.71102342e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.71102342e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10781865, -0.03365974,  0.06198146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -5.80653740e-06, 1.08032019e-05,-4.90503425e+00,-1.84168106e-03,
  4.07001026e-05,-2.21205865e-03]


--- 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,
  9.37215036e-02,-7.03377350e-02, 1.30648018e-01, 4.88762264e-01,
  4.77972114e-01, 5.11209325e-01, 5.20883033e-01]

qacc:
[ 1.66313057e+00,-6.82185916e-01, 3.22395763e-02, 7.73930921e+00,
 -3.31451860e+00, 1.18589970e+00,-4.26518922e+00, 5.26164995e+00,
  3.10506132e+00,-3.58403908e-01,-5.83243996e-01, 6.50356443e+00,
 -4.80469305e-01, 8.23527565e-01,-6.23837910e-01, 2.00123260e+00,
 -1.48026877e+00,-3.50480930e+00,-7.62274102e-01,-2.84533352e+01,
  2.60349742e+00, 4.84429012e+01]

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([ 6.88959121, -3.14994648,  6.12734071, -3.14994648, 38.20297323,
       16.09759962,  6.12734071, 16.09759962, 15.16505356,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000655147966992467
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.47307082e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.47307082e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10781527, -0.03366235,  0.06198128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -5.70669485e-06, 3.22261446e-06,-4.90501142e+00,-1.84298043e-03,
  4.28762058e-05,-2.21127287e-03]


--- 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,
  9.37047260e-02,-7.03496525e-02, 1.30642266e-01, 4.88767511e-01,
  4.77902990e-01, 5.11126512e-01, 5.21022784e-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, -1.44762916, -3.41692181, -0.98947017,-27.57584341,
   2.69651126, 47.22720172]

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([ 6.89344199, -3.59111096,  5.88417068, -3.59111096, 44.57234862,
       22.99544691,  5.88417068, 22.99544691, 20.92756947,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006556185656456243
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.46698891e-14,  8.46698891e-14,  1.00000000e+00, -7.16899012e-27,
        1.00000000e+00, -8.46698891e-14, -1.00000000e+00,  0.00000000e+00,
        8.46698891e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10781356, -0.033662  ,  0.06198127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.33522707e-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,
 -3.58085251e-06,-2.33113316e-06,-4.90500549e+00,-1.84431326e-03,
  4.25427217e-05,-2.21202705e-03]


--- 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,
  9.36822682e-02,-7.03749403e-02, 1.30631773e-01, 4.88747434e-01,
  4.77851953e-01, 5.10974222e-01, 5.21237759e-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, -1.42006646, -3.34259942, -1.18534281,-26.8523147 ,
   2.75538641, 46.20533709]

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([ 6.85902062, -4.02101705,  5.55676036, -4.02101705, 49.61787074,
       30.94142165,  5.55676036, 30.94142165, 29.24904212,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006514171361891863
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.52159824e-14, -1.06519978e-13,  1.00000000e+00,  9.07720458e-27,
        1.00000000e+00,  1.06519978e-13, -1.00000000e+00,  0.00000000e+00,
        8.52159824e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10781319, -0.03365929,  0.06198139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.45316251e-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,
  4.89779347e-07,-6.04153706e-06,-4.90501500e+00,-1.84571276e-03,
  3.99596950e-05,-2.21428371e-03]


--- 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,
  9.36649639e-02,-7.04140293e-02, 1.30617281e-01, 4.88660828e-01,
  4.77877269e-01, 5.10783328e-01, 5.21482792e-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 ,  1.28839154, -3.45027003, -0.99985743, 16.81382253,
  -5.1534488 , 53.41439519]

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([ 6.87024315,  6.86403751,  0.2919416 ,  6.86403751,  6.93718963,
       -1.5740244 ,  0.2919416 , -1.5740244 , 43.87820094,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006527856871352128
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.50373290e-14,  8.50373290e-14,  1.00000000e+00,  7.23134732e-27,
        1.00000000e+00, -8.50373290e-14, -1.00000000e+00,  0.00000000e+00,
       -8.50373290e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08026727, -0.03263337,  0.06198134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.75007464e-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,
  6.44182869e-06,-8.03375563e-06,-4.90503885e+00,-1.84719652e-03,
  3.53232839e-05,-2.21800882e-03]


--- 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,
  9.36526890e-02,-7.04666610e-02, 1.30597992e-01, 4.88509277e-01,
  4.77976749e-01, 5.10555126e-01, 5.21757009e-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,  1.25735494, -3.38568797, -1.19910492, 16.45683196,
  -4.89362146, 51.9196846 ]

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([ 6.84895779e+00, -6.84889418e+00,  2.95187268e-02, -6.84889418e+00,
        6.84960300e+00,  1.49700435e-01,  2.95187268e-02,  1.49700435e-01,
        4.15822457e+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: -0.0006501910021737695
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.70753366e-13,  4.26883416e-14,  1.00000000e+00, -7.28917804e-27,
        1.00000000e+00, -4.26883416e-14, -1.00000000e+00,  0.00000000e+00,
        1.70753366e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08026592, -0.03263454,  0.06198141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.49006366e-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,
  1.46380243e-05, 2.66916826e-06,-4.90506038e+00,-1.84813785e-03,
  3.36988930e-05,-2.22032496e-03]


--- 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,
  9.36404772e-02,-7.05099488e-02, 1.30587083e-01, 4.88387186e-01,
  4.78048326e-01, 5.10364930e-01, 5.21991755e-01]

qacc:
[ 3.25330788e+00,-1.18160144e-01, 1.32488892e+00,-4.77559999e+00,
  2.18926340e+00, 3.82058068e+00,-1.92280661e+01, 4.30028203e+01,
 -5.49802026e+00, 2.35100840e-01,-3.27733258e+00, 1.17342909e+01,
 -1.73945250e-01, 2.07999382e-01,-5.32204252e+00, 1.79919083e+01,
  1.57481795e-02, 2.33596389e+00, 2.09495967e+00, 6.13526770e+00,
 -3.91300955e-01,-3.35321315e+01]

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: -0.0006671839831943471
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.24016230e-14, -2.49606492e-13,  1.00000000e+00,  1.55758502e-26,
        1.00000000e+00,  2.49606492e-13, -1.00000000e+00,  0.00000000e+00,
        6.24016230e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09281426, -0.08853247,  0.06198093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.90628022e-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,
  1.92088359e-05, 1.88685760e-05,-4.90509713e+00,-1.84850861e-03,
  3.44148227e-05,-2.22411195e-03]


--- 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,
  9.36283558e-02,-7.05442611e-02, 1.30582803e-01, 4.88293684e-01,
  4.78092314e-01, 5.10211049e-01, 5.22189336e-01]

qacc:
[ 1.98144577e+00,-1.49765026e+00, 5.33738110e+00,-8.04684308e+00,
 -4.71817332e+00, 4.65376481e+00,-1.93474850e+01, 3.45087786e+01,
  2.77581648e+00, 6.22297916e-01,-6.49785966e+00, 1.90863575e+01,
 -6.30845535e-01, 1.06187958e+00, 3.21399773e+00,-1.08144525e+01,
  2.26287600e-02, 2.24388540e+00, 1.65706819e+00, 5.39127983e+00,
 -1.09927693e-01,-3.22576286e+01]

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([ 7.16803603,  1.43423118, -7.0230849 ,  1.43423118, 38.00404021,
        6.29722682, -7.0230849 ,  6.29722682,  8.45403487,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006896545046581604
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09281849, -0.08852701,  0.06198029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.46518038e-05, 1.13101266e-05,-4.90506647e+00,-1.84434093e-03,
  3.96526206e-05,-2.22757751e-03]


--- 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,
  9.36163451e-02,-7.05699152e-02, 1.30583626e-01, 4.88227999e-01,
  4.78109043e-01, 5.10092046e-01, 5.22351670e-01]

qacc:
[-1.90912644e+00,-1.24608619e+00, 2.68465587e+00, 1.06299604e+00,
 -2.93568478e+00, 2.05585550e+00,-7.31815867e+00, 9.88106749e+00,
  1.78112165e+00, 1.00905435e+00,-3.69948824e+00, 3.93513563e+00,
 -4.94371520e-01, 8.19532094e-01, 5.14804759e+00,-1.77206861e+01,
  2.76578692e-02, 2.16454569e+00, 1.27606450e+00, 4.79362262e+00,
  1.10383460e-01,-3.11600148e+01]

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([ 7.27379304,  1.74024625, -7.0625497 ,  1.74024625, 49.70313675,
       10.45479456, -7.0625497 , 10.45479456,  9.84990475,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007030923137633788
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.89528632e-14,  7.89528632e-14,  1.00000000e+00, -6.23355460e-27,
        1.00000000e+00, -7.89528632e-14, -1.00000000e+00,  0.00000000e+00,
        7.89528632e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0928218 , -0.08852392,  0.06197991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.07259551e-05, 5.52951531e-06,-4.90504273e+00,-1.84065830e-03,
  4.39805602e-05,-2.23030369e-03]


--- 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,
  9.36071395e-02,-7.05869611e-02, 1.30588125e-01, 4.88178254e-01,
  4.78107977e-01, 5.10018045e-01, 5.22471385e-01]

qacc:
[  1.7715406 , -0.54671141,  2.42080552, -5.61036914, -1.6784012 ,
  -0.92757081,  4.42679741, -9.60771808,  4.07283035,  0.42432017,
  -0.74833117, -0.6229875 , -0.18641215,  0.47636072,-17.41944917,
  59.11931641,  0.70127905,  2.15205007,  0.91869534, 14.46836544,
   1.37953618,-29.86308279]

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([ 7.32753422,  5.27910769, -5.0817103 ,  5.27910769, 32.93411872,
       26.60126398, -5.0817103 , 26.60126398, 34.96211567,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007100128923290677
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.17274951e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.17274951e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08738417, -0.08893739,  0.06197971])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.26150820e-06, 1.40066928e-06,-4.90502512e+00,-1.83734274e-03,
  4.75364926e-05,-2.23229761e-03]


--- 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,
  9.36006787e-02,-7.05956445e-02, 1.30595143e-01, 4.88144177e-01,
  4.78089130e-01, 5.09987749e-01, 5.22550037e-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,  0.68620562,  2.09064548,  0.62990671, 13.80360677,
   1.50128514,-29.0985563 ]

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([ 7.33468949,  1.20432645, -7.23514116,  1.20432645, 78.22827146,
       11.80060128, -7.23514116, 11.80060128,  9.29896025,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007109395059409773
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.90406995e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.90406995e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08738627, -0.08893794,  0.06197969])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.34191865e-06,-1.35564401e-07,-4.90501095e+00,-1.83473974e-03,
  5.09851408e-05,-2.23331154e-03]


--- 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,
  9.35969108e-02,-7.05961715e-02, 1.30603693e-01, 4.88125528e-01,
  4.78052542e-01, 5.10000069e-01, 5.22588907e-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,  0.67320807,  2.0390709 ,  0.38309017, 13.26024396,
   1.59319651,-28.45125593]

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: -0.0007068219002557552
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0873875 , -0.08893974,  0.0619798 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.77933336e-06,-6.49600827e-07,-4.90500275e+00,-1.83244630e-03,
  5.30975685e-05,-2.23361093e-03]


--- 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,
  9.35957914e-02,-7.05887142e-02, 1.30612935e-01, 4.88122094e-01,
  4.77998261e-01, 5.10054089e-01, 5.22589045e-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,  0.66213488,  1.99609475,  0.17298047, 12.81762946,
   1.66212488,-27.90783809]

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: -0.0006987142921515838
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  3.9723784e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -3.9723784e-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([ 0.08738805, -0.08894251,  0.06198004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.94905229e-07,-1.75611305e-07,-4.90500003e+00,-1.83041677e-03,
  5.39833051e-05,-2.23320003e-03]


--- 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,
  9.35972833e-02,-7.05734144e-02, 1.30622156e-01, 4.88133693e-01,
  4.77926339e-01, 5.10149045e-01, 5.22551302e-01]

qacc:
[-1.04791898e+00, 1.39687618e+00,-8.79970028e+00, 2.37778142e+01,
  2.24612048e+00,-9.25994511e-01, 4.21730871e+00,-9.23720113e+00,
  1.28129751e+00,-1.90970687e+00, 1.04540426e+01,-2.70447169e+01,
 -4.69894567e-01, 6.44552125e-01, 1.48196681e+01,-5.08018511e+01,
  6.52820918e-01, 1.96060628e+00,-5.26730419e-03, 1.24587769e+01,
  1.71334235e+00,-2.74561370e+01]

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: -0.0006875102048347487
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.07422942e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.07422942e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08738806, -0.08894605,  0.06198036])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -2.53269627e-06, 1.25361998e-06,-4.90500242e+00,-1.82861735e-03,
  5.37262401e-05,-2.23208380e-03]


--- 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,
  9.36013556e-02,-7.05503882e-02, 1.30630754e-01, 4.88160169e-01,
  4.77836822e-01, 5.10284306e-01, 5.22476361e-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,  0.64510124,  1.93162346, -0.15600616, 12.16975369,
   1.75090327,-27.08530493]

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: -0.0006739634701821012
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.23652226e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.23652226e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08738767, -0.08895016,  0.06198074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.37345752e-06, 3.60777093e-06,-4.90500963e+00,-1.82702292e-03,
  5.23900522e-05,-2.23026724e-03]


--- 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,
  9.36079831e-02,-7.05197288e-02, 1.30638218e-01, 4.88201388e-01,
  4.77729745e-01, 5.10459355e-01, 5.22364760e-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,  0.63881857,  1.908289  , -0.28308874, 11.93915058,
   1.7779226 ,-26.78580173]

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: -0.0006587070140552237
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08738697, -0.08895469,  0.06198118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.97462490e-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,
 -6.04733817e-06, 6.85933485e-06,-4.90502144e+00,-1.82561470e-03,
  5.00224273e-05,-2.22775497e-03]


--- 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,
  9.36171460e-02,-7.04815099e-02, 1.30644124e-01, 4.88257241e-01,
  4.77605132e-01, 5.10673773e-01, 5.22216911e-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,  0.63382709,  1.88986046, -0.38989287, 11.75762871,
   1.79678892,-26.54930739]

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: -0.0006422694204544221
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.64296967e-14, -4.32148484e-14,  1.00000000e+00, -3.73504624e-27,
        1.00000000e+00,  4.32148484e-14, -1.00000000e+00,  0.00000000e+00,
       -8.64296967e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08738603, -0.08895951,  0.06198164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.20671588e-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,
 -7.57762662e-06, 1.09835590e-05,-4.90503772e+00,-1.82437861e-03,
  4.66583250e-05,-2.22455097e-03]


--- 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,
  9.36265011e-02,-7.04359258e-02, 1.30648598e-01, 4.88337890e-01,
  4.77454657e-01, 5.10917752e-01, 5.22040426e-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,
  4.80720068e-02, 1.84130817e+00,-3.57728193e-01, 2.79555404e+00,
  7.99980453e-01,-2.71285805e+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: -0.0006255017774173671
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.65599442e-14, -1.77493185e-13,  1.00000000e+00,  1.18139365e-26,
        1.00000000e+00,  1.77493185e-13, -1.00000000e+00,  0.00000000e+00,
        6.65599442e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09283142, -0.08854408,  0.06198212])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.95564791e-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,
 -8.98255357e-06, 1.59581531e-05,-4.90505834e+00,-1.82330408e-03,
  4.23225051e-05,-2.22065845e-03]


--- 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,
  9.36415531e-02,-7.04052317e-02, 1.30651392e-01, 4.88353805e-01,
  4.77383675e-01, 5.11117312e-01, 5.21895086e-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 ,  1.42419664, -3.72248226, -0.42007844, 15.31321221,
  -7.62325025, 55.41270915]

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([ 6.54437941,  1.7212226 , -6.31397613,  1.7212226 , 64.57445992,
       15.81930052, -6.31397613, 15.81930052, 10.85680267,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006134118481914003
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.80991454e-13,  4.52478636e-14,  1.00000000e+00, -8.18947663e-27,
        1.00000000e+00, -4.52478636e-14, -1.00000000e+00,  0.00000000e+00,
        1.80991454e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08020125, -0.03263367,  0.06198246])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.38811862e-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,
 -1.03691587e-05, 2.20313032e-05,-4.90508082e+00,-1.82249974e-03,
  3.86508542e-05,-2.21647241e-03]


--- 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,
  9.36621061e-02,-7.03889903e-02, 1.30651411e-01, 4.88305917e-01,
  4.77389646e-01, 5.11275034e-01, 5.21779931e-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,  1.37527776, -3.61319958, -0.69386168, 15.38739793,
  -6.78586712, 53.67215581]

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([ 6.63369679, -3.79088628,  5.44381431, -3.79088628, 22.31261871,
       10.91826549,  5.44381431, 10.91826549, 14.23680381,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006241452172752043
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.44697401e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.44697401e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08019764, -0.03264041,  0.06198216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -5.34482354e-06, 9.66789273e-06,-4.90504508e+00,-1.83013139e-03,
  3.84937643e-05,-2.21370081e-03]


--- 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,
  9.36879971e-02,-7.03868273e-02, 1.30647705e-01, 4.88195065e-01,
  4.77470401e-01, 5.11393022e-01, 5.21694136e-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,  1.33447528, -3.51958491, -0.93117312, 15.41674898,
  -6.10781474, 52.19687749]

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([ 6.67056386, -4.14498826,  5.22642273, -4.14498826, 26.17044352,
       15.46502769,  5.22642273, 15.46502769, 18.93561809,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006285854812005109
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.83112208e-14,  1.32466831e-13,  1.00000000e+00, -1.16983076e-26,
        1.00000000e+00, -1.32466831e-13, -1.00000000e+00,  0.00000000e+00,
        8.83112208e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08019401, -0.03264348,  0.06198203])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -4.65742958e-06, 3.72943349e-06,-4.90502763e+00,-1.83629956e-03,
  4.03972234e-05,-2.21241136e-03]


--- 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,
  9.37190907e-02,-7.03984239e-02, 1.30639454e-01, 4.88021981e-01,
  4.77624099e-01, 5.11472988e-01, 5.21636989e-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,  1.30066256, -3.43988801, -1.13622633, 15.4188509 ,
  -5.55631058, 50.95484419]

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([ 6.66502647, -4.52007003,  4.89811645, -4.52007003, 29.55563212,
       21.12386297,  4.89811645, 21.12386297, 26.1585075 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006279181239095405
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.76810158e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.76810158e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08019033, -0.03264361,  0.06198205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.06799095e-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,
 -7.79887503e-06, 3.70333281e-06,-4.90502688e+00,-1.84139086e-03,
  4.42963950e-05,-2.21254391e-03]


--- 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,
  9.37442930e-02,-7.04241239e-02, 1.30628235e-01, 4.87823448e-01,
  4.77796854e-01, 5.11478702e-01, 5.21658879e-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, -1.47283168, -3.52586366, -0.74192679,-28.85111217,
   2.2948953 , 48.52892515]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006311979124272588
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10774318, -0.03362102,  0.06198196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.93148420e-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,
 -1.43946089e-05, 9.20291800e-06,-4.90504160e+00,-1.84568943e-03,
  5.01341039e-05,-2.21404918e-03]


--- 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,
  9.37637460e-02,-7.04635808e-02, 1.30613134e-01, 4.87599489e-01,
  4.77988198e-01, 5.11412490e-01, 5.21757880e-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, -1.43731982, -3.43923134, -0.97051922,-27.87277469,
   2.53180101, 47.37696544]

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([ 6.71304792, -2.44184413,  6.25319195, -2.44184413, 45.77022122,
       15.2516555 ,  6.25319195, 15.2516555 , 12.66875275,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006337112226270231
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.75969199e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.75969199e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10774048, -0.03362155,  0.06198188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.27442709e-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,
 -1.08895647e-05, 1.80784074e-05,-4.90504495e+00,-1.84998378e-03,
  5.32345909e-05,-2.21658560e-03]


--- 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,
  9.37834246e-02,-7.04940465e-02, 1.30604673e-01, 4.87404580e-01,
  4.78150494e-01, 5.11382469e-01, 5.21820708e-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,  0.05641728,  2.24779201,  1.65998812,  4.66659253,
   0.3277442 ,-32.47423904]

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: -0.0006502280983242958
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.53718124e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.53718124e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09283497, -0.08853635,  0.06198141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.22903285e-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,
 -5.53426366e-06, 2.86085845e-05,-4.90506387e+00,-1.85437371e-03,
  5.39860298e-05,-2.22060079e-03]


--- 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,
  9.38033478e-02,-7.05158272e-02, 1.30601368e-01, 4.87237831e-01,
  4.78284472e-01, 5.11387332e-01, 5.21848883e-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,  0.06113162,  2.17126556,  1.28878095,  4.32855684,
   0.40483098,-31.37352401]

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: -0.0006664507092737221
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.66587417e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.66587417e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09283686, -0.08853237,  0.06198095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -5.77327314e-06, 2.00444584e-05,-4.90504372e+00,-1.85443479e-03,
  5.27719239e-05,-2.22347386e-03]


--- 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,
  9.38235314e-02,-7.05291858e-02, 1.30601927e-01, 4.87098472e-01,
  4.78390783e-01, 5.11425968e-01, 5.21843671e-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,  0.06509853,  2.10553803,  0.96632864,  4.05904812,
   0.45954682,-30.4306738 ]

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: -0.0006751922957212858
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.11076604e-14,  8.22153209e-14,  1.00000000e+00, -3.37967949e-27,
        1.00000000e+00, -8.22153209e-14, -1.00000000e+00,  0.00000000e+00,
        4.11076604e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09283833, -0.08853037,  0.0619807 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.77462706e-06, 1.33632349e-05,-4.90502950e+00,-1.85473648e-03,
  5.10095029e-05,-2.22556087e-03]


--- 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,
  9.38439891e-02,-7.05343459e-02, 1.30605239e-01, 4.86985833e-01,
  4.78470002e-01, 5.11497437e-01, 5.21806121e-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,  0.06851408,  2.04959944,  0.68812483,  3.84560161,
   0.49694673,-29.62915696]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006778208371067684
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09283945, -0.08852998,  0.06198063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -5.60276450e-06, 8.39894472e-06,-4.90502064e+00,-1.85523700e-03,
  4.87489632e-05,-2.22688358e-03]


--- 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,
  9.38647328e-02,-7.05314964e-02, 1.30610349e-01, 4.86899346e-01,
  4.78522628e-01, 5.11600944e-01, 5.21737095e-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,  0.07152827,  2.00240328,  0.44937736,  3.67806753,
   0.52091792,-28.95290679]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006755132974049921
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.21762524e-14, -1.64352505e-13,  1.00000000e+00, -1.35058729e-26,
        1.00000000e+00,  1.64352505e-13, -1.00000000e+00,  0.00000000e+00,
       -8.21762524e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09284029, -0.08853089,  0.06198069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.30355681e-06, 5.01347029e-06,-4.90501668e+00,-1.85590600e-03,
  4.60264000e-05,-2.22746098e-03]


--- 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,
  9.38808620e-02,-7.05203806e-02, 1.30616246e-01, 4.86861844e-01,
  4.78530504e-01, 5.11717109e-01, 5.21650940e-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, -1.15363814,  2.06657863,  0.1968635 ,-14.93134943,
  -1.8728141 ,-31.42461306]

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: -0.000671063017660678
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.27212196e-14,  8.27212196e-14,  1.00000000e+00, -6.84280017e-27,
        1.00000000e+00, -8.27212196e-14, -1.00000000e+00,  0.00000000e+00,
        8.27212196e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10355161, -0.08972414,  0.06198082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.03771109e-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,
 -4.90933430e-06, 3.09288074e-06,-4.90501727e+00,-1.85672161e-03,
  4.28672862e-05,-2.22730939e-03]


--- 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,
  9.38924779e-02,-7.05011465e-02, 1.30622152e-01, 4.86872315e-01,
  4.78494475e-01, 5.11845632e-01, 5.21548114e-01]

qacc:
[ 9.21946658e-01,-1.14009401e+00, 3.79374350e+00,-5.95651852e+00,
  6.88590072e+00, 6.56407059e-01,-1.09805410e+00,-2.81971175e+00,
  2.79144304e+00,-1.30887198e-01,-5.12501812e-01, 3.15429483e+00,
 -4.22233343e-01, 7.16607167e-01,-8.84584923e+00, 2.99347711e+01,
 -1.12833547e+00, 2.02958021e+00, 2.30139371e-03,-1.46774850e+01,
 -1.80366940e+00,-3.07606964e+01]

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: -0.0006643188426083413
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10355322, -0.08972574,  0.06198101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -2.59965638e-06, 1.89751038e-06,-4.90501526e+00,-1.85730224e-03,
  3.99639215e-05,-2.22695321e-03]


--- 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,
  9.38996649e-02,-7.04739165e-02, 1.30627405e-01, 4.86929917e-01,
  4.78415241e-01, 5.11986264e-01, 5.21428977e-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, -1.1072022 ,  1.99898294, -0.16337456,-14.46111143,
  -1.74976361,-30.21603733]

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: -0.0006546048441328362
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.48010089e-14,  4.24005045e-14,  1.00000000e+00, -3.59560556e-27,
        1.00000000e+00, -4.24005045e-14, -1.00000000e+00,  0.00000000e+00,
        8.48010089e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10355515, -0.0897283 ,  0.06198129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.08266977e-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,
 -1.29065467e-06, 3.28935286e-06,-4.90501932e+00,-1.85790171e-03,
  3.80103814e-05,-2.22568267e-03]


--- 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,
  9.39024932e-02,-7.04387904e-02, 1.30631442e-01, 4.87033954e-01,
  4.78293368e-01, 5.12138803e-01, 5.21293801e-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, -1.08969054,  1.97402273, -0.30404516,-14.27876098,
  -1.70795579,-29.77452896]

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: -0.0006426299170770727
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.63812122e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.63812122e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10355732, -0.08973159,  0.06198163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.19508106e-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,
 -9.37379467e-07, 7.11694385e-06,-4.90502914e+00,-1.85849654e-03,
  3.69500459e-05,-2.22352113e-03]


--- 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,
  9.38992476e-02,-7.04182957e-02, 1.30633926e-01, 4.87109324e-01,
  4.78191610e-01, 5.12215632e-01, 5.21241246e-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, -1.51848619, -3.65785393, -0.38800411,-29.13645926,
   3.41987279, 50.84838763]

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: -0.0006564850889894946
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.45581296e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.45581296e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10771313, -0.0336277 ,  0.06198124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.50161461e-06, 1.32624857e-05,-4.90504448e+00,-1.85907001e-03,
  3.67393022e-05,-2.22048689e-03]


--- 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,
  9.38900988e-02,-7.04119928e-02, 1.30633737e-01, 4.87156759e-01,
  4.78109340e-01, 5.12219334e-01, 5.21268745e-01]

qacc:
[ 3.80903105e+00, 3.65089038e-01, 2.80541133e-02,-2.59461815e+00,
  8.90956542e-01, 9.00542645e-01,-2.58571537e+00, 2.08271919e+00,
  3.13871186e+00,-9.70925613e-02,-7.71649473e-01, 2.68555899e+00,
 -2.25468033e-01, 1.23057171e-01, 3.54839180e-01,-1.73040485e+00,
 -1.47578192e+00,-3.54797552e+00,-6.68465248e-01,-2.81349139e+01,
  3.40515183e+00, 4.92532840e+01]

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([ 6.96606958, -5.02596923,  4.8234592 , -5.02596923, 28.40986017,
       22.3440952 ,  4.8234592 , 22.3440952 , 30.24826814,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006645239513509565
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10771049, -0.03363165,  0.06198101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -3.61636203e-06, 5.52929582e-06,-4.90501630e+00,-1.85884208e-03,
  3.97149474e-05,-2.21876172e-03]


--- 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,
  9.38751920e-02,-7.04195075e-02, 1.30629905e-01, 4.87176886e-01,
  4.78046020e-01, 5.12152056e-01, 5.21374104e-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, -1.43950407, -3.4543728 , -0.91073801,-27.29718361,
   3.37846742, 47.90408542]

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([ 6.98033306, -5.27603232,  4.57039741, -5.27603232, 31.4908818 ,
       28.29479272,  4.57039741, 28.29479272, 39.64362848,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006662799958890436
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.33150501e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.33150501e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10770937, -0.03363231,  0.06198096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -3.39693324e-06,-8.23040378e-08,-4.90500547e+00,-1.85894495e-03,
  4.01434699e-05,-2.21867497e-03]


--- 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,
  9.38546495e-02,-7.04405226e-02, 1.30621595e-01, 4.87170234e-01,
  4.78001185e-01, 5.12015560e-01, 5.21555459e-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, -1.4089284 , -3.37510359, -1.11946855,-26.60118588,
   3.34291924, 46.7704601 ]

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: -0.0006629735813657722
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  8.3730563e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -8.3730563e-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([ 0.10770946, -0.03363032,  0.06198106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.83081547e-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,
 -1.00876225e-06,-3.77857959e-06,-4.90501043e+00,-1.85934228e-03,
  3.82937883e-05,-2.22016670e-03]


--- 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,
  9.38285735e-02,-7.04747710e-02, 1.30608088e-01, 4.87137244e-01,
  4.77974435e-01, 5.11811280e-01, 5.21811229e-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 , -1.38336132, -3.30833617, -1.29908636,-26.0275046 ,
   3.30066184, 45.82494736]

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: -0.0006556404940218086
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.23335286e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.23335286e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10771053, -0.03362624,  0.06198126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
  3.42274160e-06,-5.70348789e-06,-4.90502999e+00,-1.86000107e-03,
  3.43704089e-05,-2.22318641e-03]


--- 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,
  9.38025795e-02,-7.05000399e-02, 1.30600840e-01, 4.87131541e-01,
  4.77922827e-01, 5.11643270e-01, 5.22028540e-01]

qacc:
[ 4.70714430e-01,-8.01793608e-01, 2.51384438e+00,-3.04595811e+00,
  2.55246035e+00,-2.60508281e+00, 1.03200172e+01,-1.70896772e+01,
 -3.09858802e+00,-1.69209375e+00, 5.35811178e+00,-6.67382705e+00,
  2.89779858e-01,-6.40990082e-01,-3.38990893e+00, 1.17266861e+01,
  2.04850359e-02, 2.24489774e+00, 1.56455954e+00, 6.72912586e+00,
 -8.54265418e-01,-3.15157494e+01]

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([  6.89440188,   1.51958365,   6.72485263,   1.51958365,
        63.08199368, -12.69644863,   6.72485263, -12.69644863,
         9.76335929,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006557358956102571
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.46547392e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.46547392e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09286199, -0.08854236,  0.06198125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
  9.80596442e-06,-5.94962944e-06,-4.90506322e+00,-1.86089167e-03,
  2.85264366e-05,-2.22769177e-03]


--- 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,
  9.37766955e-02,-7.05166373e-02, 1.30598411e-01, 4.87152637e-01,
  4.77846114e-01, 5.11510152e-01, 5.22209502e-01]

qacc:
[-2.92090811e+00, 2.66629736e+00,-1.43968091e+01, 3.31763714e+01,
 -1.62759760e+00, 1.04639363e+00,-5.09927521e+00, 1.23761699e+01,
 -4.86255889e+00,-1.08911657e+00, 5.33087625e+00,-1.27622064e+01,
  4.71564584e-01,-1.05847784e+00,-7.45260906e+00, 2.55104848e+01,
  2.74908672e-02, 2.16786095e+00, 1.20473575e+00, 5.88753756e+00,
 -4.90687597e-01,-3.06084432e+01]

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([ 7.0090224 ,  0.20592912, -7.00599658,  0.20592912, 41.87306519,
        1.02476809, -7.00599658,  1.02476809,  7.03914368,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006698197630127523
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.28747587e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.28747587e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09286687, -0.08853978,  0.06198085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  4.63516945e-06,-7.75225465e-06,-4.90504448e+00,-1.85556056e-03,
  3.47725020e-05,-2.22913581e-03]


--- 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,
  9.37509408e-02,-7.05248261e-02, 1.30599553e-01, 4.87200084e-01,
  4.77744154e-01, 5.11410756e-01, 5.22355856e-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,
  3.23399397e-02, 2.10213734e+00, 8.92880516e-01, 5.21105044e+00,
 -2.02009712e-01,-2.98240441e+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([ 7.06532218,  0.497717  , -7.04776952,  0.497717  , 54.62806547,
        3.35890469, -7.04776952,  3.35890469,  7.30252971,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006767982326210953
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09287069, -0.08853889,  0.06198066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.82790027e-09,-8.26146338e-06,-4.90503166e+00,-1.85071821e-03,
  4.01271197e-05,-2.22992457e-03]


--- 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,
  9.37253282e-02,-7.05248289e-02, 1.30603192e-01, 4.87273479e-01,
  4.77616874e-01, 5.11344096e-01, 5.22469036e-01]

qacc:
[ 1.91180544e+00,-1.80518493e-01,-1.07404322e-01, 2.15325270e+00,
 -3.77450714e+00,-1.47128859e-01, 5.06448796e+00,-1.98280560e+01,
  3.24786054e+00,-7.58944559e-01, 4.73345828e+00,-1.10675584e+01,
 -4.91049215e-01, 8.04639938e-01, 1.21264741e-01,-8.41962250e-01,
  3.55257831e-02, 2.04653701e+00, 6.24296382e-01, 4.66631327e+00,
  2.81328963e-02,-2.91525815e+01]

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([ 7.07488494,  0.88659604, -7.01911279,  0.88659604, 70.99344283,
        8.07366145, -7.01911279,  8.07366145,  8.09468281,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006779880624877971
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22814444e-13,  1.63752592e-13,  1.00000000e+00,  2.01111835e-26,
        1.00000000e+00, -1.63752592e-13, -1.00000000e+00,  0.00000000e+00,
       -1.22814444e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09287367, -0.08853939,  0.06198062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -4.23953066e-06,-7.50164771e-06,-4.90502420e+00,-1.84624470e-03,
  4.47205195e-05,-2.23004706e-03]


--- 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,
  9.36998653e-02,-7.05168320e-02, 1.30608408e-01, 4.87372467e-01,
  4.77464241e-01, 5.11309343e-01, 5.22550220e-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,
  3.74294664e-02, 1.99989084e+00, 3.94133645e-01, 4.22671913e+00,
  2.12556738e-01,-2.85834023e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006745202261187466
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.22972375e-14,  8.22972375e-14,  1.00000000e+00,  6.77283530e-27,
        1.00000000e+00, -8.22972375e-14, -1.00000000e+00,  0.00000000e+00,
       -8.22972375e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09287599, -0.08854101,  0.06198072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.20184312e-06,-5.50291389e-06,-4.90502167e+00,-1.84205062e-03,
  4.86520353e-05,-2.22949790e-03]


--- 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,
  9.36745558e-02,-7.05009907e-02, 1.30614415e-01, 4.87496741e-01,
  4.77286239e-01, 5.11305805e-01, 5.22600370e-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,  0.03834559,  1.96110697,  0.19771492,  3.87106845,
   0.36129979,-28.10604866]

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: -0.0006673606264700066
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.15900707e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.15900707e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0928778 , -0.0885435 ,  0.06198093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.19655517e-05,-2.29609101e-06,-4.90502371e+00,-1.83806897e-03,
  5.19976036e-05,-2.22827506e-03]


--- 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,
  9.36494004e-02,-7.04774326e-02, 1.30620545e-01, 4.87646038e-01,
  4.77082862e-01, 5.11332903e-01, 5.22620270e-01]

qacc:
[ 3.27837763e-01,-2.09786654e+00, 7.81441878e+00,-1.15729356e+01,
 -2.00804781e+00,-1.43616045e-01,-5.75860047e-01, 4.86074152e+00,
 -3.49183208e-01, 1.42668015e+00,-7.73250360e+00, 1.86710411e+01,
 -7.86307038e-01, 1.16965758e+00, 9.38968222e+00,-3.20022495e+01,
  3.85020138e-02, 1.92919659e+00, 3.07032139e-02, 3.58248464e+00,
  4.82223815e-01,-2.77107224e+01]

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: -0.0006573299821615725
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.11123609e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.11123609e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0928792 , -0.08854668,  0.06198121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.79684065e-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,
 -1.55911462e-05, 2.08994556e-06,-4.90503007e+00,-1.83424913e-03,
  5.48154369e-05,-2.22637840e-03]


--- 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,
  9.36243972e-02,-7.04462614e-02, 1.30626231e-01, 4.87820137e-01,
  4.76854097e-01, 5.11390163e-01, 5.22610549e-01]

qacc:
[  0.12784202, -1.27939859,  4.66322214, -6.73244984, -1.29183129,
   0.53364305, -2.8625259 ,  6.53301265, -0.17857934,  1.12482923,
  -4.03776069,  5.07365841, -0.53963697,  0.7704203 ,  8.67906823,
 -30.11167647,  0.038075  ,  1.90328158, -0.11082597,  3.34753956,
   0.58148564,-27.38849636]

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: -0.0006451222054460609
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.60474973e-14, -8.60474973e-14,  1.00000000e+00,  7.40417179e-27,
        1.00000000e+00,  8.60474973e-14, -1.00000000e+00,  0.00000000e+00,
        8.60474973e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09288029, -0.08855037,  0.06198156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.91237795e-05, 7.62956336e-06,-4.90504053e+00,-1.83055253e-03,
  5.71502972e-05,-2.22380869e-03]


--- 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,
  9.36050209e-02,-7.04298987e-02, 1.30630148e-01, 4.87927262e-01,
  4.76705009e-01, 5.11404946e-01, 5.22632091e-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,
  1.40672268e+00,-3.70211472e+00,-4.42456587e-01, 1.63095907e+01,
 -6.60186593e+00, 5.56263243e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006383430743592544
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73922624e-13,  8.69613120e-14,  1.00000000e+00, -1.51245396e-26,
        1.00000000e+00, -8.69613120e-14, -1.00000000e+00,  0.00000000e+00,
        1.73922624e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08013457, -0.03268671,  0.06198175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.35833685e-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,
 -2.25974208e-05, 1.43008436e-05,-4.90505496e+00,-1.82694939e-03,
  5.90367092e-05,-2.22056703e-03]


--- 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,
  9.35910761e-02,-7.04279193e-02, 1.30631196e-01, 4.87968928e-01,
  4.76633000e-01, 5.11379361e-01, 5.22683898e-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,
  1.35787046e+00,-3.59584560e+00,-7.16893812e-01, 1.61191457e+01,
 -6.03859355e+00, 5.38204478e+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([ 6.8252198 , -5.34364011,  4.24607297, -5.34364011, 18.10418141,
       14.19445971,  4.24607297, 14.19445971, 24.68880453,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006473021718236549
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.14394272e-14,  4.28788545e-14,  1.00000000e+00,  9.19298080e-28,
        1.00000000e+00, -4.28788545e-14, -1.00000000e+00,  0.00000000e+00,
       -2.14394272e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08013265, -0.03269268,  0.0619815 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.81344849e-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,
 -1.04598330e-05, 3.34935903e-06,-4.90502131e+00,-1.82933400e-03,
  5.29089035e-05,-2.21813556e-03]


--- 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,
  9.35823976e-02,-7.04399602e-02, 1.30628428e-01, 4.87946443e-01,
  4.76635868e-01, 5.11315120e-01, 5.22765116e-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, 1.31658184,-3.50504571,
 -0.95424229,15.93409475,-5.58790812,52.29833323]

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([ 6.84753845, -5.65337677,  3.86369175, -5.65337677, 19.44001752,
       18.42539033,  3.86369175, 18.42539033, 33.80767927,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006500181333710942
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.40495415e-14,  4.26996943e-14,  1.00000000e+00, -2.73489585e-27,
        1.00000000e+00, -4.26996943e-14, -1.00000000e+00,  0.00000000e+00,
        6.40495415e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08013028, -0.03269498,  0.06198142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.14187572e-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,
 -2.61162416e-06,-1.25234161e-06,-4.90500568e+00,-1.83065178e-03,
  4.92295398e-05,-2.21727725e-03]


--- 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,
  9.35788465e-02,-7.04657129e-02, 1.30621025e-01, 4.87860921e-01,
  4.76711748e-01, 5.11213605e-01, 5.22875015e-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,  1.28183587, -3.42796766, -1.15892646, 15.76109307,
  -5.22717917, 51.02366455]

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([ 6.82841946, -5.9333066 ,  3.37982028, -5.9333066 , 19.54949716,
       22.33197273,  3.37982028, 22.33197273, 46.03240967,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006476912722308548
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.07132737e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.07132737e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08012755, -0.03269434,  0.06198149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  1.42323962e-06,-2.56632793e-08,-4.90500651e+00,-1.83115692e-03,
  4.78413727e-05,-2.21791775e-03]


--- 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,
  9.35782279e-02,-7.04827158e-02, 1.30617866e-01, 4.87792823e-01,
  4.76766097e-01, 5.11157465e-01, 5.22943876e-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 ,  0.73313465,  2.18742654,  1.06117371, 12.94683128,
   2.4621503 ,-30.88507137]

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: -0.0006449190181651993
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.60746073e-14,  4.30373037e-14,  1.00000000e+00,  3.70441901e-27,
        1.00000000e+00, -4.30373037e-14, -1.00000000e+00,  0.00000000e+00,
       -8.60746073e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08743749, -0.08898513,  0.06198156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.12990929e-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,
  2.00217929e-06, 6.63948793e-06,-4.90502256e+00,-1.83103274e-03,
  4.86151289e-05,-2.21999763e-03]


--- 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,
  9.35804581e-02,-7.04912138e-02, 1.30617770e-01, 4.87741633e-01,
  4.76799624e-01, 5.11145456e-01, 5.22972792e-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,  0.71221076,  2.12625351,  0.76589488, 12.63953785,
   2.36434653,-30.00476568]

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: -0.0006526577278063855
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.25270007e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.25270007e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08743764, -0.08898325,  0.06198134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.52604880e-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,
  1.05542337e-06, 3.40007735e-06,-4.90500960e+00,-1.83080835e-03,
  5.05012267e-05,-2.22144692e-03]


--- 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,
  9.35854666e-02,-7.04914150e-02, 1.30619718e-01, 4.87706909e-01,
  4.76812927e-01, 5.11176517e-01, 5.22962687e-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,  0.69457171,  2.07419453,  0.51079853, 12.37675722,
   2.28099803,-29.2583322 ]

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: -0.0006547640473503757
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  4.2390195e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -4.2390195e-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([ 0.08743741, -0.08898292,  0.06198128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  2.26552912e-07, 1.46595627e-06,-4.90500274e+00,-1.83066084e-03,
  5.11668303e-05,-2.22210056e-03]


--- 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,
  9.35931946e-02,-7.04834950e-02, 1.30622832e-01, 4.87688278e-01,
  4.76806501e-01, 5.11249746e-01, 5.22914334e-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,  0.67984904,  2.03029133,  0.29153938, 12.15471287,
   2.20966649,-28.63037285]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006523234507981174
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.2764638e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.2764638e-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([ 0.08743687, -0.08898382,  0.06198135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.33311056e-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,
 -4.86990666e-07, 7.29876263e-07,-4.90500150e+00,-1.83060755e-03,
  5.06833327e-05,-2.22198107e-03]


--- 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,
  9.36035933e-02,-7.04676006e-02, 1.30626361e-01, 4.87685424e-01,
  4.76780758e-01, 5.11364384e-01, 5.22828369e-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,  0.6676972 ,  1.99361985,  0.10386981, 11.96958272,
   2.14827488,-28.10675552]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006462647955413764
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.71790732e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.71790732e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08743608, -0.08898571,  0.06198153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.41816973e-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,
 -1.08892114e-06, 1.10458864e-06,-4.90500550e+00,-1.83066133e-03,
  4.91072155e-05,-2.22110708e-03]


--- 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,
  9.36166232e-02,-7.04438529e-02, 1.30629666e-01, 4.87698081e-01,
  4.76736031e-01, 5.11519797e-01, 5.22705305e-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,  0.65780208,  1.96332367, -0.05618889, 11.81771038,
   2.09506647,-27.67482349]

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: -0.000637378690325277
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.30639333e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.30639333e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08743511, -0.08898836,  0.06198178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.58355113e-06, 2.51896486e-06,-4.90501446e+00,-1.83083171e-03,
  4.64823880e-05,-2.21949385e-03]


--- 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,
  9.36350431e-02,-7.04343592e-02, 1.30629688e-01, 4.87646198e-01,
  4.76767190e-01, 5.11635574e-01, 5.22611971e-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, 1.34750411,-3.56352846,
 -0.82047661,15.92625263,-5.90439778,52.97342067]

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: -0.0006358206300934588
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.49225229e-13,  4.36531536e-14,  1.00000000e+00, -1.52447825e-26,
        1.00000000e+00, -4.36531536e-14, -1.00000000e+00,  0.00000000e+00,
        3.49225229e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08010621, -0.03269178,  0.06198182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.97545850e-06, 4.91471462e-06,-4.90502815e+00,-1.83112577e-03,
  4.28422036e-05,-2.21715379e-03]


--- 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,
  9.36587101e-02,-7.04387726e-02, 1.30625544e-01, 4.87530834e-01,
  4.76872230e-01, 5.11713371e-01, 5.22547595e-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, 1.31175673,-3.47675228,
 -1.04189611,15.81473994,-5.42333822,51.60242518]

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([ 6.74092291, -5.2104053 ,  4.27688185, -5.2104053 , 25.04003576,
       22.29329635,  4.27688185, 22.29329635, 33.90022107,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006370802760950756
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74267367e-13,  8.71336836e-14,  1.00000000e+00, -1.51845576e-26,
        1.00000000e+00, -8.71336836e-14, -1.00000000e+00,  0.00000000e+00,
        1.74267367e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08010355, -0.0326929 ,  0.06198179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.53403870e-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,
 -3.11546365e-06, 1.04971092e-06,-4.90501744e+00,-1.83526219e-03,
  4.47798991e-05,-2.21650548e-03]


--- 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,
  9.36875055e-02,-7.04567986e-02, 1.30616467e-01, 4.87352881e-01,
  4.77049453e-01, 5.11754537e-01, 5.22511514e-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,
  1.28211191e+00,-3.40316088e+00,-1.23283583e+00, 1.57087021e+01,
 -5.02863799e+00, 5.04530371e+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([ 6.71337342, -5.55131134,  3.77522518, -5.55131134, 25.23723937,
       27.23857314,  3.77522518, 27.23857314, 46.76656042,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000633750535310465
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.75914861e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.75914861e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08010061, -0.03269141,  0.06198188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.74368985e-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,
 -7.79140364e-06, 2.92246322e-06,-4.90502280e+00,-1.83862797e-03,
  4.87644065e-05,-2.21726696e-03]


--- 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,
  9.37166068e-02,-7.04662950e-02, 1.30611728e-01, 4.87203746e-01,
  4.77195736e-01, 5.11829235e-01, 5.22443847e-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,  0.07646836,  2.13240271,  1.08415059,  2.42941632,
   1.34635539,-31.1410392 ]

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: -0.0006430162921276517
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.72658615e-13,  8.63293075e-14,  1.00000000e+00, -1.49054987e-26,
        1.00000000e+00, -8.63293075e-14, -1.00000000e+00,  0.00000000e+00,
        1.72658615e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09287638, -0.08855171,  0.06198162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.66194425e-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,
 -1.57121219e-05, 1.01837506e-05,-4.90504312e+00,-1.84141483e-03,
  5.47185152e-05,-2.21939275e-03]


--- 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,
  9.37460099e-02,-7.04674888e-02, 1.30610172e-01, 4.87082541e-01,
  4.77312238e-01, 5.11936625e-01, 5.22345209e-01]

qacc:
[-1.38319317e+00,-1.42693658e+00, 6.26494060e+00,-1.09010094e+01,
 -3.07659483e+00, 2.36285738e+00,-7.85252652e+00, 7.15648956e+00,
 -4.33561695e+00, 4.53671868e-01,-1.41453495e+00,-6.05545456e-01,
  2.85323666e-02,-4.34569282e-01, 5.40622088e+00,-1.93222524e+01,
  7.54573709e-02, 2.07566795e+00, 7.95871861e-01, 2.54704360e+00,
  1.20581046e+00,-3.02611657e+01]

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: -0.0006499002455685743
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.54148796e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.54148796e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09287533, -0.08854994,  0.06198142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.29598564e-05, 4.93479697e-06,-4.90503521e+00,-1.84405941e-03,
  5.05268610e-05,-2.22046742e-03]


--- 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,
  9.37757137e-02,-7.04605728e-02, 1.30610803e-01, 4.86988512e-01,
  4.77399932e-01, 5.12075986e-01, 5.22216123e-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,  0.07517342,  2.02744286,  0.54680612,  2.64228143,
   1.08767703,-29.51795686]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006513661960975137
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.26113234e-14,  8.52226467e-14,  1.00000000e+00,  3.63144976e-27,
        1.00000000e+00, -8.52226467e-14, -1.00000000e+00,  0.00000000e+00,
       -4.26113234e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09287448, -0.08854966,  0.06198138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.04129532e-05, 1.38262384e-06,-4.90503254e+00,-1.84667964e-03,
  4.60342590e-05,-2.22078598e-03]


--- 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,
  9.38057195e-02,-7.04457093e-02, 1.30612765e-01, 4.86921024e-01,
  4.77459624e-01, 5.12246711e-01, 5.22057019e-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,  0.07549024,  1.98685241,  0.33270752,  2.72139522,
   0.98739749,-28.89522426]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006484639940110143
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.28020304e-14, -8.56040609e-14,  1.00000000e+00, -3.66402762e-27,
        1.00000000e+00,  8.56040609e-14, -1.00000000e+00,  0.00000000e+00,
       -4.28020304e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09287378, -0.08855056,  0.06198146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -8.01698092e-06,-6.19261833e-07,-4.90503468e+00,-1.84930504e-03,
  4.12231991e-05,-2.22036631e-03]


--- 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,
  9.38297272e-02,-7.04452771e-02, 1.30612639e-01, 4.86825510e-01,
  4.77539185e-01, 5.12342388e-01, 5.21979431e-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, -1.49953128, -3.60779901, -0.52199095,-28.94046192,
   3.18109282, 50.16657651]

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.,
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       0., 0.])
  dim: 3
  dist: -0.0006572138443914771
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.33482751e-14,  4.22321834e-14,  1.00000000e+00, -2.67533597e-27,
        1.00000000e+00, -4.22321834e-14, -1.00000000e+00,  0.00000000e+00,
        6.33482751e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10764384, -0.03361234,  0.06198121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.42970928e-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,
 -5.73045568e-06,-1.18862436e-06,-4.90504131e+00,-1.85195813e-03,
  3.60793124e-05,-2.21922346e-03]


--- 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,
  9.38479069e-02,-7.04588735e-02, 1.30609375e-01, 4.86702518e-01,
  4.77638034e-01, 5.12365521e-01, 5.21980977e-01]

qacc:
[-1.48070049e+00, 3.20305452e-01,-2.31394986e+00, 5.85565642e+00,
 -3.64381570e+00,-1.96131784e-01,-1.76224457e-02, 7.82451238e-01,
  5.40008549e-01, 5.13625541e-01, 8.88345850e-01,-1.10345536e+01,
  6.63744457e-02,-2.73537489e-01,-3.62490653e+00, 1.27945072e+01,
 -1.45697477e+00,-3.50717534e+00,-7.84354618e-01,-2.79485699e+01,
  3.24168662e+00, 4.86964799e+01]

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([ 6.95040747, -4.74372668,  5.07988397, -4.74372668, 31.41159083,
       22.84248394,  5.07988397, 22.84248394, 28.28130814,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006625985139063761
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1076416 , -0.03361498,  0.06198106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -6.11610554e-06, 1.80554829e-06,-4.90502040e+00,-1.85472545e-03,
  4.16657261e-05,-2.21886495e-03]


--- 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,
  9.38604044e-02,-7.04861569e-02, 1.30602068e-01, 4.86552502e-01,
  4.77755673e-01, 5.12318187e-01, 5.22059628e-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, -1.42055752, -3.42171728, -1.01086858,-27.11790435,
   3.2845728 , 47.45912551]

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([ 6.94750852, -4.97727283,  4.84712593, -4.97727283, 35.26190533,
       29.07464756,  4.84712593, 29.07464756, 36.80281981,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006622424423702866
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.19115023e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.19115023e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10764081, -0.03361459,  0.06198107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.31442856e-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,
 -4.30104945e-06, 6.59155299e-06,-4.90501632e+00,-1.85776842e-03,
  4.46843300e-05,-2.22011393e-03]


--- 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,
  9.38679456e-02,-7.05044063e-02, 1.30599089e-01, 4.86454027e-01,
  4.77827350e-01, 5.12285733e-01, 5.22117641e-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, -1.23909135,  2.25848442,  1.08206008,-14.32278013,
  -2.51475503,-33.80290598]

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([ 6.95061578,  0.16289997,  6.94870659,  0.16289997, 73.0413627 ,
       -1.54937911,  6.94870659, -1.54937911,  6.9869382 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000662624104160397
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.36300039e-07, -2.36300023e-07,  1.00000000e+00,  5.58377045e-14,
        1.00000000e+00,  2.36300023e-07, -1.00000000e+00,  6.31088724e-30,
        2.36300039e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10321641, -0.08967634,  0.06198106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -4.19882170e-07, 1.30341912e-05,-4.90502762e+00,-1.86107852e-03,
  4.54022302e-05,-2.22292298e-03]


--- 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,
  9.38705238e-02,-7.05138852e-02, 1.30599118e-01, 4.86406473e-01,
  4.77853393e-01, 5.12266851e-01, 5.22156635e-01]

qacc:
[  3.58743141, -0.83207111,  4.61311912,-11.07656849, -0.72018748,
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   3.87150116, -1.24074423,  2.19260176,  0.75183248,-14.85039597,
  -2.37312255,-32.85058196]

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.,
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  dim: 3
  dist: -0.0006714732495995412
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.26706816e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.26706816e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10359478, -0.08971506,  0.06198081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.21544510e-07, 5.64239934e-06,-4.90501158e+00,-1.85962478e-03,
  4.34970413e-05,-2.22503008e-03]


--- 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,
  9.38682870e-02,-7.05148259e-02, 1.30601052e-01, 4.86408591e-01,
  4.77834661e-01, 5.12261066e-01, 5.22177480e-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, -1.20374148,  2.13457061,  0.47640972,-14.6898518 ,
  -2.18348288,-31.97991878]

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.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006741741641328874
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.64678963e-13,  4.11697408e-14,  1.00000000e+00, -6.77979024e-27,
        1.00000000e+00, -4.11697408e-14, -1.00000000e+00,  0.00000000e+00,
        1.64678963e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1035964 , -0.08971441,  0.06198073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.53674730e-07, 1.28160934e-06,-4.90500260e+00,-1.85835850e-03,
  4.25325637e-05,-2.22616484e-03]


--- 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,
  9.38613586e-02,-7.05074242e-02, 1.30603946e-01, 4.86459315e-01,
  4.77771886e-01, 5.12267980e-01, 5.22180885e-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, -1.17288579,  2.08561155,  0.23996621,-14.54138091,
  -2.02911494,-31.2469769 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006719139280915859
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.26164616e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.26164616e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10359834, -0.08971519,  0.06198079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.11065677e-07,-2.05031443e-07,-4.90500028e+00,-1.85722294e-03,
  4.25244474e-05,-2.22634560e-03]


--- 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,
  9.38500042e-02,-7.04918489e-02, 1.30607051e-01, 4.86557023e-01,
  4.77666254e-01, 5.12287944e-01, 5.22166904e-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, -1.10651651,  2.04339075,  0.05257562,-13.78780801,
  -1.82326565,-30.5897663 ]

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: -0.000665702863640969
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.17225384e-08,  5.17225970e-08,  1.00000000e+00,  2.67522401e-15,
        1.00000000e+00, -5.17225970e-08, -1.00000000e+00,  3.94430453e-31,
       -5.17225384e-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([ 0.10322332, -0.08967601,  0.06198097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.76886183e-06, 9.74210978e-07,-4.90500420e+00,-1.85615711e-03,
  4.34212499e-05,-2.22560434e-03]


--- 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,
  9.38389018e-02,-7.04684561e-02, 1.30610826e-01, 4.86680201e-01,
  4.77534805e-01, 5.12339169e-01, 5.22122082e-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,  0.06299565,  1.95435807,  0.16775017,  3.6981846 ,
   0.45500336,-28.23209668]

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: -0.0006585957527270037
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.42871382e-14,  8.42871382e-14,  1.00000000e+00,  7.10432167e-27,
        1.00000000e+00, -8.42871382e-14, -1.00000000e+00,  0.00000000e+00,
       -8.42871382e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09288735, -0.08855204,  0.06198117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -4.24679031e-06, 4.61969388e-06,-4.90501387e+00,-1.85511996e-03,
  4.51334023e-05,-2.22397115e-03]


--- 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,
  9.38219141e-02,-7.04591393e-02, 1.30611582e-01, 4.86774485e-01,
  4.77422754e-01, 5.12318614e-01, 5.22156828e-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, -1.47132642, -3.51896998, -0.7549251 ,-27.50299822,
   3.86994977, 49.01288984]

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: -0.0006539157524232536
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.69780743e-13,  8.48903716e-14,  1.00000000e+00,  1.44127504e-26,
        1.00000000e+00, -8.48903716e-14, -1.00000000e+00,  0.00000000e+00,
       -1.69780743e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10764144, -0.03361012,  0.06198131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.16815391e-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,
 -5.26934324e-06, 9.03255447e-06,-4.90502422e+00,-1.85404979e-03,
  4.56887865e-05,-2.22166012e-03]


--- 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,
  9.37991817e-02,-7.04635456e-02, 1.30608403e-01, 4.86840730e-01,
  4.77329576e-01, 5.12228119e-01, 5.22269025e-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, -1.43617261, -3.43079969, -0.98361936,-26.81314034,
   3.72039507, 47.70115697]

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([ 6.88611282, -6.60823741,  1.93642663, -6.60823741, 12.1581541 ,
       17.99133515,  1.93642663, 17.99133515, 68.2832307 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006547230046443364
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.47857045e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.47857045e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10764148, -0.03361055,  0.06198128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -6.40451197e-06, 1.73089328e-06,-4.90501466e+00,-1.85222654e-03,
  4.51095775e-05,-2.22113995e-03]


--- 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,
  9.37730617e-02,-7.04717237e-02, 1.30608473e-01, 4.86904178e-01,
  4.77237046e-01, 5.12112967e-01, 5.22407344e-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, -0.84689281, -0.94292622,  0.81219513,-12.30335689,
   0.7797213 , 13.13976537]

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([ 6.85111027,  0.87857766,  6.7945429 ,  0.87857766, 73.68261492,
       -8.64173911,  6.7945429 , -8.64173911,  7.96854216,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006504531992190453
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.03288194e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.03288194e-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([ 0.1001125 , -0.06166012,  0.0619814 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -5.24410305e-06,-3.61036219e-06,-4.90502057e+00,-1.85083847e-03,
  4.23532126e-05,-2.22221051e-03]


--- 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,
  9.37470959e-02,-7.04717253e-02, 1.30610912e-01, 4.86993756e-01,
  4.77118854e-01, 5.12030613e-01, 5.22512518e-01]

qacc:
[ 6.47614416e+00, 3.36264043e-01, 1.88434248e+00,-1.15952687e+01,
  2.68703992e-01,-1.90899539e-01, 6.54170886e-01,-2.53886111e+00,
  4.23179826e-01,-8.78102951e-01, 4.36707713e+00,-8.93691862e+00,
 -6.56550536e-02,-2.62298365e-01, 1.31638376e+01,-4.60397964e+01,
  3.85515872e-02, 2.04409817e+00, 5.92065551e-01, 4.57111832e+00,
  8.76431058e-02,-2.92915149e+01]

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.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006524434569372128
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.25409671e-14,  8.50819341e-14,  1.00000000e+00,  3.61946776e-27,
        1.00000000e+00, -8.50819341e-14, -1.00000000e+00,  0.00000000e+00,
       -4.25409671e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09289558, -0.08855565,  0.06198135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.80240958e-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,
 -5.17001537e-06,-5.01185696e-06,-4.90502738e+00,-1.84863955e-03,
  4.18257723e-05,-2.22308691e-03]


--- 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,
  9.37212896e-02,-7.04637272e-02, 1.30614837e-01, 4.87109095e-01,
  4.76975016e-01, 5.11980242e-01, 5.22585683e-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,  0.03985954,  1.99994572,  0.37178422,  4.16055064,
   0.25700102,-28.72003974]

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: -0.0006502239315510083
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.53723595e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.53723595e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09289769, -0.08855676,  0.06198141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -8.30895512e-06,-3.02500100e-06,-4.90502446e+00,-1.84520358e-03,
  4.59266403e-05,-2.22261897e-03]


--- 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,
  9.36956444e-02,-7.04478765e-02, 1.30619496e-01, 4.87249873e-01,
  4.76805555e-01, 5.11961171e-01, 5.22627768e-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,  0.04029538,  1.96313352,  0.18327355,  3.82714949,
   0.39417849,-28.24123453]

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: -0.0006443847997215646
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.30729831e-14,  2.58437899e-13,  1.00000000e+00,  1.11316913e-26,
        1.00000000e+00, -2.58437899e-13, -1.00000000e+00,  0.00000000e+00,
       -4.30729831e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09289933, -0.08855877,  0.06198158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.26825442e-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,
 -1.12735003e-05, 1.93696699e-07,-4.90502616e+00,-1.84195553e-03,
  4.94419602e-05,-2.22146457e-03]


--- 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,
  9.36701595e-02,-7.04242947e-02, 1.30624245e-01, 4.87415819e-01,
  4.76610490e-01, 5.11972835e-01, 5.22639529e-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,
  4.00632172e-02, 1.93277897e+00, 2.25704925e-02, 3.55548657e+00,
  5.06279834e-01,-2.78450570e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006357152489987611
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.36603899e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.36603899e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09290061, -0.08856149,  0.06198182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.00471088e-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,
 -1.41181271e-05, 4.61095215e-06,-4.90503222e+00,-1.83885050e-03,
  5.24281008e-05,-2.21962573e-03]


--- 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,
  9.36501961e-02,-7.04153615e-02, 1.30626829e-01, 4.87513131e-01,
  4.76493997e-01, 5.11945164e-01, 5.22682090e-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,
  1.38035726e+00,-3.66215031e+00,-5.41148982e-01, 1.73415344e+01,
 -5.20945001e+00, 5.49286965e+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: -0.0006472017940955532
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57313029e-13,  1.28656514e-13,  1.00000000e+00, -3.31049973e-26,
        1.00000000e+00, -1.28656514e-13, -1.00000000e+00,  0.00000000e+00,
        2.57313029e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08008659, -0.0327161 ,  0.0619815 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.32086578e-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,
 -1.68833415e-05, 1.01980344e-05,-4.90504243e+00,-1.83585435e-03,
  5.49286830e-05,-2.21710483e-03]


--- 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,
  9.36355822e-02,-7.04206722e-02, 1.30626200e-01, 4.87543702e-01,
  4.76453655e-01, 5.11879649e-01, 5.22754509e-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 , 1.33741297,-3.56096212,
 -0.8031246 ,16.93003004,-4.92834348,53.22874079]

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([ 6.87746769, -6.77261144,  1.19636792, -6.77261144,  8.2353626 ,
        7.68701202,  1.19636792,  7.68701202, 50.39346699,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006536673323888076
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.69845267e-13,  4.24613167e-14,  1.00000000e+00, -7.21185366e-27,
        1.00000000e+00, -4.24613167e-14, -1.00000000e+00,  0.00000000e+00,
        1.69845267e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08008644, -0.03272022,  0.06198132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -7.04766435e-06, 1.42681553e-06,-4.90501624e+00,-1.83599049e-03,
  4.91613879e-05,-2.21565007e-03]


--- 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,
  9.36261721e-02,-7.04398819e-02, 1.30621454e-01, 4.87509129e-01,
  4.76487410e-01, 5.11777509e-01, 5.22855982e-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,  1.30093409, -3.474754  , -1.02943618, 16.57286923,
  -4.70134045, 51.79902212]

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([ 6.88262422, -6.83822342,  0.78052325, -6.83822342,  7.61810491,
        6.44360211,  0.78052325,  6.44360211, 63.33551098,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000654296916928962
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.69681836e-13,  8.48409182e-14,  1.00000000e+00, -1.43959628e-26,
        1.00000000e+00, -8.48409182e-14, -1.00000000e+00,  0.00000000e+00,
        1.69681836e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08008545, -0.03272102,  0.0619813 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.47371308e-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,
 -1.14884827e-06,-1.05644024e-06,-4.90500758e+00,-1.83552312e-03,
  4.59198957e-05,-2.21568919e-03]


--- 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,
  9.36218424e-02,-7.04726986e-02, 1.30611810e-01, 4.87410743e-01,
  4.76593527e-01, 5.11639728e-01, 5.22985819e-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,
  1.27009034e+00,-3.40176701e+00,-1.22448849e+00, 1.62659480e+01,
 -4.51809662e+00, 5.06046717e+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: -0.0006502349048855688
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.53709187e-14,  4.26854594e-14,  1.00000000e+00,  3.64409688e-27,
        1.00000000e+00, -4.26854594e-14, -1.00000000e+00,  0.00000000e+00,
       -8.53709187e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08008378, -0.03271915,  0.06198141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.67497287e-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,
  1.18859255e-06, 2.23509077e-06,-4.90501496e+00,-1.83457284e-03,
  4.50159058e-05,-2.21716667e-03]


--- 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,
  9.36177777e-02,-7.04967771e-02, 1.30607511e-01, 4.87341820e-01,
  4.76668028e-01, 5.11535998e-01, 5.23083612e-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 ,  0.06624577,  2.18456571,  1.33608738,  2.37570432,
   1.39225182,-31.7162443 ]

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: -0.0006504529930453362
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  8.5342295e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -8.5342295e-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([ 0.09289999, -0.08855895,  0.0619814 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
  2.48348302e-07, 1.09227594e-05,-4.90503726e+00,-1.83322700e-03,
  4.63000561e-05,-2.22003754e-03]


--- 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,
  9.36139584e-02,-7.05123831e-02, 1.30607256e-01, 4.87301410e-01,
  4.76712090e-01, 5.11465354e-01, 5.23150180e-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,
  6.13654038e-02, 2.11813502e+00, 1.01108543e+00, 2.42672233e+00,
  1.28844700e+00,-3.07361947e+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: -0.000661115829241124
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.19829240e-14, -8.39658480e-14,  1.00000000e+00,  3.52513182e-27,
        1.00000000e+00,  8.39658480e-14, -1.00000000e+00,  0.00000000e+00,
        4.19829240e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09289898, -0.08855638,  0.0619811 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.13822659e-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,
  3.02870575e-07, 5.65771661e-06,-4.90502010e+00,-1.83310433e-03,
  4.79957813e-05,-2.22221497e-03]


--- 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,
  9.36128990e-02,-7.05195744e-02, 1.30609681e-01, 4.87278154e-01,
  4.76735061e-01, 5.11437939e-01, 5.23177711e-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,  0.68997146,  2.1036588 ,  0.67014421, 12.06321597,
   2.35801685,-29.69724107]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000665546908828834
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.95715849e-08, -8.95715849e-08,  1.00000000e+00, -8.02306882e-15,
        1.00000000e+00,  8.95715849e-08, -1.00000000e+00,  0.00000000e+00,
       -8.95715849e-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([ 0.08763731, -0.08898042,  0.06198098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.25213234e-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,
  2.38929476e-07, 2.19171700e-06,-4.90500854e+00,-1.83292994e-03,
  4.92673122e-05,-2.22360914e-03]


--- 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,
  9.36145292e-02,-7.05185494e-02, 1.30613812e-01, 4.87271612e-01,
  4.76737564e-01, 5.11452773e-01, 5.23167021e-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,
  6.72400873e-01, 2.05407895e+00, 4.26485131e-01, 1.18550848e+01,
  2.26319589e+00,-2.89881965e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006650434161486963
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.80475755e-07, -1.80475755e-07,  1.00000000e+00, -3.25714982e-14,
        1.00000000e+00,  1.80475755e-07, -1.00000000e+00, -6.31088724e-30,
       -1.80475755e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0876366 , -0.0889808 ,  0.06198099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
  5.15657230e-08, 5.20113604e-07,-4.90500167e+00,-1.83304321e-03,
  5.03060934e-05,-2.22425705e-03]


--- 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,
  9.36187906e-02,-7.05094745e-02, 1.30618815e-01, 4.87281410e-01,
  4.76720116e-01, 5.11509026e-01, 5.23118796e-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,
  6.57786353e-01, 2.01246574e+00, 2.17803221e-01, 1.16770038e+01,
  2.18409210e+00,-2.83941451e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006603759224296957
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.08216436e-08,  6.08218958e-08,  1.00000000e+00, -3.69928767e-15,
        1.00000000e+00, -6.08218958e-08, -1.00000000e+00, -7.88860905e-31,
        6.08216436e-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([ 0.08763567, -0.08898232,  0.06198112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -5.26551455e-08, 3.40147608e-08,-4.90500026e+00,-1.83322536e-03,
  5.02387445e-05,-2.22413622e-03]


--- 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,
  9.36232575e-02,-7.04926236e-02, 1.30624349e-01, 4.87317294e-01,
  4.76675119e-01, 5.11595852e-01, 5.23041460e-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,
  5.13871011e-02, 1.94401305e+00, 1.33112943e-01, 2.51263114e+00,
  1.04401153e+00,-2.82492683e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006529173131737814
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.25100929e-14, -8.50201857e-14,  1.00000000e+00,  3.61421599e-27,
        1.00000000e+00,  8.50201857e-14, -1.00000000e+00,  0.00000000e+00,
        4.25100929e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09289641, -0.08855945,  0.06198134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.67894319e-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,
 -6.90115897e-08, 6.48595786e-07,-4.90500396e+00,-1.83349432e-03,
  4.91149382e-05,-2.22326518e-03]


--- 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,
  9.36279253e-02,-7.04681086e-02, 1.30629799e-01, 4.87378840e-01,
  4.76603061e-01, 5.11712814e-01, 5.22935354e-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,
  5.02201436e-02, 1.91602488e+00,-2.13028839e-02, 2.53019505e+00,
  9.98652860e-01,-2.78255042e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006428060357686893
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.31787726e-14, -1.72715090e-13,  1.00000000e+00,  7.45762560e-27,
        1.00000000e+00,  1.72715090e-13, -1.00000000e+00,  0.00000000e+00,
        4.31787726e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.092896  , -0.08856232,  0.06198162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.78425165e-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,
  4.68736831e-08, 2.54249005e-06,-4.90501119e+00,-1.83378648e-03,
  4.76496475e-05,-2.22172594e-03]


--- 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,
  9.36327906e-02,-7.04360201e-02, 1.30634640e-01, 4.87465698e-01,
  4.76504330e-01, 5.11859547e-01, 5.22800747e-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,  0.04938092,  1.89335376, -0.15217724,  2.54466217,
   0.96116191,-27.48275622]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006307319860454907
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.80106804e-14, -8.80106804e-14,  1.00000000e+00,  7.74587986e-27,
        1.00000000e+00,  8.80106804e-14, -1.00000000e+00,  0.00000000e+00,
        8.80106804e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09289566, -0.08856572,  0.06198197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.09764139e-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,
  1.31960851e-07, 5.71420857e-06,-4.90502244e+00,-1.83410193e-03,
  4.58098710e-05,-2.21948120e-03]


--- 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,
  9.36431063e-02,-7.04184788e-02, 1.30636977e-01, 4.87484491e-01,
  4.76483103e-01, 5.11967862e-01, 5.22696502e-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,  1.36261135, -3.63676871, -0.6260385 , 17.29388529,
  -4.96976058, 54.18107548]

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: -0.0006376003327955987
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.70626133e-14,  8.70626133e-14,  1.00000000e+00, -7.57989864e-27,
        1.00000000e+00, -8.70626133e-14, -1.00000000e+00,  0.00000000e+00,
        8.70626133e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08007266, -0.032715  ,  0.06198177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  1.94904820e-07, 1.01087321e-05,-4.90503758e+00,-1.83444645e-03,
  4.35975051e-05,-2.21653958e-03]


--- 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,
  9.36587245e-02,-7.04150921e-02, 1.30635817e-01, 4.87436963e-01,
  4.76537137e-01, 5.12039133e-01, 5.22621747e-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, 1.32560563,-3.5386577 ,
 -0.87429141,16.91413871,-4.69548108,52.61216355]

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([ 6.78868843, -6.74880721,  0.73477336, -6.74880721,  7.4492725 ,
        6.06738725,  0.73477336,  6.06738725, 62.51692947,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006428656999584864
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.63495303e-14,  4.31747651e-14,  1.00000000e+00, -3.72812069e-27,
        1.00000000e+00, -4.31747651e-14, -1.00000000e+00,  0.00000000e+00,
        8.63495303e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0800726 , -0.03271805,  0.06198163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.55424668e-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,
  7.30877380e-07, 1.50028046e-06,-4.90501533e+00,-1.83674753e-03,
  4.31104849e-05,-2.21509022e-03]


--- 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,
  9.36795206e-02,-7.04255258e-02, 1.30630301e-01, 4.87324572e-01,
  4.76664525e-01, 5.12074497e-01, 5.22575738e-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,  1.29449355, -3.4551185 , -1.08874674, 16.5903127 ,
  -4.4642549 , 51.29051667]

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: -0.0006426765211660357
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.63749482e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.63749482e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0800717 , -0.03271807,  0.06198163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.58701590e-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,
 -2.28874960e-06,-9.31563267e-07,-4.90501014e+00,-1.83852928e-03,
  4.49119190e-05,-2.21507574e-03]


--- 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,
  9.37053909e-02,-7.04494971e-02, 1.30619691e-01, 4.87148520e-01,
  4.76863650e-01, 5.12074886e-01, 5.22557834e-01]

qacc:
[ 1.71669375e+00,-6.60795506e-01,-9.45075584e-02, 8.71069800e+00,
  5.07847496e+00, 1.40717887e+00,-4.75381939e+00, 5.36649726e+00,
 -5.22523284e-01, 4.14592138e+00,-1.43748059e+01, 1.77005711e+01,
 -1.09989895e-01, 4.05888947e-02,-2.15584929e+00, 7.42603107e+00,
  1.26853019e+00,-3.38439334e+00,-1.27363875e+00, 1.63177511e+01,
 -4.26779508e+00, 5.01849451e+01]

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: -0.0006381097353414938
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08007013, -0.03271566,  0.06198176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -8.57308861e-06, 2.33779736e-06,-4.90502067e+00,-1.83990463e-03,
  4.88592578e-05,-2.21644960e-03]


--- 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,
  9.37316272e-02,-7.04648149e-02, 1.30613889e-01, 4.87001754e-01,
  4.77030632e-01, 5.12108656e-01, 5.22509131e-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,  0.09151415,  2.16338478,  1.20181455,  1.79517801,
   1.68708261,-31.34230307]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000634562438252842
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.37397078e-14, -8.74794156e-14,  1.00000000e+00,  3.82632407e-27,
        1.00000000e+00,  8.74794156e-14, -1.00000000e+00,  0.00000000e+00,
        4.37397078e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09288845, -0.08856604,  0.06198186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.19125755e-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,
 -1.79071039e-05, 1.09589495e-05,-4.90504586e+00,-1.84095966e-03,
  5.48425412e-05,-2.21917330e-03]


--- 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,
  9.37582129e-02,-7.04717251e-02, 1.30611682e-01, 4.86883312e-01,
  4.77166864e-01, 5.12175029e-01, 5.22430057e-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,  0.08732976,  2.10189677,  0.89894783,  2.05140451,
   1.47555367,-30.44487417]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000644003062143142
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.30985150e-14,  8.61970299e-14,  1.00000000e+00,  3.71496399e-27,
        1.00000000e+00, -8.61970299e-14, -1.00000000e+00,  0.00000000e+00,
       -4.30985150e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0928864 , -0.08856389,  0.06198159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.51904221e-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,
 -1.42046244e-05, 4.88159893e-06,-4.90503396e+00,-1.84424486e-03,
  5.12391291e-05,-2.22072832e-03]


--- 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,
  9.37851364e-02,-7.04704374e-02, 1.30612022e-01, 4.86792377e-01,
  4.77273507e-01, 5.12273329e-01, 5.22320990e-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,  0.08446853,  2.04947697,  0.63664638,  2.2542624 ,
   1.30202083,-29.6819129 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006476029328316979
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.28589406e-14,  1.71435762e-13,  1.00000000e+00,  7.34755515e-27,
        1.00000000e+00, -1.71435762e-13, -1.00000000e+00,  0.00000000e+00,
       -4.28589406e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09288477, -0.08856327,  0.06198149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.70833413e-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,
 -1.08561924e-05, 5.54986761e-07,-4.90502753e+00,-1.84740895e-03,
  4.73788867e-05,-2.22153035e-03]


--- 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,
  9.38087464e-02,-7.04729360e-02, 1.30615917e-01, 4.86700063e-01,
  4.77379884e-01, 5.12345152e-01, 5.22239352e-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 , -0.82836917, -0.94658883,  0.88883239,-13.67580048,
   0.52365161, 13.28654999]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006467632298764966
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.58291700e-14,  7.05916085e-07,  1.00000000e+00, -6.05881917e-20,
        1.00000000e+00, -7.05916085e-07, -1.00000000e+00,  0.00000000e+00,
        8.58291700e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10009814, -0.06166508,  0.06198151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.36423569e-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,
 -7.76640973e-06,-2.17589338e-06,-4.90502611e+00,-1.85050583e-03,
  4.32295558e-05,-2.22159583e-03]


--- 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,
  9.38266627e-02,-7.04890214e-02, 1.30615595e-01, 4.86579567e-01,
  4.77505104e-01, 5.12347352e-01, 5.22234997e-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, -1.42344122, -3.39668842, -1.05429213,-26.66555454,
   3.80303852, 47.61158359]

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([ 6.82177691, -2.38217722,  6.39232915, -2.38217722, 30.05513672,
        8.65818691,  6.39232915,  8.65818691, 10.04835288,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000646883589409411
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10762301, -0.03361118,  0.06198151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.64559864e-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,
 -7.16082461e-06,-6.67558170e-07,-4.90502012e+00,-1.85256301e-03,
  4.38527281e-05,-2.22174353e-03]


--- 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,
  9.38448835e-02,-7.04968965e-02, 1.30617934e-01, 4.86486169e-01,
  4.77602176e-01, 5.12382094e-01, 5.22199157e-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,
  7.61283988e-02, 2.05258172e+00, 6.65464851e-01, 3.24499323e+00,
  8.08201966e-01,-2.97162915e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000647129855091938
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.57805443e-14,  8.57805443e-14,  1.00000000e+00,  7.35830179e-27,
        1.00000000e+00, -8.57805443e-14, -1.00000000e+00,  0.00000000e+00,
       -8.57805443e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09288233, -0.08856423,  0.0619815 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20554951e-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,
 -6.83420839e-06, 5.69048828e-06,-4.90501966e+00,-1.85418576e-03,
  4.66310829e-05,-2.22269130e-03]


--- 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,
  9.38634105e-02,-7.04967440e-02, 1.30622020e-01, 4.86419254e-01,
  4.77671782e-01, 5.12448672e-01, 5.22132490e-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,  0.0765489 ,  2.00689922,  0.43654946,  3.20521681,
   0.76878456,-29.05236302]

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: -0.0006465546676947126
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.58568564e-14, -8.58568564e-14,  1.00000000e+00, -7.37139978e-27,
        1.00000000e+00,  8.58568564e-14, -1.00000000e+00,  0.00000000e+00,
       -8.58568564e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09288228, -0.08856466,  0.06198152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.68074674e-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,
 -5.22373022e-06, 1.99729354e-06,-4.90501340e+00,-1.85589560e-03,
  4.44004679e-05,-2.22355895e-03]


--- 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,
  9.38773433e-02,-7.04882872e-02, 1.30626807e-01, 4.86401036e-01,
  4.77696222e-01, 5.12527447e-01, 5.22049774e-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 , -1.14853941,  2.07605034,  0.17521336,-15.31940365,
  -1.55217213,-31.10200906]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006434148079132868
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.72551674e-13,  8.62758372e-14,  1.00000000e+00, -1.48870402e-26,
        1.00000000e+00, -8.62758372e-14, -1.00000000e+00,  0.00000000e+00,
        1.72551674e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10360017, -0.08973052,  0.06198161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -3.63470990e-06,-2.02477029e-07,-4.90501180e+00,-1.85766831e-03,
  4.17651061e-05,-2.22369312e-03]


--- 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,
  9.38855255e-02,-7.04936056e-02, 1.30627810e-01, 4.86353947e-01,
  4.77739743e-01, 5.12536351e-01, 5.22045080e-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,
 -1.43765868e+00,-3.44377355e+00,-9.46026843e-01,-2.66959327e+01,
  4.06007655e+00, 4.80894088e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006420724128200772
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.32281080e-14,  8.64562160e-14,  1.00000000e+00, -3.73733865e-27,
        1.00000000e+00, -8.64562160e-14, -1.00000000e+00,  0.00000000e+00,
        4.32281080e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10762511, -0.03360995,  0.06198165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.33695422e-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,
 -4.85614422e-07,-8.05269860e-07,-4.90500888e+00,-1.85919716e-03,
  3.92716418e-05,-2.22317690e-03]


--- 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,
  9.38878455e-02,-7.05024106e-02, 1.30631178e-01, 4.86314947e-01,
  4.77772331e-01, 5.12512732e-01, 5.22074775e-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, -1.46555655, -0.87167219,  0.59145689,-21.89244542,
   1.08692695, 11.21810642]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006397190599777431
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.50666753e-14,  2.47753154e-07,  1.00000000e+00,  8.68787940e-21,
        1.00000000e+00, -2.47753154e-07, -1.00000000e+00,  1.50463277e-36,
       -3.50666753e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10557443, -0.06222123,  0.06198171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.11664037e-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,
 -9.04046517e-07, 8.37751745e-07,-4.90500275e+00,-1.85975649e-03,
  4.13801152e-05,-2.22337757e-03]


--- 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,
  9.38855241e-02,-7.05028944e-02, 1.30635362e-01, 4.86324557e-01,
  4.77760565e-01, 5.12501669e-01, 5.22087451e-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,
 -1.16034597e+00, 2.08033581e+00, 2.03677783e-01,-1.47589350e+01,
 -1.89135399e+00,-3.11927388e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006388774516849355
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73777150e-13,  8.68885748e-14,  1.00000000e+00, -1.50992489e-26,
        1.00000000e+00, -8.68885748e-14, -1.00000000e+00,  0.00000000e+00,
        1.73777150e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10360288, -0.08973247,  0.06198174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30454028e-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,
  8.97367278e-08, 1.02326734e-06,-4.90500252e+00,-1.86000401e-03,
  4.11662933e-05,-2.22424169e-03]


--- 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,
  9.38786544e-02,-7.04952130e-02, 1.30639603e-01, 4.86381891e-01,
  4.77705141e-01, 5.12502872e-01, 5.22083577e-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,
 -1.13706641e+00, 2.04125579e+00, 1.44283860e-02,-1.45730832e+01,
 -1.80319093e+00,-3.05996956e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006343287107831025
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.75116486e-14,  8.75116486e-14,  1.00000000e+00,  7.65828864e-27,
        1.00000000e+00, -8.75116486e-14, -1.00000000e+00,  0.00000000e+00,
       -8.75116486e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10360438, -0.08973394,  0.06198187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.78374628e-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,
 -9.27899886e-08,-3.51673542e-08,-4.90500032e+00,-1.85945047e-03,
  4.11358495e-05,-2.22427577e-03]


--- 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,
  9.38673132e-02,-7.04794967e-02, 1.30643255e-01, 4.86486200e-01,
  4.77606633e-01, 5.12516098e-01, 5.22063531e-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,
 -1.11787567e+00, 2.00874589e+00,-1.47278013e-01,-1.44157151e+01,
 -1.72946984e+00,-3.01075607e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006267790005894114
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.42828742e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.42828742e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10360618, -0.08973627,  0.06198208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.59525721e-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,
 -1.21391309e-06, 1.44771700e-06,-4.90500414e+00,-1.85890290e-03,
  4.19975749e-05,-2.22341436e-03]


--- 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,
  9.38502152e-02,-7.04774990e-02, 1.30642962e-01, 4.86561218e-01,
  4.77527062e-01, 5.12460460e-01, 5.22121023e-01]

qacc:
[  6.22858937,  1.04671805, -3.40745169,  4.87841593, -4.19888917,
   2.94003491,-12.78635291, 24.64582651,  0.49887201, -0.64906213,
   1.17800094,  2.70233686, -0.62578366,  1.16445123, -5.10323915,
  17.68648464, -1.43919244, -3.42963046, -0.98601886,-26.24370931,
   4.32782223, 47.80400633]

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: -0.0006280831953804911
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.41909222e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.41909222e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10763182, -0.03360351,  0.06198205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.65327185e-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,
 -3.24758074e-06, 5.34064772e-06,-4.90501370e+00,-1.85833575e-03,
  4.37123266e-05,-2.22167712e-03]


--- 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,
  9.38274839e-02,-7.04889293e-02, 1.30637963e-01, 4.86607886e-01,
  4.77465988e-01, 5.12337263e-01, 5.22254272e-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, -1.40834778, -3.35703751, -1.17688415,-25.77968853,
   4.08809789, 46.7015668 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006258279642191306
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.87003368e-14,  4.43501684e-14,  1.00000000e+00,  3.93387488e-27,
        1.00000000e+00, -4.43501684e-14, -1.00000000e+00,  0.00000000e+00,
       -8.87003368e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10763342, -0.03360246,  0.06198211])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -4.19531274e-06, 2.34061717e-07,-4.90501187e+00,-1.85601971e-03,
  4.23968886e-05,-2.22170491e-03]


--- 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,
  9.38049548e-02,-7.04920505e-02, 1.30636082e-01, 4.86681293e-01,
  4.77378527e-01, 5.12247527e-01, 5.22353838e-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,  0.05056224,  2.07729395,  0.77992459,  4.56284443,
   0.1409482 ,-29.92531841]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006242192243641337
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.44644678e-14,  8.89289356e-14,  1.00000000e+00,  3.95417780e-27,
        1.00000000e+00, -8.89289356e-14, -1.00000000e+00,  0.00000000e+00,
       -4.44644678e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09289006, -0.08857266,  0.06198215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.01180311e-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,
 -2.85850207e-06,-3.04925239e-06,-4.90502447e+00,-1.85423696e-03,
  3.90840349e-05,-2.22330339e-03]


--- 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,
  9.37826306e-02,-7.04870536e-02, 1.30636362e-01, 4.86780971e-01,
  4.77264839e-01, 5.12190366e-01, 5.22420892e-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,  0.0512296 ,  2.02954049,  0.53980149,  4.18177363,
   0.28727488,-29.2652822 ]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006271635208926762
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.42557239e-14, -8.85114478e-14,  1.00000000e+00, -3.91713819e-27,
        1.00000000e+00,  8.85114478e-14, -1.00000000e+00,  0.00000000e+00,
       -4.42557239e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09289195, -0.08857223,  0.06198207])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.57198772e-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,
 -5.33658012e-06,-1.97594877e-06,-4.90501959e+00,-1.85152295e-03,
  4.29586463e-05,-2.22321774e-03]


--- 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,
  9.37605113e-02,-7.04740995e-02, 1.30637972e-01, 4.86906518e-01,
  4.77125072e-01, 5.12165030e-01, 5.22456401e-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,
  5.12040028e-02, 1.98927306e+00, 3.32749810e-01, 3.87145419e+00,
  4.05479527e-01,-2.87084056e+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: -0.000625779936175741
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.87071445e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.87071445e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09289341, -0.08857294,  0.06198211])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01115755e-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,
 -7.63434565e-06, 4.14683733e-07,-4.90501953e+00,-1.84899231e-03,
  4.62304259e-05,-2.22242330e-03]


--- 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,
  9.37385945e-02,-7.04533228e-02, 1.30640202e-01, 4.87057589e-01,
  4.76959352e-01, 5.12170892e-01, 5.22461156e-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,
  5.06587921e-02, 1.95567729e+00, 1.55022664e-01, 3.61799362e+00,
  5.01808257e-01,-2.82436337e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006209383399542467
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09289454, -0.08857455,  0.06198225])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.02170899e-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,
 -9.80432262e-06, 4.07054922e-06,-4.90502397e+00,-1.84660414e-03,
  4.89563535e-05,-2.22092608e-03]


--- 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,
  9.37108849e-02,-7.04463452e-02, 1.30638699e-01, 4.87181048e-01,
  4.76812560e-01, 5.12105818e-01, 5.22543817e-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 , -1.44822945, -3.44980955, -0.93335585,-27.28723643,
   3.4309923 , 47.94983107]

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: -0.0006186941150772701
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.24307739e-14,  4.48615478e-14,  1.00000000e+00, -1.00627924e-27,
        1.00000000e+00, -4.48615478e-14, -1.00000000e+00,  0.00000000e+00,
        2.24307739e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10763618, -0.03359873,  0.06198231])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.73126320e-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,
 -1.18854345e-05, 8.94787220e-06,-4.90503268e+00,-1.84432756e-03,
  5.11807186e-05,-2.21873172e-03]


--- 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,
  9.36774955e-02,-7.04528638e-02, 1.30632674e-01, 4.87277552e-01,
  4.76684242e-01, 5.11971438e-01, 5.22702562e-01]

qacc:
[ -1.31511861,  0.09584775, -0.32228108,  0.1411755 ,  1.74028247,
  -0.71610172,  7.35605103,-24.17086669,  3.4375001 , -1.64416056,
   4.76861656, -5.52629853,  0.44460077, -1.02892082, -9.50215003,
  32.11927399, -1.41993197, -3.37402926, -1.13042444,-26.66270254,
   3.33121104, 46.82891601]

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: -0.0006182898975090473
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12227192e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.12227192e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10763607, -0.03359842,  0.06198232])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.22591362e-05, 2.86521550e-07,-4.90503025e+00,-1.84191615e-03,
  4.87613525e-05,-2.21868449e-03]


--- 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,
  9.36494528e-02,-7.04736587e-02, 1.30623604e-01, 4.87305483e-01,
  4.76633131e-01, 5.11799442e-01, 5.22891534e-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,  1.33666814, -3.5690697 , -0.76128834, 17.58564536,
  -4.58466959, 54.01551173]

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([ 6.65201089,  6.64817378,  0.22590761,  6.64817378,  6.72853432,
       -2.25198711,  0.22590761, -2.25198711, 72.92512765,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000626350127512762
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.86263909e-14,  4.43131954e-14,  1.00000000e+00, -3.92731858e-27,
        1.00000000e+00, -4.43131954e-14, -1.00000000e+00,  0.00000000e+00,
        8.86263909e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08007431, -0.03271675,  0.06198209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.58452243e-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,
 -1.04892677e-05,-6.47539179e-06,-4.90504264e+00,-1.83981287e-03,
  4.42728264e-05,-2.22016675e-03]


--- 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,
  9.36215320e-02,-7.04858631e-02, 1.30619033e-01, 4.87361288e-01,
  4.76554137e-01, 5.11661715e-01, 5.23046287e-01]

qacc:
[-6.37469175e-01,-5.90073991e-01, 5.55373965e-01, 4.51235676e+00,
 -4.40444505e+00, 2.32013382e+00,-8.98480906e+00, 1.54204033e+01,
  9.22216851e+00,-1.32538185e+00, 8.84457533e+00,-2.37769890e+01,
 -1.00231294e+00, 1.63708321e+00, 9.06129443e+00,-3.09299205e+01,
  3.04579883e-02, 2.14760590e+00, 1.12484667e+00, 4.27990169e+00,
  3.51692963e-01,-3.09273272e+01]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006360928458980092
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.36344722e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.36344722e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09290279, -0.08857239,  0.06198181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -5.85130993e-07,-4.71933895e-06,-4.90504281e+00,-1.83822624e-03,
  3.93844775e-05,-2.22119451e-03]


--- 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,
  9.35937327e-02,-7.04897142e-02, 1.30617794e-01, 4.87444353e-01,
  4.76447595e-01, 5.11557212e-01, 5.23168149e-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,  0.03039706,  2.08833891,  0.83273164,  3.89477651,
   0.4897136 ,-30.1078718 ]

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: -0.0006441189956814114
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.46361366e-14, -2.58544547e-13,  1.00000000e+00,  1.67113206e-26,
        1.00000000e+00,  2.58544547e-13, -1.00000000e+00,  0.00000000e+00,
        6.46361366e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0929046 , -0.08857066,  0.06198159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.82442912e-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,
 -4.04347229e-06,-4.89032426e-06,-4.90503247e+00,-1.83463478e-03,
  4.46085957e-05,-2.22187234e-03]


--- 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,
  9.35686566e-02,-7.04851564e-02, 1.30618994e-01, 4.87543484e-01,
  4.76322302e-01, 5.11496467e-01, 5.23249254e-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,  0.68080532,  2.10222937,  0.60997234, 13.47377156,
   1.75090755,-29.35656039]

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: -0.000648370616259969
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.56163895e-14,  1.28424584e-13,  1.00000000e+00, -1.09952492e-26,
        1.00000000e+00, -1.28424584e-13, -1.00000000e+00,  0.00000000e+00,
        8.56163895e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.087463  , -0.08901081,  0.06198147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -7.30329488e-06,-3.62967463e-06,-4.90502740e+00,-1.83121705e-03,
  4.91902303e-05,-2.22182396e-03]


--- 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,
  9.35462427e-02,-7.04723780e-02, 1.30621705e-01, 4.87658437e-01,
  4.76178336e-01, 5.11478460e-01, 5.23290767e-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,  0.66552444,  2.05512918,  0.3777012 , 12.98663679,
   1.82775898,-28.74510307]

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: -0.0006481373850974054
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.28235992e-14, -8.56471984e-14,  1.00000000e+00, -3.66772130e-27,
        1.00000000e+00,  8.56471984e-14, -1.00000000e+00,  0.00000000e+00,
       -4.28235992e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08746408, -0.0890114 ,  0.06198147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.07339324e-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,
 -8.87705136e-06,-1.06789915e-06,-4.90502226e+00,-1.82811646e-03,
  5.28623466e-05,-2.22107366e-03]


--- 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,
  9.35292147e-02,-7.04740123e-02, 1.30621596e-01, 4.87706596e-01,
  4.76111450e-01, 5.11421368e-01, 5.23362540e-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,  1.34649766, -3.60315151, -0.70485519, 16.73240757,
  -5.41090843, 53.87309946]

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: -0.0006541340707419269
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.36465295e-14,  8.48620393e-14,  1.00000000e+00, -5.40117429e-27,
        1.00000000e+00, -8.48620393e-14, -1.00000000e+00,  0.00000000e+00,
        6.36465295e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08007443, -0.03273621,  0.0619813 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.51376704e-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,
 -1.02724213e-05, 2.45059105e-06,-4.90502266e+00,-1.82520258e-03,
  5.53048371e-05,-2.21959344e-03]


--- 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,
  9.35174144e-02,-7.04896905e-02, 1.30617706e-01, 4.87689571e-01,
  4.76119449e-01, 5.11326599e-01, 5.23463716e-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,
  1.30692153e+00,-3.51098580e+00,-9.45411477e-01, 1.64007047e+01,
 -5.11610476e+00, 5.23457285e+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([ 6.90234871, -6.63450324,  1.90414928, -6.63450324, 10.71528502,
       13.28516551,  1.90414928, 13.28516551, 53.19098509,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006567076194277655
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.33971073e-14, -4.22647382e-14,  1.00000000e+00,  2.67946214e-27,
        1.00000000e+00,  4.22647382e-14, -1.00000000e+00,  0.00000000e+00,
        6.33971073e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08007331, -0.03273815,  0.06198123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -2.63469843e-06,-1.51917468e-06,-4.90500926e+00,-1.82523044e-03,
  5.12249820e-05,-2.21913482e-03]


--- 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,
  9.35102063e-02,-7.05092331e-02, 1.30617366e-01, 4.87643473e-01,
  4.76159699e-01, 5.11231785e-01, 5.23562649e-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,  1.1480364 , -0.96608946,  0.88745924, 15.34646778,
  -1.55316381, 15.3180274 ]

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: -0.0006546145922157182
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.39198985e-13, -1.00761161e-06,  1.00000000e+00, -3.41780836e-19,
        1.00000000e+00,  1.00761161e-06, -1.00000000e+00,  0.00000000e+00,
       -3.39198985e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08384805, -0.06147908,  0.06198129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
  1.27711070e-06, 4.06596433e-07,-4.90501234e+00,-1.82462864e-03,
  4.95166836e-05,-2.22015303e-03]


--- 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,
  9.35057807e-02,-7.05203096e-02, 1.30619916e-01, 4.87614284e-01,
  4.76179176e-01, 5.11180919e-01, 5.23621782e-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,
  6.95652251e-01, 2.11650646e+00, 7.22622051e-01, 1.25880559e+01,
  2.35570394e+00,-2.99033070e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006612719653817795
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.25919034e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.25919034e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08746573, -0.08900902,  0.0619811 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
  1.59780480e-06, 2.68471171e-06,-4.90501440e+00,-1.82384466e-03,
  5.07605931e-05,-2.22175845e-03]


--- 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,
  9.35040682e-02,-7.05231248e-02, 1.30624356e-01, 4.87601578e-01,
  4.76178434e-01, 5.11172934e-01, 5.23642083e-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,  0.67824831,  2.06534547,  0.4723494 , 12.29732172,
   2.2898414 ,-29.16022148]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006620588299203478
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.38462516e-14,  1.25769377e-13,  1.00000000e+00,  1.05452909e-26,
        1.00000000e+00, -1.25769377e-13, -1.00000000e+00,  0.00000000e+00,
       -8.38462516e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08746555, -0.089009  ,  0.06198108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.29958979e-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,
  8.19719550e-07, 7.61698243e-07,-4.90500449e+00,-1.82334017e-03,
  5.27037826e-05,-2.22269595e-03]


--- 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,
  9.35050102e-02,-7.05178509e-02, 1.30629826e-01, 4.87604996e-01,
  4.76157932e-01, 5.11206925e-01, 5.23624361e-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,  0.66364133,  2.02226691,  0.25772517, 12.05223336,
   2.23365677,-28.53626769]

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: -0.0006584660111080137
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.21518729e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.21518729e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08746506, -0.08901017,  0.06198118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.35365189e-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,
  1.59517646e-07, 2.97653202e-08,-4.90500023e+00,-1.82292154e-03,
  5.34809228e-05,-2.22286037e-03]


--- 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,
  9.35085582e-02,-7.05046316e-02, 1.30635594e-01, 4.87624234e-01,
  4.76118047e-01, 5.11282132e-01, 5.23569282e-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,
  6.51498547e-01, 1.98633757e+00, 7.44224278e-02, 1.18477144e+01,
  2.18559202e+00,-2.80168536e+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: -0.000651405891139864
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.52174535e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.52174535e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08746431, -0.0890123 ,  0.06198138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.81484553e-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,
 -3.89406976e-07, 4.06765322e-07,-4.90500124e+00,-1.82259882e-03,
  5.31547077e-05,-2.22226997e-03]


--- 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,
  9.35146723e-02,-7.04835855e-02, 1.30641036e-01, 4.87659038e-01,
  4.76059086e-01, 5.11397923e-01, 5.23477386e-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 ,  0.64151809,  1.95669953, -0.08157286, 11.67915466,
   2.14430251,-27.58902917]

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: -0.000641653553755131
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.73025306e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.73025306e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08746336, -0.08901517,  0.06198166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.79725346e-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,
 -8.33294475e-07, 1.82602340e-06,-4.90500721e+00,-1.82237936e-03,
  5.17741585e-05,-2.22093971e-03]


--- 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,
  9.35260664e-02,-7.04766486e-02, 1.30642827e-01, 4.87629381e-01,
  4.76075211e-01, 5.11475102e-01, 5.23414941e-01]

qacc:
[-1.84837966e+00, 2.44646633e-01,-1.92879273e+00, 5.55981792e+00,
 -4.36440934e-01,-2.06784865e-01, 1.20496567e+00,-4.22244332e+00,
 -1.88741553e+00, 4.30039993e-02,-1.71215558e+00, 7.13201278e+00,
  3.33667369e-01,-6.94991552e-01,-1.01119331e+01, 3.48288614e+01,
  1.31998345e+00,-3.52728935e+00,-9.12815444e-01, 1.60151444e+01,
 -5.57446618e+00, 5.24431281e+01]

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: -0.0006339576275161962
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.18907183e-14,  4.37814365e-14,  1.00000000e+00,  9.58407091e-28,
        1.00000000e+00, -4.37814365e-14, -1.00000000e+00,  0.00000000e+00,
       -2.18907183e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08005671, -0.03272874,  0.06198188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.08366167e-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,
 -1.17798368e-06, 4.23321161e-06,-4.90501791e+00,-1.82226849e-03,
  4.93769318e-05,-2.21888175e-03]


--- 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,
  9.35426096e-02,-7.04834978e-02, 1.30640139e-01, 4.87536400e-01,
  4.76164552e-01, 5.11515078e-01, 5.23381222e-01]

qacc:
[ -1.09619907, -0.52512134, -0.74389656,  8.74987267, -3.45440156,
  -1.21832061,  5.65731598,-13.0483716 ,  1.92265074,  1.19455495,
  -5.97244396, 10.99526512, -0.59697296,  0.81398717, 19.97422393,
 -67.60113476,  1.28729658, -3.44651977, -1.11972468, 15.84196919,
  -5.19936739, 51.15602846]

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([ 6.71156059, -5.8871491 ,  3.22281259, -5.8871491 , 19.70821147,
       23.74113275,  3.22281259, 23.74113275, 50.07976284,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006335315973300393
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.38108782e-14,  4.38108782e-14,  1.00000000e+00, -1.91939304e-27,
        1.00000000e+00, -4.38108782e-14, -1.00000000e+00,  0.00000000e+00,
        4.38108782e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0800545 , -0.03272885,  0.06198189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.17882706e-06, 4.58503541e-07,-4.90500745e+00,-1.82510371e-03,
  5.01462342e-05,-2.21834305e-03]


--- 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,
  9.35636695e-02,-7.04941162e-02, 1.30639871e-01, 4.87415555e-01,
  4.76284897e-01, 5.11554761e-01, 5.23345487e-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,
  1.12916589e+00,-9.42307151e-01, 6.05130044e-01, 1.46305809e+01,
 -1.53885334e+00, 1.47992761e+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: -0.0006284593318744532
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.76657895e-13,  1.01622436e-06,  1.00000000e+00, -1.79524056e-19,
        1.00000000e+00, -1.01622436e-06, -1.00000000e+00,  4.81482486e-35,
        1.76657895e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0838358 , -0.06147788,  0.06198203])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.17041635e-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,
 -4.60123068e-06, 2.30340911e-06,-4.90501270e+00,-1.82727219e-03,
  5.29932094e-05,-2.21921428e-03]


--- 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,
  9.35874790e-02,-7.04965344e-02, 1.30641148e-01, 4.87311210e-01,
  4.76384590e-01, 5.11636955e-01, 5.23271567e-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,  0.68741055,  2.05004406,  0.38616974, 11.92834975,
   2.45073538,-29.02936384]

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: -0.0006292068092974556
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.82240154e-14,  1.32336023e-13,  1.00000000e+00,  1.16752153e-26,
        1.00000000e+00, -1.32336023e-13, -1.00000000e+00,  0.00000000e+00,
       -8.82240154e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08745958, -0.08901907,  0.06198201])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.55045557e-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,
 -7.73557624e-06, 4.11343418e-06,-4.90502087e+00,-1.82923366e-03,
  5.43906998e-05,-2.22037636e-03]


--- 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,
  9.36139898e-02,-7.04909089e-02, 1.30643184e-01, 4.87222968e-01,
  4.76464248e-01, 5.11760867e-01, 5.23160028e-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,  0.67531803,  2.01093591,  0.18976321, 11.82176741,
   2.32673396,-28.44127404]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006263520058749916
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.86261251e-14,  8.86261251e-14,  1.00000000e+00,  7.85459005e-27,
        1.00000000e+00, -8.86261251e-14, -1.00000000e+00,  0.00000000e+00,
       -8.86261251e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08745858, -0.08901995,  0.0619821 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.09714830e-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,
 -7.21914189e-06, 1.50609155e-06,-4.90502174e+00,-1.83147244e-03,
  5.13800102e-05,-2.22060132e-03]


--- 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,
  9.36407103e-02,-7.04774485e-02, 1.30646028e-01, 4.87161144e-01,
  4.76515867e-01, 5.11915620e-01, 5.23019165e-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,  0.05242639,  1.95871653,  0.20189242,  2.44581175,
   1.10201989,-28.57600969]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006209810457449005
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.23481665e-14, -2.68177998e-13,  1.00000000e+00, -5.99328655e-27,
        1.00000000e+00,  2.68177998e-13, -1.00000000e+00,  0.00000000e+00,
       -2.23481665e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09290249, -0.0885783 ,  0.06198225])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.27672444e-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,
 -6.67466698e-06, 3.15149651e-08,-4.90502777e+00,-1.83377600e-03,
  4.73536347e-05,-2.22007989e-03]


--- 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,
  9.36676445e-02,-7.04562680e-02, 1.30649046e-01, 4.87125259e-01,
  4.76540053e-01, 5.12100762e-01, 5.22849279e-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,  0.05342776,  1.93005105,  0.04380832,  2.51395255,
   1.02156326,-28.11531592]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006142494983256835
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.25930796e-14, -1.80744637e-13,  1.00000000e+00, -4.08357797e-27,
        1.00000000e+00,  1.80744637e-13, -1.00000000e+00,  0.00000000e+00,
       -2.25930796e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09290196, -0.08858016,  0.06198244])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.43475199e-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,
 -4.73462355e-06,-4.86962108e-07,-4.90503337e+00,-1.83603694e-03,
  4.27940898e-05,-2.21903411e-03]


--- 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,
  9.36998211e-02,-7.04489764e-02, 1.30647878e-01, 4.87024750e-01,
  4.76638199e-01, 5.12248931e-01, 5.22708286e-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,  1.31059569, -3.47226809, -1.0469378 , 16.34808554,
  -4.90871534, 51.67941038]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006093460846884474
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82199091e-13,  9.10995453e-14,  1.00000000e+00, -1.65982543e-26,
        1.00000000e+00, -9.10995453e-14, -1.00000000e+00,  0.00000000e+00,
        1.82199091e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08004019, -0.03271746,  0.06198258])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -2.88056314e-06, 3.21642011e-07,-4.90504315e+00,-1.83831943e-03,
  3.78995787e-05,-2.21728179e-03]


--- 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,
  9.37260657e-02,-7.04558824e-02, 1.30644013e-01, 4.86896733e-01,
  4.76755884e-01, 5.12323069e-01, 5.22647559e-01]

qacc:
[ -1.98033115,  0.52679162, -3.67494464,  9.43122793,  1.9850389 ,
   2.42737215, -9.76128859, 18.11179484, -0.07767898,  1.25740536,
  -4.10971694,  4.55856956,  0.19526585, -0.6535852 ,  5.7561063 ,
 -20.17957304, -1.48299104, -3.54936755, -0.6738036 ,-28.59287358,
   3.04050733, 49.38180149]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006086286415313419
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.84051991e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.84051991e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10760617, -0.03358722,  0.0619826 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.16146966e-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,
 -9.30929168e-06,-1.37160471e-06,-4.90504036e+00,-1.84235307e-03,
  4.23445183e-05,-2.21716631e-03]


--- 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,
  9.37465305e-02,-7.04766353e-02, 1.30636528e-01, 4.86741660e-01,
  4.76892590e-01, 5.12325420e-01, 5.22664977e-01]

qacc:
[ -7.28006769,  0.40119911, -3.74665868, 12.35912332,  4.32821844,
   0.8179033 , -1.72152359,  0.70591698, -3.17780841,  3.34644951,
 -10.0236699 ,  9.77229592,  0.22860259, -0.82563963, 10.77604258,
 -37.44309863, -1.44497066, -3.46174403, -0.90536582,-27.69691987,
   3.11129343, 48.07983643]

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([ 6.55156954, -4.67997548,  4.58485474, -4.67997548, 32.30369873,
       26.28640165,  4.58485474, 26.28640165, 33.38332806,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006142748510414575
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.77764414e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.77764414e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10760396, -0.03359009,  0.06198244])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.26582214e-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,
 -9.13663475e-06, 3.97963671e-06,-4.90502596e+00,-1.84532464e-03,
  4.75097709e-05,-2.21742830e-03]


--- 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,
  9.37671947e-02,-7.04889132e-02, 1.30632953e-01, 4.86614143e-01,
  4.77001402e-01, 5.12361536e-01, 5.22649016e-01]

qacc:
[ -1.3372231 , -1.23370879,  6.15184758,-13.11933501,  2.63307719,
   1.81797133, -3.85154908, -1.49865013,  1.10467576,  4.87894511,
 -17.08602546, 24.18825792,  0.6093688 , -1.43301153, -9.92098078,
  32.92056354,  0.04986455,  2.11877672,  0.9778011 ,  4.01484956,
   0.48939475,-30.52144448]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006220622125794051
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.92372983e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.92372983e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09290247, -0.08857902,  0.06198222])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -6.83344207e-06, 1.10266862e-05,-4.90502777e+00,-1.84854154e-03,
  5.02071594e-05,-2.21926652e-03]


--- 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,
  9.37880746e-02,-7.04929331e-02, 1.30632221e-01, 4.86513555e-01,
  4.77082847e-01, 5.12430521e-01, 5.22600689e-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,  0.05391943,  2.06445889,  0.71039778,  3.7996879 ,
   0.53071978,-29.76250101]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006285512628927681
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.41580142e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.41580142e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09290367, -0.08857769,  0.06198203])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.19649777e-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,
 -6.08485595e-06, 6.24870832e-06,-4.90501932e+00,-1.84954643e-03,
  4.78971396e-05,-2.22051994e-03]


--- 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,
  9.38091843e-02,-7.04888799e-02, 1.30633404e-01, 4.86439353e-01,
  4.77137387e-01, 5.12531613e-01, 5.22520827e-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,  0.05746562,  2.01831837,  0.47908869,  3.63051966,
   0.5576598 ,-29.11748313]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006299978168147757
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.40566219e-14,  8.81132438e-14,  1.00000000e+00,  3.88197187e-27,
        1.00000000e+00, -8.81132438e-14, -1.00000000e+00,  0.00000000e+00,
       -4.40566219e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0929046 , -0.08857769,  0.06198199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.01641987e-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,
 -5.23024595e-06, 3.05038508e-06,-4.90501580e+00,-1.85069984e-03,
  4.51237749e-05,-2.22102184e-03]


--- 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,
  9.38305366e-02,-7.04769086e-02, 1.30635708e-01, 4.86391072e-01,
  4.77165429e-01, 5.12664172e-01, 5.22410112e-01]

qacc:
[ 5.07193532e+00, 2.30182939e+00,-9.03233272e+00, 1.44683262e+01,
 -4.36265029e+00, 1.80572983e+00,-6.53670792e+00, 8.53837125e+00,
 -2.46965744e+00, 2.17070532e+00,-9.12363537e+00, 1.71404664e+01,
 -2.70047028e-02,-1.64131452e-01, 4.85649335e-01,-1.91533095e+00,
  6.06346634e-02, 1.97950317e+00, 2.80026197e-01, 3.49908119e+00,
  5.73449707e-01,-2.85743247e+01]

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: -0.0006273762925099596
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.42407148e-14,  8.84814296e-14,  1.00000000e+00,  3.91448169e-27,
        1.00000000e+00, -8.84814296e-14, -1.00000000e+00,  0.00000000e+00,
       -4.42407148e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0929053 , -0.08857874,  0.06198206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.98053619e-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,
 -4.30048193e-06, 1.32439656e-06,-4.90501685e+00,-1.85198188e-03,
  4.19127971e-05,-2.22078819e-03]


--- 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,
  9.38460643e-02,-7.04790628e-02, 1.30635075e-01, 4.86315551e-01,
  4.77212933e-01, 5.12723367e-01, 5.22378934e-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,
 -1.45615169e+00,-3.53138256e+00,-7.34178226e-01,-2.83192127e+01,
  3.03285136e+00, 4.89507443e+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: -0.0006331128397072394
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.76797117e-14,  4.38398558e-14,  1.00000000e+00,  3.84386592e-27,
        1.00000000e+00, -4.38398558e-14, -1.00000000e+00,  0.00000000e+00,
       -8.76797117e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10759379, -0.03359886,  0.0619819 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.79736240e-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,
 -3.31656721e-06, 9.81538626e-07,-4.90502223e+00,-1.85337883e-03,
  3.82819341e-05,-2.21983264e-03]


--- 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,
  9.38559088e-02,-7.04949941e-02, 1.30630596e-01, 4.86213188e-01,
  4.77279397e-01, 5.12711395e-01, 5.22425247e-01]

qacc:
[ -4.28229259, -1.94906831,  8.68989832,-16.28818349,  5.23477236,
  -2.04500761,  8.15636131,-14.30560376,  2.82684608, -2.30019561,
   7.88162048,-11.16825652, -0.35217907,  0.6548517 ,-12.88130399,
  43.88106434, -1.42078303, -3.44427795, -0.96130214,-27.43850502,
   3.11415965, 47.69456643]

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([ 6.73043624, -4.32241327,  5.15902273, -4.32241327, 37.93899088,
       26.14764032,  5.15902273, 26.14764032, 28.63786202,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006358122400242361
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.73074592e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.73074592e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10759197, -0.03359997,  0.06198183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.51321905e-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,
 -2.57121279e-06, 2.43581578e-06,-4.90500815e+00,-1.85599920e-03,
  4.19954334e-05,-2.22009011e-03]


--- 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,
  9.38601911e-02,-7.05244072e-02, 1.30621488e-01, 4.86084318e-01,
  4.77364388e-01, 5.12630070e-01, 5.22547308e-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 , -1.39056453, -3.37041417, -1.15757892,-26.70479549,
   3.17207147, 46.63908826]

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([ 6.71261623, -4.59980881,  4.88886239, -4.59980881, 41.39474809,
       32.63155374,  4.88886239, 32.63155374, 37.41483209,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006336590855253871
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.76041274e-14,  4.38020637e-14,  1.00000000e+00,  3.83724157e-27,
        1.00000000e+00, -4.38020637e-14, -1.00000000e+00,  0.00000000e+00,
       -8.76041274e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10759143, -0.03359854,  0.06198189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.58222098e-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,
  2.30808960e-07, 5.65217342e-06,-4.90500996e+00,-1.85883653e-03,
  4.33307519e-05,-2.22190155e-03]


--- 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,
  9.38646176e-02,-7.05451194e-02, 1.30617391e-01, 4.85982604e-01,
  4.77423612e-01, 5.12583800e-01, 5.22633190e-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,
  3.60541040e-02, 2.17518885e+00, 1.25296164e+00, 5.68809433e+00,
 -3.43394028e-01,-3.08596154e+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([  6.82680614,   1.40055249,   6.68159673,   1.40055249,
        65.88213167, -12.37879005,   6.68159673, -12.37879005,
         9.42156693,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006474950711696931
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.57321603e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.57321603e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09291502, -0.08857594,  0.06198149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
  4.99637409e-06, 1.05168894e-05,-4.90502647e+00,-1.86189572e-03,
  4.25073674e-05,-2.22523031e-03]


--- 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,
  9.38641946e-02,-7.05570759e-02, 1.30616423e-01, 4.85930950e-01,
  4.77438429e-01, 5.12552030e-01, 5.22698838e-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,
 -1.21236226e+00, 2.18893075e+00, 7.82079863e-01,-1.37654429e+01,
 -2.53263102e+00,-3.28409893e+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([  6.90552251,  -4.02550162,  -5.61084466,  -4.02550162,
        43.80376838, -26.4726539 ,  -5.61084466, -26.4726539 ,
        25.89833335,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006570958880030633
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05541286e-07, -3.05541268e-07,  1.00000000e+00,  9.33554720e-14,
        1.00000000e+00,  3.05541268e-07, -1.00000000e+00,  1.26217745e-29,
        3.05541286e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10325787, -0.08968395,  0.06198122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
  2.96516324e-06, 6.01992618e-06,-4.90501295e+00,-1.86016792e-03,
  4.34853798e-05,-2.22691650e-03]


--- 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,
  9.38590716e-02,-7.05605075e-02, 1.30617484e-01, 4.85928161e-01,
  4.77409525e-01, 5.12534213e-01, 5.22745300e-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,
 -1.17503699e+00, 2.13124349e+00, 5.07390688e-01,-1.37245558e+01,
 -2.28662507e+00,-3.19673782e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006609986319586598
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.05610186e-07, -2.05610071e-07,  1.00000000e+00,  4.22755251e-14,
        1.00000000e+00,  2.05610071e-07, -1.00000000e+00,  0.00000000e+00,
        2.05610186e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10325997, -0.08968285,  0.06198111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.65050965e-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,
  1.85062500e-06, 1.20740863e-06,-4.90500379e+00,-1.85793603e-03,
  4.30770400e-05,-2.22829371e-03]


--- 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,
  9.38541544e-02,-7.05558569e-02, 1.30620556e-01, 4.85951229e-01,
  4.77355063e-01, 5.12548669e-01, 5.22759418e-01]

qacc:
[-6.52547148e+00,-1.62747159e+00, 7.05132235e+00,-1.36300592e+01,
 -7.13996256e-02, 3.23426178e-01,-1.52644825e+00, 5.87327599e+00,
 -5.82903477e-01, 1.49299202e+00,-4.13093338e+00, 1.65090611e+00,
 -8.38330193e-01, 1.65986616e+00,-1.60509730e+01, 5.39522362e+01,
  5.14963319e-02, 2.02052308e+00, 5.02883749e-01, 4.34246267e+00,
  1.74565441e-01,-2.88705886e+01]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006606032637334475
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09292307, -0.08857472,  0.06198112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  1.62709772e-09,-7.80531880e-07,-4.90500115e+00,-1.85590404e-03,
  4.35283348e-05,-2.22872828e-03]


--- 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,
  9.38494531e-02,-7.05432902e-02, 1.30624806e-01, 4.85999783e-01,
  4.77275159e-01, 5.12594688e-01, 5.22742115e-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,  0.05393837,  1.97904029,  0.29425834,  4.03708914,
   0.28812324,-28.34968359]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006562303151092658
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09292468, -0.08857647,  0.06198124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.55841311e-06, 2.98192665e-08,-4.90500195e+00,-1.85440630e-03,
  4.41682702e-05,-2.22809534e-03]


--- 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,
  9.38449746e-02,-7.05229449e-02, 1.30629521e-01, 4.86073507e-01,
  4.77169920e-01, 5.12671676e-01, 5.22694142e-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,
  5.57092607e-02, 1.94466485e+00, 1.16182027e-01, 3.79257621e+00,
  3.77392254e-01,-2.79152116e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006485918280774439
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.55871888e-14, -8.55871888e-14,  1.00000000e+00, -7.32516688e-27,
        1.00000000e+00,  8.55871888e-14, -1.00000000e+00,  0.00000000e+00,
       -8.55871888e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09292592, -0.08857902,  0.06198146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -2.96794015e-06, 2.11619624e-06,-4.90500705e+00,-1.85308208e-03,
  4.42953654e-05,-2.22676247e-03]


--- 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,
  9.38407239e-02,-7.04949334e-02, 1.30634094e-01, 4.86172131e-01,
  4.77039436e-01, 5.12779142e-01, 5.22616099e-01]

qacc:
[ -2.44450445, -0.94337599,  4.73526901,-10.19113689, -4.96049736,
   4.32046649,-18.24131009, 33.89936206, -2.97979646,  0.26843303,
   0.74501871, -6.55955451,  1.01382607, -2.1097087 , -6.77373709,
  22.85751933,  0.05697221,  1.91651656, -0.03527493,  3.59706367,
   0.44768112,-27.55785989]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006384292635500805
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.69495720e-14,  8.69495720e-14,  1.00000000e+00,  7.56022807e-27,
        1.00000000e+00, -8.69495720e-14, -1.00000000e+00,  0.00000000e+00,
       -8.69495720e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09292687, -0.08858217,  0.06198175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.43237965e-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,
 -4.26832137e-06, 5.43143266e-06,-4.90501626e+00,-1.85190020e-03,
  4.39459273e-05,-2.22473588e-03]


--- 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,
  9.38306573e-02,-7.04811172e-02, 1.30635871e-01, 4.86243994e-01,
  4.76928489e-01, 5.12812418e-01, 5.22617851e-01]

qacc:
[ -1.45556144,  0.47045339, -0.73403511, -1.78693796, -2.97259914,
   3.40502704,-15.06673613, 30.24202832,  1.37702842,  2.55389081,
  -9.66828517, 13.81479503,  0.77266289, -1.6924832 , -9.47233035,
  32.37854573, -1.4540078 , -3.54881011, -0.69896634,-28.71258256,
   2.7544989 , 49.09395633]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006282337837126978
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.83606592e-14,  4.41803296e-14,  1.00000000e+00, -3.90380304e-27,
        1.00000000e+00, -4.41803296e-14, -1.00000000e+00,  0.00000000e+00,
        8.83606592e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10757976, -0.03359298,  0.06198204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -5.48960068e-06, 9.93583545e-06,-4.90502940e+00,-1.85083752e-03,
  4.31469396e-05,-2.22202101e-03]


--- 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,
  9.38149029e-02,-7.04811345e-02, 1.30633930e-01, 4.86289458e-01,
  4.76836561e-01, 5.12773817e-01, 5.22697303e-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,
 -1.42192771e+00,-3.45836049e+00,-9.29744264e-01,-2.77861556e+01,
  2.85287841e+00, 4.78062603e+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([ 6.69926489, -3.68558399,  5.59433827, -3.68558399, 39.40031078,
       21.54364742,  5.59433827, 21.54364742, 20.89235051,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000632047150311052
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.31741322e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.31741322e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10757718, -0.03359453,  0.06198193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.10455698e-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,
 -5.78480084e-06, 2.44040325e-06,-4.90501142e+00,-1.85104325e-03,
  4.43210418e-05,-2.22127691e-03]


--- 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,
  9.37935697e-02,-7.04946776e-02, 1.30627471e-01, 4.86308845e-01,
  4.76763204e-01, 5.12665234e-01, 5.22852668e-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, -1.39470209, -3.38146971, -1.1292844 ,-27.01972836,
   2.91531586, 46.71917321]

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([ 6.68926775, -4.06014224,  5.31615914, -4.06014224, 43.88484875,
       28.40760517,  5.31615914, 28.40760517, 28.38517919,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006308408588045072
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.39977456e-14,  4.39977456e-14,  1.00000000e+00, -1.93580162e-27,
        1.00000000e+00, -4.39977456e-14, -1.00000000e+00,  0.00000000e+00,
        4.39977456e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10757602, -0.03359348,  0.06198197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.95572584e-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,
 -4.04644255e-06,-3.08216192e-06,-4.90500956e+00,-1.85137562e-03,
  4.31343290e-05,-2.22207519e-03]


--- 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,
  9.37723091e-02,-7.04997726e-02, 1.30624606e-01, 4.86354453e-01,
  4.76665196e-01, 5.12590612e-01, 5.22972754e-01]

qacc:
[ 2.00190337e+00, 6.26798213e-01,-5.51269749e+00, 1.70540938e+01,
  4.61096436e-01,-2.12159439e-01,-1.65202906e+00, 7.01553487e+00,
  3.38290278e+00, 1.06209924e-01, 1.53682858e+00,-6.39024062e+00,
 -5.24100414e-01, 9.76808739e-01,-4.83894916e+00, 1.66368630e+01,
  1.81455626e-02, 2.11204436e+00, 8.98410081e-01, 5.67679977e+00,
 -4.28924400e-01,-2.98475566e+01]

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([  6.70707506,   1.38530281,   6.5624532 ,   1.38530281,
        56.16477105, -10.44028552,   6.5624532 , -10.44028552,
         8.91096991,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006329899586207388
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.76967327e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.76967327e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09293776, -0.08858656,  0.0619819 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16528523e-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,
 -3.53628335e-07,-6.78907969e-06,-4.90502257e+00,-1.85185075e-03,
  3.98071649e-05,-2.22437776e-03]


--- 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,
  9.37511437e-02,-7.04966352e-02, 1.30624297e-01, 4.86425955e-01,
  4.76542291e-01, 5.12548964e-01, 5.23059074e-01]

qacc:
[ 1.20505401e+00,-9.60027341e-01,-3.35406209e-01, 1.21811099e+01,
  3.15954393e+00, 9.25804776e-01,-3.88397140e+00, 6.15430997e+00,
 -1.05179741e+00, 1.51786792e+00,-5.82287106e+00, 9.70062850e+00,
 -4.21621748e-01, 7.79375983e-01,-3.88025843e+00, 1.34637813e+01,
  2.37968624e-02, 2.05807507e+00, 6.39006349e-01, 5.04984625e+00,
 -1.55079296e-01,-2.92217408e+01]

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([ 6.74256051,  0.65906838, -6.71027206,  0.65906838, 63.22535516,
        5.54761768, -6.71027206,  5.54761768,  7.2874355 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006372783590221504
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.71066002e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.71066002e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09294139, -0.08858632,  0.06198178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -4.15839916e-06,-5.74076574e-06,-4.90501698e+00,-1.84782716e-03,
  4.36692945e-05,-2.22421912e-03]


--- 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,
  9.37300893e-02,-7.04854475e-02, 1.30625649e-01, 4.86523055e-01,
  4.76394319e-01, 5.12539457e-01, 5.23112870e-01]

qacc:
[ 3.73049661e+00,-2.43623448e+00, 1.13199734e+01,-2.25725450e+01,
  1.90868671e+00,-3.87998292e-02,-1.91049716e+00, 8.63545333e+00,
 -7.07230908e-01, 5.39239982e-01,-3.49528601e-01,-3.71083658e+00,
 -1.15583341e-01, 1.15199376e-01, 1.02969198e+00,-3.36725037e+00,
  2.77384126e-02, 2.01259027e+00, 4.15267293e-01, 4.54610503e+00,
  6.30394640e-02,-2.86874825e+01]

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: -0.0006368381573894216
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.74333622e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.74333622e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09294424, -0.08858719,  0.06198179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.17642090e-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,
 -7.66547564e-06,-3.47752603e-06,-4.90501629e+00,-1.84411196e-03,
  4.68582733e-05,-2.22339296e-03]


--- 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,
  9.37091562e-02,-7.04663613e-02, 1.30627894e-01, 4.86645488e-01,
  4.76221164e-01, 5.12561397e-01, 5.23135150e-01]

qacc:
[-7.91754249e-01,-2.19904761e+00, 1.23335562e+01,-3.03746539e+01,
 -4.95031329e+00,-2.92428311e+00, 9.60456758e+00,-1.16483347e+01,
 -4.19535736e-01, 1.10588333e+00,-2.18340626e+00,-8.61598761e-01,
 -2.15972540e-01, 2.29219764e-01, 1.14758505e+01,-3.92515862e+01,
  3.03531529e-02, 1.97462240e+00, 2.23188954e-01, 4.14066829e+00,
  2.37559627e-01,-2.82368836e+01]

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: -0.0006326065251830298
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.63249662e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.63249662e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09294646, -0.08858897,  0.06198191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.63080830e-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,
 -1.09644824e-05,-1.78683858e-08,-4.90502019e+00,-1.84063021e-03,
  4.94536530e-05,-2.22189403e-03]


--- 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,
  9.36937900e-02,-7.04617514e-02, 1.30627624e-01, 4.86701041e-01,
  4.76126402e-01, 5.12542734e-01, 5.23188009e-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,  1.39171084, -3.61907509, -0.6286816 , 16.54255298,
  -5.96335247, 54.69287309]

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: -0.0006275012368365113
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.42319058e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.42319058e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08000392, -0.03276136,  0.06198206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.11387257e-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,
 -1.41213165e-05, 4.61733051e-06,-4.90502840e+00,-1.83732585e-03,
  5.15157449e-05,-2.21971998e-03]


--- 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,
  9.36838194e-02,-7.04712467e-02, 1.30623856e-01, 4.86691202e-01,
  4.76107651e-01, 5.12485251e-01, 5.23270529e-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,
  1.34888653e+00,-3.52629631e+00,-8.74715189e-01, 1.63084646e+01,
 -5.51176800e+00, 5.30456929e+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([ 6.7120616 , -5.95421603,  3.09823858, -5.95421603, 14.40800582,
       14.79011808,  3.09823858, 14.79011808, 35.13581135,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006335921024953062
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.76133888e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.76133888e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08000239, -0.0327659 ,  0.06198189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.79481958e-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,
 -4.53125984e-06,-1.29338561e-06,-4.90500845e+00,-1.83913503e-03,
  4.70673250e-05,-2.21846930e-03]


--- 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,
  9.36790993e-02,-7.04945301e-02, 1.30615736e-01, 4.86617239e-01,
  4.76162899e-01, 5.12390391e-01, 5.23381928e-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,
  1.31264742e+00,-3.44702915e+00,-1.08776593e+00, 1.60932390e+01,
 -5.15016932e+00, 5.16633571e+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([ 6.7169467 , -6.15925919,  2.67971999, -6.15925919, 14.22266482,
       17.25167682,  2.67971999, 17.25167682, 46.36942876,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006341821444381529
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.75063747e-13,  8.75318735e-14,  1.00000000e+00, -1.53236578e-26,
        1.00000000e+00, -8.75318735e-14, -1.00000000e+00,  0.00000000e+00,
        1.75063747e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08000035, -0.03276715,  0.06198187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.10329866e-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,
  1.04610461e-06,-1.15029398e-06,-4.90500559e+00,-1.84011663e-03,
  4.50139779e-05,-2.21874006e-03]


--- 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,
  9.36745699e-02,-7.05092415e-02, 1.30612135e-01, 4.86571802e-01,
  4.76188594e-01, 5.12329528e-01, 5.23460370e-01]

qacc:
[-8.60591882e-01, 1.52966297e+00,-9.21592677e+00, 2.42806896e+01,
 -4.01867807e+00, 3.08920980e+00,-1.21949527e+01, 2.18391507e+01,
 -3.86135958e+00, 1.97439604e+00,-8.31183054e+00, 1.56436383e+01,
  1.38975166e-01,-2.93000545e-01,-1.65757321e+01, 5.61845329e+01,
  4.76532122e-02, 2.14301084e+00, 1.12980068e+00, 3.35795668e+00,
  8.50642478e-01,-3.11483941e+01]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006452164170770436
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.6034933e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        8.6034933e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09295101, -0.08858687,  0.06198155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  3.00818555e-06, 4.60276667e-06,-4.90501845e+00,-1.84046208e-03,
  4.52060263e-05,-2.22046861e-03]


--- 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,
  9.36702269e-02,-7.05156167e-02, 1.30611876e-01, 4.86554115e-01,
  4.76185504e-01, 5.12301684e-01, 5.23506871e-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,  0.04662614,  2.08404316,  0.83539958,  3.21412993,
   0.85411505,-30.26955431]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006527384838921624
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.70086957e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.70086957e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09295138, -0.08858503,  0.06198134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.91358736e-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,
  1.78586031e-06, 1.43292100e-06,-4.90500739e+00,-1.83926448e-03,
  4.67030419e-05,-2.22171921e-03]


--- 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,
  9.36660666e-02,-7.05138564e-02, 1.30613941e-01, 4.86563515e-01,
  4.76154276e-01, 5.12306031e-01, 5.23522284e-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,  0.04564796,  2.0338761 ,  0.58106492,  3.09495613,
   0.85555008,-29.52499717]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006546921993599991
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.48381964e-13, -8.47896940e-14,  1.00000000e+00,  1.25812614e-26,
        1.00000000e+00,  8.47896940e-14, -1.00000000e+00,  0.00000000e+00,
        1.48381964e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09295165, -0.0885847 ,  0.06198128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.15937100e-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,
  6.23093939e-07,-1.09620214e-07,-4.90500155e+00,-1.83815126e-03,
  4.77016135e-05,-2.22220764e-03]


--- 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,
  9.36620851e-02,-7.05041297e-02, 1.30617457e-01, 4.86599442e-01,
  4.76095457e-01, 5.12341867e-01, 5.23507317e-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,
  4.47318714e-02, 1.99159756e+00, 3.62490047e-01, 2.99650234e+00,
  8.55734065e-01,-2.88992941e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006521522399502433
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.51199273e-14, -8.51199273e-14,  1.00000000e+00,  7.24540202e-27,
        1.00000000e+00,  8.51199273e-14, -1.00000000e+00,  0.00000000e+00,
        8.51199273e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09295185, -0.08858557,  0.06198136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.56303979e-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,
 -4.95939556e-07,-1.47201172e-07,-4.90500053e+00,-1.83711215e-03,
  4.82325978e-05,-2.22195166e-03]


--- 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,
  9.36582792e-02,-7.04865777e-02, 1.30621674e-01, 4.86661423e-01,
  4.76009494e-01, 5.12408604e-01, 5.23462553e-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,  0.0438843 ,  1.95632526,  0.17546245,  2.91547114,
   0.85522272,-28.37829607]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006460384830824367
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09295199, -0.08858741,  0.06198153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.54967222e-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,
 -1.58336650e-06, 1.22161430e-06,-4.90500399e+00,-1.83613907e-03,
  4.83203314e-05,-2.22096623e-03]


--- 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,
  9.36546458e-02,-7.04613167e-02, 1.30625955e-01, 4.86749064e-01,
  4.75896755e-01, 5.12505749e-01, 5.23388464e-01]

qacc:
[-1.54444415e+00, 9.43988999e-01,-2.64304884e-01,-9.02745443e+00,
 -5.94498572e+00, 1.52152021e+00,-6.24270896e+00, 1.21537666e+01,
  3.97919314e-01, 3.83732058e+00,-1.60456202e+01, 2.67749683e+01,
  2.15977386e-01,-6.10799757e-01,-3.24947139e+00, 1.05758865e+01,
  4.31073196e-02, 1.92723973e+00, 1.60340866e-02, 2.84911406e+00,
  8.54404438e-01,-2.79493368e+01]

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: -0.0006371341142303727
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.30689481e-13, -2.61378962e-13,  1.00000000e+00,  3.41594810e-26,
        1.00000000e+00,  2.61378962e-13, -1.00000000e+00,  0.00000000e+00,
        1.30689481e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09295208, -0.08858999,  0.06198178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -2.64855942e-06, 3.91786085e-06,-4.90501168e+00,-1.83522556e-03,
  4.79838861e-05,-2.21926373e-03]


--- 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,
  9.36565105e-02,-7.04505042e-02, 1.30627548e-01, 4.86769773e-01,
  4.75861364e-01, 5.12563768e-01, 5.23344566e-01]

qacc:
[-4.06276258e+00, 4.90811745e-01,-4.81906087e-02,-5.62881141e+00,
 -3.59630430e+00, 1.95658183e+00,-7.14245532e+00, 1.13001880e+01,
  2.02453763e-01, 1.66299171e+00,-7.01737498e+00, 1.20679435e+01,
 -4.95803290e-01, 7.68502824e-01,-6.19582618e+00, 2.11125982e+01,
  1.37454197e+00,-3.61210911e+00,-6.72031778e-01, 1.67755760e+01,
 -5.42867285e+00, 5.39939691e+01]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006433427918063339
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.7257099e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.7257099e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07998754, -0.03277711,  0.06198161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.36945700e-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,
 -3.69883576e-06, 7.87856660e-06,-4.90502343e+00,-1.83436636e-03,
  4.72380716e-05,-2.21685433e-03]


--- 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,
  9.36637171e-02,-7.04537617e-02, 1.30625481e-01, 4.86725082e-01,
  4.75901096e-01, 5.12584192e-01, 5.23329998e-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,  1.3354808 , -3.51750133, -0.91502272, 16.48993965,
  -5.06831406, 52.44997863]

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([ 6.82502099, -6.32082987,  2.57449438, -6.32082987, 13.7223871 ,
       16.9342291 ,  2.57449438, 16.9342291 , 48.40148812,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006472779980280646
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.57609117e-14,  4.28804558e-14,  1.00000000e+00, -3.67746699e-27,
        1.00000000e+00, -4.28804558e-14, -1.00000000e+00,  0.00000000e+00,
        8.57609117e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07998638, -0.03277973,  0.0619815 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.10286416e-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,
 -4.85979873e-07, 1.24276992e-06,-4.90500470e+00,-1.83648892e-03,
  4.57839048e-05,-2.21572824e-03]


--- 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,
  9.36761344e-02,-7.04707674e-02, 1.30618915e-01, 4.86616280e-01,
  4.76014066e-01, 5.12568273e-01, 5.23344027e-01]

qacc:
[ 2.29426393e+00,-2.87279553e+00, 8.59591095e+00,-5.63370500e+00,
  4.45920108e+00,-1.11511007e+00, 9.25891554e+00,-2.77067206e+01,
  1.20997542e+00,-1.59180530e+00, 7.16984579e+00,-1.28915581e+01,
 -1.39451112e-01, 4.01095787e-02, 6.58811836e+00,-2.23806512e+01,
  1.30266340e+00,-3.43706592e+00,-1.12473303e+00, 1.62397040e+01,
 -4.77280831e+00, 5.11529352e+01]

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([ 6.81422768, -6.49348303,  2.06600507, -6.49348303, 12.46366136,
       17.75624965,  2.06600507, 17.75624965, 62.62237047,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006459661121725746
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0799846 , -0.03277937,  0.06198154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.31947826e-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,
 -9.57924097e-07, 6.13160346e-07,-4.90500277e+00,-1.83796069e-03,
  4.66016575e-05,-2.21605705e-03]


--- 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,
  9.36936527e-02,-7.05012494e-02, 1.30607127e-01, 4.86444434e-01,
  4.76198680e-01, 5.12517025e-01, 5.23386023e-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,  1.27525647, -3.36907349, -1.3054204 , 16.02426385,
  -4.52925323, 50.07106413]

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: -0.0006404561520898938
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73348795e-13,  4.33371988e-14,  1.00000000e+00, -7.51245122e-27,
        1.00000000e+00, -4.33371988e-14, -1.00000000e+00,  0.00000000e+00,
        1.73348795e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07998232, -0.03277664,  0.06198169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -4.79350554e-06, 5.55584575e-06,-4.90501633e+00,-1.83892997e-03,
  4.95592343e-05,-2.21778971e-03]


--- 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,
  9.37114781e-02,-7.05229345e-02, 1.30600984e-01, 4.86302337e-01,
  4.76351048e-01, 5.12499939e-01, 5.23396149e-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,
  7.67847046e-02, 2.19924725e+00, 1.41108639e+00, 2.18135869e+00,
  1.53564913e+00,-3.19340461e+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: -0.0006548748796940951
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.11915104e-14, -8.47660415e-14,  1.00000000e+00, -1.79632045e-27,
        1.00000000e+00,  8.47660415e-14, -1.00000000e+00,  0.00000000e+00,
       -2.11915104e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09294756, -0.08858633,  0.06198128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.17554388e-05, 1.57545112e-05,-4.90504438e+00,-1.83950644e-03,
  5.45529648e-05,-2.22088476e-03]


--- 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,
  9.37295960e-02,-7.05360969e-02, 1.30599136e-01, 4.86188959e-01,
  4.76472547e-01, 5.12516068e-01, 5.23375093e-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,  0.07310982,  2.13065218,  1.07378038,  2.33608869,
   1.36892682,-30.91836156]

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: -0.0006664971694575611
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.16439512e-14,  8.32879024e-14,  1.00000000e+00,  3.46843735e-27,
        1.00000000e+00, -8.32879024e-14, -1.00000000e+00,  0.00000000e+00,
       -4.16439512e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09294605, -0.08858352,  0.06198095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -9.29326212e-06, 8.97404746e-06,-4.90502851e+00,-1.84160396e-03,
  5.25997332e-05,-2.22299596e-03]


--- 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,
  9.37479958e-02,-7.05409711e-02, 1.30600415e-01, 4.86103425e-01,
  4.76564326e-01, 5.12564593e-01, 5.23323458e-01]

qacc:
[ -2.74312308, -0.53210808, -0.23582487,  6.02731344, -0.60925073,
  -1.25725109,  5.73557494,-10.71969882, -4.20316776, -1.6992828 ,
   5.67821977, -5.28533913, -0.2680432 ,  0.52318355,-16.65352434,
  56.54592092,  0.070476  ,  2.07205257,  0.78181157,  2.45610493,
   1.23204477,-30.05416423]

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: -0.0006715504779961218
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.13305872e-14,  8.26611745e-14,  1.00000000e+00,  3.41643488e-27,
        1.00000000e+00, -8.26611745e-14, -1.00000000e+00,  0.00000000e+00,
       -4.13305872e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09294484, -0.08858245,  0.0619808 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.09902453e-06, 4.05253797e-06,-4.90501837e+00,-1.84361549e-03,
  5.03310824e-05,-2.22433005e-03]


--- 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,
  9.37666704e-02,-7.05377556e-02, 1.30603816e-01, 4.86044995e-01,
  4.76627343e-01, 5.12644815e-01, 5.23241754e-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,  0.06869341,  2.022442  ,  0.53056433,  2.5504224 ,
   1.11897552,-29.32430993]

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: -0.0006712693127977343
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.65391595e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.65391595e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09294386, -0.0885828 ,  0.06198081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.10093346e-06, 8.13147207e-07,-4.90501341e+00,-1.84558276e-03,
  4.77305863e-05,-2.22490838e-03]


--- 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,
  9.37856154e-02,-7.05266168e-02, 1.30608479e-01, 4.86013047e-01,
  4.76662389e-01, 5.12756140e-01, 5.23130411e-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,
  6.76084019e-02, 1.98082220e+00, 3.15378580e-01, 2.62590119e+00,
  1.02489125e+00,-2.87127933e+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: -0.000666712536921174
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.1630499e-14,  8.3260998e-14,  1.0000000e+00,  3.4661969e-27,
        1.0000000e+00, -8.3260998e-14, -1.0000000e+00,  0.0000000e+00,
       -4.1630499e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09294307, -0.08858427,  0.06198094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.14531546e-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,
 -3.24563901e-06,-8.86056894e-07,-4.90501323e+00,-1.84753680e-03,
  4.47864255e-05,-2.22474906e-03]


--- 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,
  9.38048288e-02,-7.05076929e-02, 1.30613669e-01, 4.86007060e-01,
  4.76670118e-01, 5.12898067e-01, 5.22989780e-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 ,  0.06709679,  1.94625377,  0.13181247,  2.68776062,
   0.94593059,-28.20514264]

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: -0.0006587833833936185
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0929424 , -0.08858664,  0.06198117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.49321696e-06,-1.15860370e-06,-4.90501749e+00,-1.84950094e-03,
  4.14897171e-05,-2.22386723e-03]


--- 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,
  9.38243104e-02,-7.04810976e-02, 1.30618763e-01, 4.86026601e-01,
  4.76651061e-01, 5.13070181e-01, 5.22820139e-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,
  6.70583377e-02, 1.91788029e+00,-2.42256668e-02, 2.73996782e+00,
  8.79007782e-01,-2.77885353e+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: -0.0006482484320968207
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09294185, -0.08858969,  0.06198147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.76687859e-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,
  1.86481439e-07,-9.51192003e-08,-4.90502596e+00,-1.85149293e-03,
  3.78333695e-05,-2.22227547e-03]


--- 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,
  9.38377878e-02,-7.04689884e-02, 1.30621897e-01, 4.86016674e-01,
  4.76652129e-01, 5.13167936e-01, 5.22732446e-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,
 -1.50104912e+00,-3.62155874e+00,-4.89804578e-01,-2.85472323e+01,
  3.75865090e+00, 5.05021975e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006536569555697924
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.49239815e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.49239815e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10753187, -0.03360129,  0.06198132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  1.81648591e-06, 2.23212365e-06,-4.90503845e+00,-1.85352653e-03,
  3.38112984e-05,-2.21998405e-03]


--- 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,
  9.38454349e-02,-7.04709557e-02, 1.30622009e-01, 4.85978144e-01,
  4.76672716e-01, 5.13193674e-01, 5.22724227e-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, -1.45758803, -3.51909592, -0.75527339,-27.65402427,
   3.67795351, 48.96061633]

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([ 6.9285221 , -6.24010183,  3.01090478, -6.24010183, 16.60939058,
       20.06360528,  3.01090478, 20.06360528, 48.5103551 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006599127365961577
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.41189269e-14,  8.41189269e-14,  1.00000000e+00,  7.07599386e-27,
        1.00000000e+00, -8.41189269e-14, -1.00000000e+00,  0.00000000e+00,
       -8.41189269e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10753042, -0.03360466,  0.06198114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -5.47550567e-07, 5.26763041e-07,-4.90501158e+00,-1.85424543e-03,
  3.87202463e-05,-2.21845646e-03]


--- 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,
  9.38473994e-02,-7.04866507e-02, 1.30618185e-01, 4.85911727e-01,
  4.76712303e-01, 5.13149351e-01, 5.22793380e-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, -1.42063137, -3.43193568, -0.9844234 ,-26.90183049,
   3.60560582, 47.66226579]

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([ 6.9316953 , -6.27163032,  2.95212685, -6.27163032, 18.44537556,
       24.46017731,  2.95212685, 24.46017731, 58.89599   ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000660301820526718
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.40693597e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.40693597e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10753023, -0.03360487,  0.06198113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -4.99905775e-07, 7.40624611e-07,-4.90500165e+00,-1.85540188e-03,
  4.10949789e-05,-2.21859285e-03]


--- 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,
  9.38438064e-02,-7.05157786e-02, 1.30609633e-01, 4.85818012e-01,
  4.76770443e-01, 5.13036575e-01, 5.22938119e-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, -1.38939569, -3.35824176, -1.18176861,-26.27263103,
   3.54038343, 46.57621029]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006559786699170678
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.26935113e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.26935113e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10753103, -0.03360256,  0.06198125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
  1.76267057e-06, 2.70735829e-06,-4.90500721e+00,-1.85693162e-03,
  4.11912896e-05,-2.22032782e-03]


--- 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,
  9.38403415e-02,-7.05362032e-02, 1.30606066e-01, 4.85751622e-01,
  4.76802491e-01, 5.12958794e-01, 5.23046864e-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,
  3.20229502e-02, 2.17585814e+00, 1.24636522e+00, 5.53151437e+00,
 -2.67160121e-01,-3.09233677e+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([  6.87459754,   1.37942661,   6.73478089,   1.37942661,
        71.65796456, -13.26901376,   6.73478089, -13.26901376,
         9.59237425,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000653317013990018
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09295092, -0.0885911 ,  0.06198132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.46667364e-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,
  6.09381248e-06, 6.31720651e-06,-4.90502715e+00,-1.85878433e-03,
  3.92057163e-05,-2.22360790e-03]


--- 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,
  9.38370282e-02,-7.05481871e-02, 1.30606233e-01, 4.85712005e-01,
  4.76808558e-01, 5.12914860e-01, 5.23121203e-01]

qacc:
[  1.55319645,  0.27166002, -4.72165182, 17.70346651,  3.81202391,
  -0.85871175,  4.25370569, -8.50359589,  1.32903659,  2.3082912 ,
  -6.64903028,  2.81339723, -0.35956299,  0.66363395, -7.64927467,
  25.4847577 ,  0.0379142 ,  2.11016336,  0.93320723,  4.98320067,
  -0.05440869,-30.09076911]

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([ 6.94711796,  1.11814694, -6.85654398,  1.11814694, 64.07372313,
        9.31605466, -6.85654398,  9.31605466,  8.46635534,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006621944777249339
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -8.3829076e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  8.3829076e-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([ 0.09295408, -0.08858951,  0.06198107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
  3.82001506e-06, 2.62594069e-06,-4.90501314e+00,-1.85664694e-03,
  4.13836407e-05,-2.22518937e-03]


--- 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,
  9.38338844e-02,-7.05519536e-02, 1.30609050e-01, 4.85698674e-01,
  4.76788783e-01, 5.12903801e-01, 5.23162446e-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,  0.0423836 ,  2.05433135,  0.66271239,  4.54406267,
   0.11196529,-29.37783073]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006651105373343402
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.34615423e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.34615423e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09295654, -0.0885894 ,  0.06198099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
  1.90851148e-06, 4.13237644e-07,-4.90500441e+00,-1.85483484e-03,
  4.28795984e-05,-2.22604844e-03]


--- 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,
  9.38309237e-02,-7.05476910e-02, 1.30613589e-01, 4.85711202e-01,
  4.76743311e-01, 5.12924799e-01, 5.23171668e-01]

qacc:
[ 3.68484709e+00, 3.76132192e-01,-4.81876011e-01,-1.55158088e+00,
  5.12111404e+00,-1.51837684e+00, 7.88487708e+00,-1.66211465e+01,
 -5.71119699e+00,-7.87543138e-01, 3.12600176e+00,-5.59109064e+00,
  2.73921952e-02,-1.70658927e-01, 4.48390711e+00,-1.52460985e+01,
  4.57601039e-02, 2.00728638e+00, 4.30332089e-01, 4.19254485e+00,
  2.42088776e-01,-2.87728852e+01]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006632067986990509
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.37011191e-14, -8.37011191e-14,  1.00000000e+00, -7.00587733e-27,
        1.00000000e+00,  8.37011191e-14, -1.00000000e+00,  0.00000000e+00,
       -8.37011191e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09295845, -0.08859048,  0.06198104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.16185657e-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,
  2.59806222e-07,-3.95824248e-07,-4.90500055e+00,-1.85327698e-03,
  4.37731180e-05,-2.22619219e-03]


--- 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,
  9.38281562e-02,-7.05355564e-02, 1.30619053e-01, 4.85749218e-01,
  4.76672281e-01, 5.12977171e-01, 5.23149745e-01]

qacc:
[  8.33617462, -0.54553173,  4.08978521,-11.72358175, -0.06553098,
  -0.29497871,  3.72379146,-13.14006956, -3.59953081,  3.71005013,
 -15.1665834 , 26.73220605,  0.26343877, -0.52537774,-12.47415419,
  42.30743073,  0.04829896,  1.96800109,  0.23158632,  3.91140755,
   0.34388016,-28.26456912]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006574608076631017
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.44326393e-14,  8.44326393e-14,  1.00000000e+00, -7.12887058e-27,
        1.00000000e+00, -8.44326393e-14, -1.00000000e+00,  0.00000000e+00,
        8.44326393e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09295993, -0.08859251,  0.06198121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.19872313e-06, 1.32601254e-07,-4.90500121e+00,-1.85192098e-03,
  4.41237949e-05,-2.22562816e-03]


--- 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,
  9.38255894e-02,-7.05156797e-02, 1.30624767e-01, 4.85812409e-01,
  4.76575816e-01, 5.13060347e-01, 5.23097386e-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,
  5.01982398e-02, 1.93553068e+00, 6.22633836e-02, 3.68687429e+00,
  4.23532562e-01,-2.78422924e+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: -0.0006487051614724182
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.55722361e-14, -8.55722361e-14,  1.00000000e+00, -7.32260759e-27,
        1.00000000e+00,  8.55722361e-14, -1.00000000e+00,  0.00000000e+00,
       -8.55722361e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09296107, -0.08859528,  0.06198146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17018367e-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,
 -2.51996255e-06, 1.94154904e-06,-4.90500615e+00,-1.85072815e-03,
  4.39761622e-05,-2.22436358e-03]


--- 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,
  9.38232292e-02,-7.04881669e-02, 1.30630156e-01, 4.85900508e-01,
  4.76454021e-01, 5.13173857e-01, 5.23015158e-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,  0.05161161,  1.90902668, -0.08148505,  3.5079409 ,
   0.48589021,-27.49644648]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006376454057961389
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.70564592e-14,  8.70564592e-14,  1.00000000e+00,  7.57882708e-27,
        1.00000000e+00, -8.70564592e-14, -1.00000000e+00,  0.00000000e+00,
       -8.70564592e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09296194, -0.08859862,  0.06198177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.17584736e-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,
 -3.74234302e-06, 4.98283432e-06,-4.90501515e+00,-1.84966986e-03,
  4.33633459e-05,-2.22240503e-03]


--- 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,
  9.38150734e-02,-7.04748568e-02, 1.30632757e-01, 4.85962141e-01,
  4.76351796e-01, 5.13212976e-01, 5.23012624e-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, -1.44886522, -3.55069613, -0.69653599,-28.84335429,
   2.58546779, 49.02599234]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006392670443379211
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.51267163e-14,  4.34178109e-14,  1.00000000e+00,  2.82765945e-27,
        1.00000000e+00, -4.34178109e-14, -1.00000000e+00,  0.00000000e+00,
       -6.51267163e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10752186, -0.03359088,  0.06198173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.74627405e-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,
 -4.89373266e-06, 9.21624123e-06,-4.90502807e+00,-1.84872490e-03,
  4.23098015e-05,-2.21975818e-03]


--- 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,
  9.38012509e-02,-7.04753836e-02, 1.30631641e-01, 4.85997614e-01,
  4.76268620e-01, 5.13180076e-01, 5.23087689e-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, -1.41670413, -3.45919771, -0.92959889,-27.88584949,
   2.71416808, 47.73761579]

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([ 6.78464335, -3.39154918,  5.87611943, -3.39154918, 39.9710829 ,
       19.15438295,  5.87611943, 19.15438295, 17.84007416,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006423751052960919
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.29623216e-13,  1.29623216e-13,  1.00000000e+00, -1.68021781e-26,
        1.00000000e+00, -1.29623216e-13, -1.00000000e+00,  0.00000000e+00,
        1.29623216e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10751921, -0.03359198,  0.06198164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -5.00700464e-06, 2.19998858e-06,-4.90500962e+00,-1.84927082e-03,
  4.37738783e-05,-2.21906656e-03]


--- 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,
  9.37818707e-02,-7.04894365e-02, 1.30626001e-01, 4.86007203e-01,
  4.76204046e-01, 5.13077103e-01, 5.23238561e-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,
 -1.38940791e+00,-3.38154216e+00,-1.13081849e+00,-2.70947316e+01,
  2.80120645e+00, 4.66506437e+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([ 6.76891807, -3.7966713 ,  5.60388605, -3.7966713 , 45.36282878,
       26.14763971,  5.60388605, 26.14763971, 24.48412364,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000640469087981585
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73345294e-13,  8.66726471e-14,  1.00000000e+00, -1.50242955e-26,
        1.00000000e+00, -8.66726471e-14, -1.00000000e+00,  0.00000000e+00,
        1.73345294e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10751803, -0.03359051,  0.06198169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.01773689e-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,
 -3.13431662e-06,-2.85587492e-06,-4.90500732e+00,-1.84989789e-03,
  4.28589369e-05,-2.21990457e-03]


--- 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,
  9.37570247e-02,-7.05167534e-02, 1.30615144e-01, 4.85991153e-01,
  4.76157687e-01, 5.12905636e-01, 5.23463719e-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, -1.36645551, -3.31600748, -1.30427457,-26.44541367,
   2.85562536, 45.74055797]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006345594407615313
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.18699572e-14, -4.37399144e-14,  1.00000000e+00,  9.56590056e-28,
        1.00000000e+00,  4.37399144e-14, -1.00000000e+00,  0.00000000e+00,
        2.18699572e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10751802, -0.03358698,  0.06198186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.96151509e-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,
  6.55946660e-07,-6.10869155e-06,-4.90501991e+00,-1.85063402e-03,
  3.97913281e-05,-2.22223736e-03]


--- 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,
  9.37321761e-02,-7.05352793e-02, 1.30609581e-01, 4.86002111e-01,
  4.76086438e-01, 5.12769503e-01, 5.23651687e-01]

qacc:
[-3.28316251e+00, 2.21058186e+00,-7.44558414e+00, 8.88290321e+00,
  6.03324429e+00,-1.22696854e-01,-5.46704950e-01, 3.59782611e+00,
 -3.40208420e+00,-1.00392875e+00, 5.40030800e+00,-1.46933823e+01,
  1.57260956e-02,-3.48306325e-01, 1.54413397e+00,-5.38304053e+00,
 -6.51335676e-04, 2.19776195e+00, 1.32330884e+00, 6.30725241e+00,
 -6.80630170e-01,-3.09010417e+01]

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([  6.82670768,   1.44955656,   6.67103616,   1.44955656,
        59.83430116, -11.51807654,   6.67103616, -11.51807654,
         9.32948282,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006474830968956208
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.28668729e-14,  8.57337458e-14,  1.00000000e+00, -3.67513758e-27,
        1.00000000e+00, -8.57337458e-14, -1.00000000e+00,  0.00000000e+00,
        4.28668729e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09297848, -0.08860011,  0.06198149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.90628438e-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,
  6.31095655e-06,-7.66295836e-06,-4.90504644e+00,-1.85149288e-03,
  3.47408429e-05,-2.22603342e-03]


--- 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,
  9.37073543e-02,-7.05452893e-02, 1.30608017e-01, 4.86039654e-01,
  4.75990027e-01, 5.12667462e-01, 5.23804374e-01]

qacc:
[-1.98529556e+00,-6.60823109e-01, 3.04965621e-01, 5.67862935e+00,
  9.82335420e+00, 1.96243108e+00,-8.85912905e+00, 1.73203551e+01,
 -8.07437082e+00,-2.26640639e+00, 1.27321667e+01,-3.17478767e+01,
  5.10305931e-01,-1.31874683e+00,-2.33430009e-01, 4.65166967e-01,
  6.71847319e-03, 2.12897582e+00, 9.99977530e-01, 5.52878458e+00,
 -3.41553024e-01,-3.01004938e+01]

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([ 6.91304381,  0.32319436, -6.90548479,  0.32319436, 47.43889245,
        1.89671343, -6.90548479,  1.89671343,  7.00181485,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006580164303427033
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09298301, -0.08859837,  0.06198119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.17267563e-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,
  1.43575579e-06,-8.43560918e-06,-4.90503242e+00,-1.84643642e-03,
  4.02110263e-05,-2.22691608e-03]


--- 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,
  9.36825803e-02,-7.05470173e-02, 1.30609334e-01, 4.86103394e-01,
  4.75868283e-01, 5.12598465e-01, 5.23923354e-01]

qacc:
[ 4.91140560e+00, 9.52568466e-01,-7.81002410e+00, 2.36759884e+01,
  5.96076953e+00, 5.62324161e-01,-2.85422315e+00, 6.96325253e+00,
 -1.81344051e+00,-1.62788280e+00, 8.34076961e+00,-1.92957525e+01,
 -1.22106857e-01,-3.17632381e-01, 1.59511508e+01,-5.46647960e+01,
  1.19353189e-02, 2.07049512e+00, 7.20177073e-01, 4.90343781e+00,
 -7.21154786e-02,-2.94103359e+01]

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([ 6.94803313,  0.64476929, -6.91805153,  0.64476929, 61.41827371,
        5.07668065, -6.91805153,  5.07668065,  7.42118482,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006623068724930653
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.38148501e-14, -1.67629700e-13,  1.00000000e+00,  1.40498582e-26,
        1.00000000e+00,  1.67629700e-13, -1.00000000e+00,  0.00000000e+00,
        8.38148501e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09298657, -0.08859813,  0.06198107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.86668716e-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,
 -2.99775311e-06,-7.94984774e-06,-4.90502393e+00,-1.84179956e-03,
  4.48754889e-05,-2.22714213e-03]


--- 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,
  9.36578682e-02,-7.05406605e-02, 1.30612569e-01, 4.86192981e-01,
  4.75721101e-01, 5.12561629e-01, 5.24009919e-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,
  1.54762639e-02, 2.02119993e+00, 4.79420532e-01, 4.40017798e+00,
  1.42900800e-01,-2.88215143e+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: -0.0006615328703193507
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.09782286e-14, -2.51738744e-13,  1.00000000e+00, -5.28103292e-27,
        1.00000000e+00,  2.51738744e-13, -1.00000000e+00,  0.00000000e+00,
       -2.09782286e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09298936, -0.0885991 ,  0.06198109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.77360243e-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,
 -7.11784189e-06,-6.22535826e-06,-4.90502050e+00,-1.83747734e-03,
  4.88464629e-05,-2.22670183e-03]


--- 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,
  9.36332270e-02,-7.05263837e-02, 1.30616896e-01, 4.86308109e-01,
  4.75548417e-01, 5.12556212e-01, 5.24065125e-01]

qacc:
[-1.29503215e+00,-1.00009447e+00, 5.68428851e+00,-1.46612180e+01,
 -4.72440653e+00,-1.62895857e+00, 6.46231220e+00,-1.09936413e+01,
  3.25241487e+00, 2.59693160e+00,-1.29196793e+01, 2.76885482e+01,
 -5.65949040e-01, 9.26043930e-01,-1.12024628e+01, 3.74159753e+01,
  1.77128574e-02, 1.98001554e+00, 2.73215707e-01, 3.99428720e+00,
  3.15417508e-01,-2.83245723e+01]

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: -0.0006567051580202432
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.69059586e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.69059586e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09299154, -0.08860103,  0.06198123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.10192898e-05,-3.28693957e-06,-4.90502177e+00,-1.83339142e-03,
  5.22093662e-05,-2.22559027e-03]


--- 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,
  9.36110563e-02,-7.05040709e-02, 1.30621654e-01, 4.86438574e-01,
  4.75358273e-01, 5.12591825e-01, 5.24081718e-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,
  6.17636587e-01, 2.00898740e+00, 1.07580703e-01, 1.27544645e+01,
  1.43964745e+00,-2.76375890e+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: -0.0006486394827367448
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.95375201e-08,  5.95376913e-08,  1.00000000e+00, -3.54472649e-15,
        1.00000000e+00, -5.95376913e-08, -1.00000000e+00,  0.00000000e+00,
        5.95375201e-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([ 0.08773272, -0.08905069,  0.06198146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.47721843e-05, 8.39772941e-07,-4.90502745e+00,-1.82948295e-03,
  5.50293511e-05,-2.22380542e-03]


--- 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,
  9.35944912e-02,-7.04962756e-02, 1.30623991e-01, 4.86503407e-01,
  4.75246632e-01, 5.12585581e-01, 5.24128893e-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, 1.40139832,-3.62937279,
 -0.6051561 ,15.88649069,-6.66165158,54.7045672 ]

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([ 6.79863605,  0.93740637, -6.73370043,  0.93740637, 59.66548072,
        7.35965576, -6.73370043,  7.35965576,  7.8231824 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006440727031166854
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.46407824e-14,  4.30938549e-14,  1.00000000e+00, -2.78562050e-27,
        1.00000000e+00, -4.30938549e-14, -1.00000000e+00,  0.00000000e+00,
        6.46407824e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07993891, -0.03281571,  0.06198159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.10089591e-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,
 -1.68864412e-05, 6.07284873e-06,-4.90503377e+00,-1.82574467e-03,
  5.63802067e-05,-2.22116714e-03]


--- 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,
  9.35833478e-02,-7.05026132e-02, 1.30622897e-01, 4.86503896e-01,
  4.75211075e-01, 5.12539513e-01, 5.24205724e-01]

qacc:
[-2.20874932e+00, 2.62878338e+00,-1.33357469e+01, 2.88687153e+01,
  1.03828398e+00, 1.09044349e+00,-6.01376830e+00, 1.29164191e+01,
  7.96466605e-01,-7.24144910e-01, 4.26605513e+00,-1.25710616e+01,
 -3.76103863e-02, 3.96832807e-02,-4.83947654e+00, 1.67239752e+01,
  1.35541932e+00,-3.53321977e+00,-8.57749563e-01, 1.57600340e+01,
 -6.08812976e+00, 5.30394824e+01]

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([ 6.84208611, -5.26999719,  4.3636306 , -5.26999719, 19.16438432,
       14.88175395,  4.3636306 , 14.88175395, 24.81491853,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006493542316918927
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.4115026e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        6.4115026e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07993618, -0.03281982,  0.06198144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.28874708e-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,
 -6.22226135e-06,-8.31979213e-07,-4.90501056e+00,-1.82823923e-03,
  5.16035201e-05,-2.21951310e-03]


--- 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,
  9.35774711e-02,-7.05227560e-02, 1.30617500e-01, 4.86441151e-01,
  4.75249559e-01, 5.12455262e-01, 5.24311422e-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,  1.3167012 , -3.45131413, -1.07583879, 15.6298013 ,
  -5.63035991, 51.6423701 ]

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([ 6.83994718, -5.56663942,  3.97459469, -5.56663942, 20.63386672,
       19.3191463 ,  3.97459469, 19.3191463 , 33.89747878,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000649093858333602
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.28281489e-13,  8.55209929e-14,  1.00000000e+00, -1.09707603e-26,
        1.00000000e+00, -8.55209929e-14, -1.00000000e+00,  0.00000000e+00,
        1.28281489e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07993315, -0.03282062,  0.06198145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  3.05099401e-07,-1.73861887e-06,-4.90500446e+00,-1.82969253e-03,
  4.91600720e-05,-2.21940817e-03]


--- 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,
  9.35743948e-02,-7.05342401e-02, 1.30615821e-01, 4.86395493e-01,
  4.75267462e-01, 5.12415974e-01, 5.24375946e-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 ,  0.70007856,  2.16466876,  0.92939302, 13.27148569,
   2.16908917,-30.45140055]

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: -0.0006517046904195717
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.27767573e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.27767573e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08755597, -0.0890675 ,  0.06198137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.97662099e-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,
  3.13127777e-06, 2.91559862e-06,-4.90501411e+00,-1.83035142e-03,
  4.89169708e-05,-2.22078236e-03]


--- 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,
  9.35740483e-02,-7.05372947e-02, 1.30616747e-01, 4.86366490e-01,
  4.75265269e-01, 5.12420441e-01, 5.24400471e-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,  0.68244748,  2.10740474,  0.65137029, 12.87476235,
   2.13761391,-29.64103968]

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: -0.0006567378541023905
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.26788377e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.26788377e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08755665, -0.08906641,  0.06198123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  1.59685896e-06, 1.06347556e-06,-4.90500423e+00,-1.82930811e-03,
  5.07560613e-05,-2.22160775e-03]


--- 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,
  9.35763718e-02,-7.05321136e-02, 1.30619320e-01, 4.86353772e-01,
  4.75243390e-01, 5.12467635e-01, 5.24385976e-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,  0.66750003,  2.05889973,  0.41178459, 12.54325712,
   2.10752694,-28.95602479]

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: -0.0006566190878095901
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.45408735e-14,  1.26811310e-13,  1.00000000e+00, -1.07207389e-26,
        1.00000000e+00, -1.26811310e-13, -1.00000000e+00,  0.00000000e+00,
        8.45408735e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08755684, -0.08906672,  0.06198123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.51277104e-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,
  2.42916521e-07, 4.10550412e-07,-4.90500024e+00,-1.82840833e-03,
  5.13626564e-05,-2.22165879e-03]


--- 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,
  9.35813151e-02,-7.05188598e-02, 1.30622718e-01, 4.86357025e-01,
  4.75202171e-01, 5.12556691e-01, 5.24333272e-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,  0.65496218,  2.01819343,  0.20627852, 12.26839614,
   2.07911269,-28.38185077]

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: -0.0006523676493053743
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.25459105e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.25459105e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08755663, -0.08906814,  0.06198135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -9.53455217e-07, 8.74636510e-07,-4.90500171e+00,-1.82765004e-03,
  5.08145051e-05,-2.22095284e-03]


--- 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,
  9.35888367e-02,-7.04976684e-02, 1.30626239e-01, 4.86375981e-01,
  4.75141898e-01, 5.12686883e-01, 5.24243018e-01]

qacc:
[ 7.10576457e+00, 1.67270064e+00,-9.20378749e+00, 2.28041969e+01,
  1.47510975e+00,-1.17347362e+00, 4.31585007e+00,-4.50967261e+00,
  7.28698687e+00, 3.11474799e-01,-6.53216604e-01, 2.41746862e+00,
  8.51124278e-01,-1.71155817e+00,-1.27536360e+01, 4.29814136e+01,
  6.44570249e-01, 1.98437931e+00, 3.06853447e-02, 1.20426705e+01,
  2.05245502e+00,-2.79053150e+01]

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: -0.0006448534085757435
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.60833648e-14,  8.60833648e-14,  1.00000000e+00,  7.41034570e-27,
        1.00000000e+00, -8.60833648e-14, -1.00000000e+00,  0.00000000e+00,
       -8.60833648e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08755612, -0.08907045,  0.06198157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.15933431e-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,
 -2.01067206e-06, 2.38773685e-06,-4.90500829e+00,-1.82703162e-03,
  4.91720405e-05,-2.21950447e-03]


--- 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,
  9.36018333e-02,-7.04907043e-02, 1.30626494e-01, 4.86330981e-01,
  4.75157690e-01, 5.12776941e-01, 5.24182367e-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,  1.36874392, -3.55680063, -0.81635742, 15.58433179,
  -6.27092559, 52.99708663]

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([ 6.81297848,  1.17229762, -6.71136305,  1.17229762, 67.09621577,
       10.52988716, -6.71136305, 10.52988716,  8.65227126,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006458143390752624
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.59552783e-14,  8.59552783e-14,  1.00000000e+00, -7.38830986e-27,
        1.00000000e+00, -8.59552783e-14, -1.00000000e+00,  0.00000000e+00,
        8.59552783e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07991221, -0.03282338,  0.06198154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -2.94369322e-06, 4.89352540e-06,-4.90501972e+00,-1.82655179e-03,
  4.64815220e-05,-2.21732573e-03]


--- 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,
  9.36201523e-02,-7.04976190e-02, 1.30622589e-01, 4.86222986e-01,
  4.75247517e-01, 5.12828642e-01, 5.24150541e-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,  1.33060767, -3.46972609, -1.04012891, 15.5248357 ,
  -5.73159355, 51.61400853]

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([ 6.81805998, -4.85011222,  4.79190498, -4.85011222, 26.39556817,
       19.81531605,  4.79190498, 19.81531605, 26.87407254,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006464318024709953
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.14682937e-14,  1.28809762e-13,  1.00000000e+00, -2.76532581e-27,
        1.00000000e+00, -1.28809762e-13, -1.00000000e+00,  0.00000000e+00,
        2.14682937e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07990888, -0.03282429,  0.06198152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.37710548e-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,
 -2.20664520e-06, 1.59831032e-06,-4.90500955e+00,-1.83063779e-03,
  4.76598030e-05,-2.21673749e-03]


--- 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,
  9.36436672e-02,-7.05181177e-02, 1.30613753e-01, 4.86052814e-01,
  4.75409656e-01, 5.12843422e-01, 5.24146874e-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,  1.29897078, -3.3959826 , -1.23285594, 15.45882223,
  -5.29293631, 50.45596892]

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([ 6.78540805, -5.21821499,  4.33727964, -5.21821499, 28.10745675,
       25.65272324,  4.33727964, 25.65272324, 37.64839964,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006424678399253453
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.48022529e-14,  4.32015019e-14,  1.00000000e+00, -2.79955465e-27,
        1.00000000e+00, -4.32015019e-14, -1.00000000e+00,  0.00000000e+00,
        6.48022529e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07990537, -0.03282257,  0.06198163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -5.11852919e-06, 3.96817760e-06,-4.90501540e+00,-1.83385388e-03,
  5.08802912e-05,-2.21757667e-03]


--- 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,
  9.36673920e-02,-7.05300606e-02, 1.30609443e-01, 4.85911671e-01,
  4.75540817e-01, 5.12891888e-01, 5.24111334e-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,  0.05247026,  2.13894714,  1.13156148,  2.5722171 ,
   1.28509003,-31.30439436]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006496269554208678
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.27254063e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.27254063e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09299567, -0.08860319,  0.06198143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.82954560e-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,
 -1.13622963e-05, 1.16643193e-05,-4.90503616e+00,-1.83641521e-03,
  5.60689765e-05,-2.21979481e-03]


--- 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,
  9.36913257e-02,-7.05336807e-02, 1.30608474e-01, 4.85798658e-01,
  4.75642117e-01, 5.12973135e-01, 5.24044658e-01]

qacc:
[ 3.60742696e+00,-2.76174112e-01, 1.30839733e+00,-2.79583957e+00,
  2.08592324e-01, 1.24516423e+00,-9.29020900e+00, 2.53892544e+01,
  6.55639855e+00,-9.15813798e-01, 1.91167948e+00, 2.10516622e+00,
 -1.19478245e-01,-2.83562209e-02, 7.83314343e+00,-2.66013068e+01,
  5.22134964e-02, 2.08070537e+00, 8.35345936e-01, 2.63147154e+00,
  1.17309418e+00,-3.03884006e+01]

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: -0.0006568805658159899
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.26760832e-13, -8.45072211e-14,  1.00000000e+00,  1.07122056e-26,
        1.00000000e+00,  8.45072211e-14, -1.00000000e+00,  0.00000000e+00,
        1.26760832e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09299495, -0.08860125,  0.06198122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -9.39895554e-06, 6.34971654e-06,-4.90502670e+00,-1.83827978e-03,
  5.28593383e-05,-2.22107186e-03]


--- 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,
  9.37154691e-02,-7.05291761e-02, 1.30609823e-01, 4.85713011e-01,
  4.75714489e-01, 5.13086392e-01, 5.23947468e-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,  0.0524408 ,  2.0311584 ,  0.57952785,  2.67936892,
   1.07833933,-29.61476858]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006585543389799886
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.10731097e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.10731097e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09299436, -0.08860085,  0.06198117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -7.59677587e-06, 2.76233792e-06,-4.90502253e+00,-1.84013792e-03,
  4.93197700e-05,-2.22158419e-03]


--- 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,
  9.37398247e-02,-7.05167139e-02, 1.30612611e-01, 4.85654089e-01,
  4.75758716e-01, 5.13231008e-01, 5.23820277e-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,  0.05306893,  1.98941426,  0.35972886,  2.71979345,
   0.99741724,-28.96636923]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006557286694440084
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.23278361e-14,  8.46556721e-14,  1.00000000e+00,  3.58329141e-27,
        1.00000000e+00, -8.46556721e-14, -1.00000000e+00,  0.00000000e+00,
       -4.23278361e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09299388, -0.08860169,  0.06198125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -5.91589710e-06, 7.51340773e-07,-4.90502322e+00,-1.84201096e-03,
  4.54419548e-05,-2.22135122e-03]


--- 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,
  9.37643965e-02,-7.04964333e-02, 1.30616086e-01, 4.85621350e-01,
  4.75775444e-01, 5.13406436e-01, 5.23663502e-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,  0.05403096,  1.954607  ,  0.17167942,  2.75561321,
   0.92757425,-28.42771181]

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: -0.0006493278417151749
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.54901756e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.54901756e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09299348, -0.08860351,  0.06198144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.57326991e-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,
 -4.32580681e-06, 1.95691318e-07,-4.90502842e+00,-1.84391512e-03,
  4.12187226e-05,-2.22038921e-03]


--- 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,
  9.37857015e-02,-7.04799634e-02, 1.30622854e-01, 4.85588061e-01,
  4.75791452e-01, 5.13555323e-01, 5.23533819e-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, -0.81669823, -0.95269808,  0.8231079 ,-13.94809626,
   0.33057402, 12.85119663]

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: -0.0006405601450262693
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.66603264e-14,  1.00703329e-06,  1.00000000e+00,  8.72698335e-20,
        1.00000000e+00, -1.00703329e-06, -1.00000000e+00,  0.00000000e+00,
       -8.66603264e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10006998, -0.06166784,  0.06198169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.10342744e-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,
 -2.80285503e-06, 9.98440203e-07,-4.90503788e+00,-1.84586297e-03,
  3.66434767e-05,-2.21871165e-03]


--- 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,
  9.38012517e-02,-7.04775664e-02, 1.30626505e-01, 4.85527870e-01,
  4.75826930e-01, 5.13631013e-01, 5.23483145e-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, -1.43870293, -3.51821804, -0.77894555,-28.32087435,
   2.83477517, 48.63753288]

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([  6.82804784,  -3.09854831,  -6.08450784,  -3.09854831,
        58.65099761, -26.39094528,  -6.08450784, -26.39094528,
        20.26769179,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006476460768393005
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.28560855e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.28560855e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1074475 , -0.03357605,  0.06198149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.71997223e-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,
 -2.54618816e-06, 9.69407731e-07,-4.90502709e+00,-1.84817221e-03,
  3.77046877e-05,-2.21737264e-03]


--- 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,
  9.38111839e-02,-7.04888977e-02, 1.30626150e-01, 4.85441131e-01,
  4.75881384e-01, 5.13635712e-01, 5.23509476e-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, -1.40449772, -3.43206484, -1.0017792 ,-27.43458225,
   2.93766688, 47.40611859]

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([ 6.83515353, -4.11579419,  5.45706533, -4.11579419, 39.89996939,
       24.93794173,  5.45706533, 24.93794173, 25.64369433,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006485104712396494
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.13994815e-14,  4.27989629e-14,  1.00000000e+00,  9.15875614e-28,
        1.00000000e+00, -4.27989629e-14, -1.00000000e+00,  0.00000000e+00,
       -2.13994815e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10744591, -0.03357612,  0.06198146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.68663653e-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,
 -2.48143855e-06, 1.53841022e-06,-4.90500886e+00,-1.85052247e-03,
  4.18627793e-05,-2.21716254e-03]


--- 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,
  9.38156147e-02,-7.05136660e-02, 1.30621019e-01, 4.85328143e-01,
  4.75954391e-01, 5.13571235e-01, 5.23611112e-01]

qacc:
[-1.78548507e+00, 3.84427308e-02, 8.53185248e-01,-3.73045527e+00,
 -2.23011554e+00,-1.35988523e+00, 4.01013018e+00,-3.01023927e+00,
 -4.86722969e-01,-2.03909251e+00, 6.39785183e+00,-6.74931625e+00,
 -4.02036430e-01, 7.28513351e-01,-1.73200075e+00, 6.56147228e+00,
 -1.37535807e+00,-3.35924398e+00,-1.19372813e+00,-2.66981184e+01,
  3.01290971e+00, 4.63729929e+01]

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([ 6.80402779, -4.43103788,  5.1633998 , -4.43103788, 43.85102947,
       31.79236051,  5.1633998 , 31.79236051, 34.08705045,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006447272401065712
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.15250527e-14,  4.30501054e-14,  1.00000000e+00, -9.26655786e-28,
        1.00000000e+00, -4.30501054e-14, -1.00000000e+00,  0.00000000e+00,
        2.15250527e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10744559, -0.03357378,  0.06198157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.04165705e-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,
 -4.06787067e-07, 3.87742387e-06,-4.90500652e+00,-1.85304331e-03,
  4.36406372e-05,-2.21848522e-03]


--- 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,
  9.38201421e-02,-7.05299384e-02, 1.30619808e-01, 4.85242010e-01,
  4.76001565e-01, 5.13540868e-01, 5.23677839e-01]

qacc:
[ 1.99735793e+00, 8.13965092e-01,-3.66362852e+00, 7.93499194e+00,
 -1.28280699e+00,-7.05946802e-01, 8.54875520e-01, 5.03908303e+00,
  2.79892402e+00,-2.11316227e+00, 6.02294124e+00,-5.60506232e+00,
 -6.77275310e-01, 1.04398742e+00, 1.75067669e+01,-5.94356265e+01,
  2.41642610e-02, 2.12395929e+00, 9.79680677e-01, 5.23491695e+00,
 -1.63305075e-01,-3.02523471e+01]

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([  6.75502158,   1.34212303,   6.6203491 ,   1.34212303,
        65.3193738 , -11.87257118,   6.6203491 , -11.87257118,
         9.16191145,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006387862344520295
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.34504911e-14,  8.69009823e-14,  1.00000000e+00,  3.77589036e-27,
        1.00000000e+00, -8.69009823e-14, -1.00000000e+00,  0.00000000e+00,
       -4.34504911e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09300056, -0.08860835,  0.06198174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17180023e-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,
  3.59253803e-06, 7.86560233e-06,-4.90501885e+00,-1.85574824e-03,
  4.32587654e-05,-2.22130729e-03]


--- 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,
  9.38247932e-02,-7.05379418e-02, 1.30621429e-01, 4.85182256e-01,
  4.76022987e-01, 5.13543607e-01, 5.23711045e-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,
  3.09047847e-02, 2.06725057e+00, 7.08163672e-01, 4.74943380e+00,
  2.39471937e-02,-2.95320117e+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: -0.0006441260827432516
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.61805673e-14,  8.61805673e-14,  1.00000000e+00, -7.42709018e-27,
        1.00000000e+00, -8.61805673e-14, -1.00000000e+00,  0.00000000e+00,
        8.61805673e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09300345, -0.08860761,  0.06198159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.51635460e-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,
  1.92724305e-06, 4.16478574e-06,-4.90500807e+00,-1.85433073e-03,
  4.38853619e-05,-2.22263326e-03]


--- 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,
  9.38295892e-02,-7.05378683e-02, 1.30624946e-01, 4.85148461e-01,
  4.76018763e-01, 5.13578609e-01, 5.23711868e-01]

qacc:
[  2.58883576, -0.59123532,  2.52121384, -3.80952941, -0.36689695,
  -0.83806668,  0.16221279,  8.15170782,  1.02317558, -0.9166046 ,
   3.9389812 , -8.51234958, -0.25330488,  0.38446352, -2.05227891,
   6.43998992,  0.03624215,  2.01923275,  0.47400709,  4.36301853,
   0.16896852,-28.91750008]

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: -0.000644447265407494
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.61376162e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.61376162e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0930057 , -0.08860812,  0.06198158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.51283488e-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,
  5.73957959e-07, 1.90899455e-06,-4.90500222e+00,-1.85320359e-03,
  4.38997081e-05,-2.22323852e-03]


--- 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,
  9.38345472e-02,-7.05298790e-02, 1.30629555e-01, 4.85140260e-01,
  4.75989008e-01, 5.13645166e-01, 5.23681235e-01]

qacc:
[ -1.56841996,  0.30336626, -0.99778905,  0.98934677,  2.83431349,
   1.94517524,-11.57411385, 29.17628986,  6.67037381, -1.13922497,
   4.82250887, -8.48034407, -0.40328823,  0.57183195,  9.47132103,
 -32.56393272,  0.04049356,  1.97893816,  0.27306524,  4.05611277,
   0.28093227,-28.39833411]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006407367578608603
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.66364393e-14,  1.73272879e-13,  1.00000000e+00,  1.50117452e-26,
        1.00000000e+00, -1.73272879e-13, -1.00000000e+00,  0.00000000e+00,
       -8.66364393e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09300745, -0.08860963,  0.06198168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -5.54298619e-07, 1.02953055e-06,-4.90500094e+00,-1.85230622e-03,
  4.33655579e-05,-2.22313078e-03]


--- 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,
  9.38396808e-02,-7.05141079e-02, 1.30634569e-01, 4.85157334e-01,
  4.75933836e-01, 5.13742689e-01, 5.23619895e-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,  0.0439071 ,  1.94546003,  0.10135102,  3.81309924,
   0.36701604,-27.96451732]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006338382457254654
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.75793652e-14, -2.62738096e-13,  1.00000000e+00, -2.30104357e-26,
        1.00000000e+00,  2.62738096e-13, -1.00000000e+00,  0.00000000e+00,
       -8.75793652e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09300881, -0.08861193,  0.06198188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.14963920e-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,
 -1.52067393e-06, 1.46588277e-06,-4.90500398e+00,-1.85159419e-03,
  4.23298627e-05,-2.22231773e-03]


--- 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,
  9.38391989e-02,-7.05122437e-02, 1.30635971e-01, 4.85148725e-01,
  4.75897886e-01, 5.13767326e-01, 5.23636373e-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, -1.40388365, -3.47672071, -0.90332256,-28.29648037,
   2.40273722, 47.88344237]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006290351599345378
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.82480897e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.82480897e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10743684, -0.03356247,  0.06198202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.83064626e-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,
 -2.37079660e-06, 3.16587901e-06,-4.90501113e+00,-1.85103497e-03,
  4.08269226e-05,-2.22080647e-03]


--- 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,
  9.38332105e-02,-7.05239726e-02, 1.30632952e-01, 4.85114538e-01,
  4.75880711e-01, 5.13721222e-01, 5.23728880e-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, -1.37660994, -3.39828351, -1.10507446,-27.41163653,
   2.5856028 , 46.7949943 ]

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([ 6.67132359, -2.99382868,  5.96184102, -2.99382868, 44.38032291,
       18.93614462,  5.96184102, 18.93614462, 16.18039515,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006286770552890592
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10743469, -0.03356169,  0.06198203])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.43514922e-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,
 -9.29613831e-07, 2.03714401e-07,-4.90500034e+00,-1.85287798e-03,
  4.23352136e-05,-2.22120755e-03]


--- 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,
  9.38273078e-02,-7.05274280e-02, 1.30632698e-01, 4.85106366e-01,
  4.75838691e-01, 5.13708308e-01, 5.23787293e-01]

qacc:
[-2.88941701e-01, 3.22155027e-01, 1.39278119e+00,-1.17720337e+01,
 -4.14270917e+00,-1.96359420e-01, 1.91049401e+00,-5.48806148e+00,
  1.59198808e+00, 2.61426277e+00,-7.57055204e+00, 4.61540562e+00,
 -4.82970830e-01, 4.71994573e-01, 1.08703137e+01,-3.67150036e+01,
  2.14053100e-02, 2.06836430e+00, 6.91237472e-01, 5.23280249e+00,
 -2.37826518e-01,-2.93611353e+01]

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([ 6.66950362,  1.32712082,  6.53613256,  1.32712082, 54.83555851,
       -9.77981611,  6.53613256, -9.77981611,  8.65523409,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006284576898956118
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.41645891e-14,  8.83291781e-14,  1.00000000e+00, -3.90102185e-27,
        1.00000000e+00, -8.83291781e-14, -1.00000000e+00,  0.00000000e+00,
        4.41645891e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0930161 , -0.0886153 ,  0.06198203])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.59071317e-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,
  2.35290888e-06,-9.54388757e-07,-4.90500488e+00,-1.85476571e-03,
  4.15790928e-05,-2.22308965e-03]


--- 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,
  9.38215149e-02,-7.05227983e-02, 1.30634295e-01, 4.85123886e-01,
  4.75771699e-01, 5.13727731e-01, 5.23812871e-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,
  2.74472556e-02, 2.02128782e+00, 4.62812540e-01, 4.73228699e+00,
 -2.76024143e-02,-2.88004917e+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: -0.000629536766037983
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09301907, -0.08861577,  0.061982  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.88179106e-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,
 -1.70961380e-07,-1.26389617e-06,-4.90500129e+00,-1.85232259e-03,
  4.29430701e-05,-2.22306223e-03]


--- 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,
  9.38158501e-02,-7.05102414e-02, 1.30636958e-01, 4.85166812e-01,
  4.75679658e-01, 5.13778775e-01, 5.23806642e-01]

qacc:
[-1.96828770e+00, 2.44503527e+00,-1.47713460e+01, 3.59773528e+01,
  7.43219550e+00,-4.03506916e-01,-4.21470741e+00, 2.13269717e+01,
  3.61564088e+00,-5.13727058e+00, 7.95310266e+00, 1.57202971e+01,
 -8.20698171e-01, 1.50080755e+00,-6.62870683e+00, 2.23782976e+01,
  3.20350322e-02, 1.98180700e+00, 2.66355235e-01, 4.33286119e+00,
  1.37752603e-01,-2.83252806e+01]

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: -0.0006266323001756363
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.85864824e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.85864824e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09302139, -0.08861718,  0.06198209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.15580890e-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,
 -2.43379701e-06,-2.97577638e-07,-4.90500226e+00,-1.85014750e-03,
  4.37133091e-05,-2.22234535e-03]


--- 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,
  9.38046219e-02,-7.05114839e-02, 1.30635714e-01, 4.85184715e-01,
  4.75606652e-01, 5.13757211e-01, 5.23877499e-01]

qacc:
[  4.94365764,  2.08939951,-16.44823201, 47.18008722, -1.48592721,
  -0.47229965, -6.55449538, 29.90630424, -0.90690471,  1.44037987,
 -24.1478481 , 82.49967682, -1.06999766,  1.92371709,  8.94995421,
 -30.35226743, -1.39084141, -3.44985373, -0.97650588,-28.25033441,
   2.16383325, 47.41175198]

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([  6.63818316,  -1.32109919,  -6.50539565,  -1.32109919,
        66.96254357, -12.25051756,  -6.50539565, -12.25051756,
         9.12598708,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006246852031392552
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11078250e-13,  8.88625998e-14,  1.00000000e+00, -9.87070206e-27,
        1.00000000e+00, -8.88625998e-14, -1.00000000e+00,  0.00000000e+00,
        1.11078250e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10742538, -0.03355694,  0.06198214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.87817509e-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,
 -4.51137882e-06, 1.90977587e-06,-4.90500754e+00,-1.84818251e-03,
  4.39487481e-05,-2.22094015e-03]


--- 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,
  9.37901125e-02,-7.05164909e-02, 1.30637263e-01, 4.85200756e-01,
  4.75533763e-01, 5.13710547e-01, 5.23974561e-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,
 -8.20296831e-01,-9.41138193e-01, 6.97953543e-01,-1.28347048e+01,
  5.89802199e-01, 1.28442947e+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([ 6.62085622,  0.98526481,  6.54713604,  0.98526481, 51.08310008,
       -6.69103009,  6.54713604, -6.69103009,  7.62777535,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000622600211749567
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.2142091e-06,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.2142091e-06, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10007354, -0.06166617,  0.0619822 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.38162171e-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,
 -2.08333905e-06,-2.60821500e-06,-4.90500442e+00,-1.84958165e-03,
  4.34630800e-05,-2.22193356e-03]


--- 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,
  9.37756757e-02,-7.05134717e-02, 1.30640316e-01, 4.85242226e-01,
  4.75436290e-01, 5.13695978e-01, 5.24038890e-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,
  1.81457370e-02, 2.00656595e+00, 3.76211996e-01, 4.80548359e+00,
 -8.66392494e-02,-2.85489647e+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([ 6.61475082,  1.35834481,  6.47378003,  1.35834481, 47.06878236,
       -8.48816664,  6.47378003, -8.48816664,  8.39575929,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006218658497935126
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.46327381e-14,  1.78530952e-13,  1.00000000e+00, -7.96832525e-27,
        1.00000000e+00, -1.78530952e-13, -1.00000000e+00,  0.00000000e+00,
        4.46327381e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09302971, -0.08862061,  0.06198222])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.45988343e-06,-3.96684790e-06,-4.90500763e+00,-1.84890647e-03,
  4.32666202e-05,-2.22272143e-03]


--- 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,
  9.37613293e-02,-7.05025745e-02, 1.30644144e-01, 4.85308898e-01,
  4.75314043e-01, 5.13712814e-01, 5.24071540e-01]

qacc:
[-3.42278379e+00, 2.66214600e+01,-8.81022942e+01, 1.22855009e+02,
  5.26537324e+00, 8.56890478e+00,-4.19195115e+01, 9.20585109e+01,
  1.58261575e+00, 1.41889658e+01,-7.84405955e+01, 1.88965227e+02,
 -3.85364561e-01, 4.05712192e-01, 1.66691314e+01,-5.72036920e+01,
  2.25755271e-02, 1.96948360e+00, 1.93760929e-01, 4.36415679e+00,
  1.06291303e-01,-2.81182752e+01]

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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000618016338534283
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.98214946e-14,  1.79642989e-13,  1.00000000e+00,  1.61358018e-26,
        1.00000000e+00, -1.79642989e-13, -1.00000000e+00,  0.00000000e+00,
       -8.98214946e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09303227, -0.08862232,  0.06198233])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.81302220e-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,
 -4.56658378e-06,-2.44597694e-06,-4.90500740e+00,-1.84572795e-03,
  4.53641971e-05,-2.22200695e-03]


--- 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,
  9.37438032e-02,-7.04953720e-02, 1.30649879e-01, 4.85374830e-01,
  4.75191212e-01, 5.13704270e-01, 5.24130241e-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,
 -7.94889565e-01,-9.23644896e-01, 4.76518250e-01,-1.33075993e+01,
  3.76254080e-01, 1.23974376e+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([ 6.52727645, -1.04132202, -6.44367801, -1.04132202, 62.86893076,
       -9.10501818, -6.44367801, -9.10501818,  7.99868081,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006113596527364826
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.07995007e-14,  1.25665510e-07,  1.00000000e+00, -1.14103656e-20,
        1.00000000e+00, -1.25665510e-07, -1.00000000e+00,  0.00000000e+00,
        9.07995007e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10007397, -0.06166464,  0.06198252])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -7.48756254e-06, 2.61395112e-07,-4.90501149e+00,-1.84276574e-03,
  4.69125315e-05,-2.22062203e-03]


--- 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,
  9.37209455e-02,-7.05013746e-02, 1.30650170e-01, 4.85417456e-01,
  4.75086519e-01, 5.13625811e-01, 5.24262548e-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,
 -1.33293313e+00,-3.30129790e+00,-1.36085428e+00,-2.72891743e+01,
  1.75308455e+00, 4.52412244e+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([ 6.48496775, -2.00383574, -6.16761292, -2.00383574, 12.07172215,
       -1.81511685, -6.16761292, -1.81511685,  7.07469283,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006062861745844694
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14449153e-13,  4.57796611e-14,  1.00000000e+00, -5.23944343e-27,
        1.00000000e+00, -4.57796611e-14, -1.00000000e+00,  0.00000000e+00,
        1.14449153e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10741348, -0.03354316,  0.06198267])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -7.54412800e-06,-1.73208797e-06,-4.90501228e+00,-1.84187054e-03,
  4.70074246e-05,-2.22026474e-03]


--- 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,
  9.36981067e-02,-7.04993230e-02, 1.30652041e-01, 4.85485517e-01,
  4.74957353e-01, 5.13579511e-01, 5.24361909e-01]

qacc:
[-1.32714374e+02, 1.11499997e+02,-3.16468958e+02, 3.31464966e+02,
 -4.04827353e+01, 4.23962769e+01,-1.05812233e+02, 7.91880319e+01,
 -3.53707004e+00, 6.87188975e+01,-2.36234948e+02, 3.45711799e+02,
 -1.52409873e+00, 3.12025494e+00,-5.65459039e+00, 2.00014333e+01,
  4.74209223e-03, 2.01355382e+00, 3.95188095e-01, 4.90906107e+00,
 -1.37151439e-01,-2.85880454e+01]

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([ 6.47463406,  1.29211979,  6.34439222,  1.29211979, 50.31842881,
       -8.92937144,  6.34439222, -8.92937144,  8.29321921,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006050475807318767
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.17467535e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.17467535e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0930402 , -0.08862783,  0.0619827 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -4.28999020e-06,-7.11805289e-06,-4.90501888e+00,-1.84249024e-03,
  4.43892834e-05,-2.22188191e-03]


--- 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,
  9.36806531e-02,-7.05110690e-02, 1.30649804e-01, 4.85489604e-01,
  4.74903663e-01, 5.13493961e-01, 5.24490522e-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 ,   1.34630006,  -3.44941023,  -1.0272408 ,  15.71202037,
   -5.94134294,  52.57613007]

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([ 6.47526001,  1.44843439, -6.31118293,  1.44843439, 50.64574007,
       10.13725052, -6.31118293, 10.13725052,  8.80178777,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006051226019092026
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.66941516e-13,  9.17353790e-14,  1.00000000e+00, -3.36615190e-26,
        1.00000000e+00, -9.17353790e-14, -1.00000000e+00,  0.00000000e+00,
        3.66941516e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0798338, -0.0328421,  0.0619827])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -8.18414490e-06,-4.92970881e-06,-4.90501777e+00,-1.83836221e-03,
  4.77700581e-05,-2.22110716e-03]


--- 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,
  9.36632496e-02,-7.05146364e-02, 1.30649942e-01, 4.85520220e-01,
  4.74823668e-01, 5.13441075e-01, 5.24586373e-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,
  1.25250746e-02, 2.04466179e+00, 5.93846312e-01, 4.29232793e+00,
  2.36503216e-01,-2.94197793e+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: -0.0006081263275937304
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.12822693e-14,  1.82564539e-13,  1.00000000e+00, -1.66649054e-26,
        1.00000000e+00, -1.82564539e-13, -1.00000000e+00,  0.00000000e+00,
        9.12822693e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09304561, -0.08862817,  0.06198261])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  8.13916220e-07,-4.41902902e-06,-4.90501386e+00,-1.83972599e-03,
  4.43577204e-05,-2.22114040e-03]


--- 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,
  9.36459064e-02,-7.05101933e-02, 1.30651617e-01, 4.85576978e-01,
  4.74717444e-01, 5.13420066e-01, 5.24650534e-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,
  1.50840657e-02, 2.00262428e+00, 3.84093611e-01, 3.92286911e+00,
  3.83257199e-01,-2.88513505e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006090118529060717
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.27873854e-14, -9.11495416e-14,  1.00000000e+00,  2.07705973e-27,
        1.00000000e+00,  9.11495416e-14, -1.00000000e+00,  0.00000000e+00,
        2.27873854e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09304759, -0.08862832,  0.06198259])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.14649642e-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,
 -2.47599106e-06,-3.94789029e-06,-4.90500970e+00,-1.83639921e-03,
  4.72662850e-05,-2.22107482e-03]


--- 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,
  9.36339545e-02,-7.05196319e-02, 1.30649293e-01, 4.85570031e-01,
  4.74686413e-01, 5.13359945e-01, 5.24743862e-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,
  1.34781304e+00,-3.47042019e+00,-9.99545470e-01, 1.56293883e+01,
 -5.94394490e+00, 5.23792911e+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([ 6.52340633,  1.65744733, -6.30933424,  1.65744733, 59.73973112,
       13.97980389, -6.30933424, 13.97980389, 10.19586807,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006108953856338029
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07982537, -0.03285003,  0.06198254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.70017791e-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,
 -5.59551099e-06,-2.17614603e-06,-4.90501016e+00,-1.83325633e-03,
  4.96206563e-05,-2.22031171e-03]


--- 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,
  9.36265911e-02,-7.05328040e-02, 1.30649800e-01, 4.85534108e-01,
  4.74687628e-01, 5.13299688e-01, 5.24834941e-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,
  1.14712531e+00,-9.33386725e-01, 7.07589053e-01, 1.52477739e+01,
 -1.58968153e+00, 1.53649293e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006107460631586347
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.12216187e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.12216187e-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([ 0.08379776, -0.06157696,  0.06198254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.38974408e-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,
  1.05038040e-06,-1.98661063e-06,-4.90500667e+00,-1.83460285e-03,
  4.72455777e-05,-2.22042385e-03]


--- 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,
  9.36218658e-02,-7.05376838e-02, 1.30652121e-01, 4.85514269e-01,
  4.74670014e-01, 5.13282584e-01, 5.24885952e-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,
  6.59521321e-01, 2.07306729e+00, 4.53456979e-01, 1.32188408e+01,
  1.77907335e+00,-2.90218117e+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: -0.0006147450927804776
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.35449193e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.35449193e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08760918, -0.08910705,  0.06198243])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.68550954e-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,
  2.38596443e-06,-3.50146471e-08,-4.90500682e+00,-1.83435554e-03,
  4.78860587e-05,-2.22118276e-03]


--- 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,
  9.36197348e-02,-7.05344369e-02, 1.30655449e-01, 4.85510264e-01,
  4.74633718e-01, 5.13307718e-01, 5.24897899e-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,
  6.48587651e-01, 2.03168346e+00, 2.52009631e-01, 1.28177097e+01,
  1.82158328e+00,-2.84577793e+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: -0.0006141578555592803
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.03858035e-14,  9.03858035e-14,  1.00000000e+00,  8.16959347e-27,
        1.00000000e+00, -9.03858035e-14, -1.00000000e+00,  0.00000000e+00,
       -9.03858035e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08761009, -0.08910758,  0.06198244])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.91522141e-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,
  6.18965361e-07,-4.25533050e-07,-4.90500099e+00,-1.83278858e-03,
  4.93703252e-05,-2.22131135e-03]


--- 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,
  9.36201609e-02,-7.05232021e-02, 1.30659093e-01, 4.85521878e-01,
  4.74578874e-01, 5.13374323e-01, 5.24871605e-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,
  6.39264723e-01, 1.99698728e+00, 7.88947093e-02, 1.24891789e+01,
  1.85174266e+00,-2.79845856e+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: -0.0006101022424781499
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.09866369e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.09866369e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08761049, -0.08910903,  0.06198256])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -9.45266646e-07, 2.08283200e-07,-4.90500050e+00,-1.83141844e-03,
  4.96822992e-05,-2.22070946e-03]


--- 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,
  9.36231127e-02,-7.05040944e-02, 1.30662460e-01, 4.85548927e-01,
  4.74505595e-01, 5.13481759e-01, 5.24807739e-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,
  6.31429663e-01, 1.96822435e+00,-6.92783591e-02, 1.22219173e+01,
  1.87251120e+00,-2.75921647e+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: -0.0006033140780984658
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.20103695e-14,  9.20103695e-14,  1.00000000e+00,  8.46590809e-27,
        1.00000000e+00, -9.20103695e-14, -1.00000000e+00,  0.00000000e+00,
       -9.20103695e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08761051, -0.08911121,  0.06198275])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -2.33914258e-06, 1.82695843e-06,-4.90500506e+00,-1.83022717e-03,
  4.88857327e-05,-2.21938504e-03]


--- 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,
  9.36315323e-02,-7.04990236e-02, 1.30662133e-01, 4.85512798e-01,
  4.74507621e-01, 5.13549490e-01, 5.24773057e-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,
  1.36695131e+00,-3.50924725e+00,-9.23602855e-01, 1.53600353e+01,
 -6.25500259e+00, 5.24165153e+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([ 6.49195896,  1.10435998, -6.39733696,  1.10435998, 59.70354543,
        9.18581388, -6.39733696,  9.18581388,  8.07768835,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006071242553679773
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.28582332e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.28582332e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07980401, -0.03285387,  0.06198265])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05162815e-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,
 -3.58759447e-06, 4.39566280e-06,-4.90501442e+00,-1.82920145e-03,
  4.70292462e-05,-2.21734505e-03]


--- 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,
  9.36452771e-02,-7.05076807e-02, 1.30657308e-01, 4.85414278e-01,
  4.74583093e-01, 5.13579222e-01, 5.24766852e-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,
  1.33128128e+00,-3.43195295e+00,-1.12430037e+00, 1.53492333e+01,
 -5.71993822e+00, 5.11583233e+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([ 6.50096604, -4.71635879,  4.47420599, -4.71635879, 26.51354751,
       21.09570163,  4.47420599, 21.09570163, 28.73840841,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006082041415677586
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82541181e-13,  4.56352953e-14,  1.00000000e+00, -8.33032072e-27,
        1.00000000e+00, -4.56352953e-14, -1.00000000e+00,  0.00000000e+00,
        1.82541181e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07980066, -0.03285513,  0.06198261])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -1.44609926e-06, 1.49168377e-06,-4.90500463e+00,-1.83300517e-03,
  4.74717414e-05,-2.21676957e-03]


--- 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,
  9.36642284e-02,-7.05298032e-02, 1.30647293e-01, 4.85254043e-01,
  4.74730441e-01, 5.13572328e-01, 5.24788516e-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,
  1.30163827e+00,-3.36634421e+00,-1.29775055e+00, 1.53225900e+01,
 -5.28683751e+00, 5.01051829e+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([ 6.47523237, -5.06238389,  4.03743774, -5.06238389, 27.60830964,
       26.49793186,  4.03743774, 26.49793186, 39.69994373,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006051192884277551
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.17358813e-14,  9.17358813e-14,  1.00000000e+00, -8.41547192e-27,
        1.00000000e+00, -9.17358813e-14, -1.00000000e+00,  0.00000000e+00,
        9.17358813e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07979724, -0.03285396,  0.0619827 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -2.93447062e-06, 4.10606750e-06,-4.90501049e+00,-1.83595155e-03,
  4.99440507e-05,-2.21761848e-03]


--- 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,
  9.36833542e-02,-7.05433957e-02, 1.30641677e-01, 4.85122715e-01,
  4.74847207e-01, 5.13599143e-01, 5.24778050e-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,
  4.36353756e-02, 2.13247052e+00, 1.09982840e+00, 2.81419113e+00,
  1.15391771e+00,-3.12349156e+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: -0.0006158335770264367
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.76048936e-14, -1.80279716e-13,  1.00000000e+00,  1.21877910e-26,
        1.00000000e+00,  1.80279716e-13, -1.00000000e+00,  0.00000000e+00,
        6.76048936e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09305357, -0.08862616,  0.06198239])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.03482992e-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,
 -7.75141826e-06, 1.19444556e-05,-4.90503102e+00,-1.83824983e-03,
  5.43815498e-05,-2.21984508e-03]


--- 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,
  9.37026555e-02,-7.05486807e-02, 1.30639329e-01, 4.85019445e-01,
  4.74934396e-01, 5.13658768e-01, 5.24736246e-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,
  4.38570727e-02, 2.07689192e+00, 8.17243882e-01, 2.82057187e+00,
  1.07288987e+00,-3.03490966e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006249019478277024
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.66238337e-14, -8.88317782e-14,  1.00000000e+00,  5.91831361e-27,
        1.00000000e+00,  8.88317782e-14, -1.00000000e+00,  0.00000000e+00,
        6.66238337e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09305318, -0.08862369,  0.06198214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.03167502e-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,
 -6.46687919e-06, 6.72639072e-06,-4.90502066e+00,-1.83948152e-03,
  5.20354198e-05,-2.22124519e-03]


--- 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,
  9.37221342e-02,-7.05458483e-02, 1.30639270e-01, 4.84943513e-01,
  4.74992854e-01, 5.13750434e-01, 5.24663768e-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,
  4.43769894e-02, 2.02936893e+00, 5.72039116e-01, 2.82565572e+00,
  1.00334869e+00,-2.95986364e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006284672441307648
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.41639177e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.41639177e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09305286, -0.08862275,  0.06198203])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.27260648e-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,
 -5.28566850e-06, 3.22128247e-06,-4.90501556e+00,-1.84073538e-03,
  4.93201110e-05,-2.22187891e-03]


--- 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,
  9.37417936e-02,-7.05350592e-02, 1.30640653e-01, 4.84894306e-01,
  4.75023292e-01, 5.13873492e-01, 5.24561167e-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,
  4.51484911e-02, 1.98914740e+00, 3.60463192e-01, 2.83115797e+00,
  9.43126175e-01,-2.89678652e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006275666434921168
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.84545917e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.84545917e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09305259, -0.08862306,  0.06198206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.65210143e-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,
 -4.18351468e-06, 1.28653845e-06,-4.90501531e+00,-1.84202409e-03,
  4.62364113e-05,-2.22176544e-03]


--- 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,
  9.37616375e-02,-7.05164482e-02, 1.30642751e-01, 4.84871310e-01,
  4.75026300e-01, 5.14027394e-01, 5.24428894e-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,
  4.61337557e-02, 1.95547071e+00, 1.78750020e-01, 2.83823927e+00,
  8.90445817e-01,-2.84424551e+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: -0.0006230911241624226
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.45449703e-14,  8.90899406e-14,  1.00000000e+00, -3.96850876e-27,
        1.00000000e+00, -8.90899406e-14, -1.00000000e+00,  0.00000000e+00,
        4.45449703e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09305237, -0.08862435,  0.06198219])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.45834809e-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,
 -3.14157283e-06, 8.07075891e-07,-4.90501957e+00,-1.84335736e-03,
  4.27842814e-05,-2.22092086e-03]


--- 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,
  9.37816706e-02,-7.04901268e-02, 1.30644942e-01, 4.84874094e-01,
  4.75002365e-01, 5.14211686e-01, 5.24267306e-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,
  4.73020826e-02, 1.92761850e+00, 2.33056442e-02, 2.84766363e+00,
  8.43856369e-01,-2.80095971e+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: -0.0006158017658047243
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.80289029e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.80289029e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09305217, -0.08862642,  0.06198239])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17887364e-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,
 -2.14499888e-06, 1.69025235e-06,-4.90502809e+00,-1.84474283e-03,
  3.89627771e-05,-2.21935852e-03]


--- 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,
  9.37957931e-02,-7.04784021e-02, 1.30645309e-01, 4.84849302e-01,
  4.74998699e-01, 5.14319822e-01, 5.24187477e-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,
 -1.47764484e+00,-3.64917034e+00,-4.55929186e-01,-2.95198181e+01,
  2.73174874e+00, 5.03484014e+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: -0.0006242254035197098
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.22320138e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.22320138e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10735183, -0.0335359 ,  0.06198216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16042843e-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,
 -1.18189486e-06, 3.86158536e-06,-4.90504068e+00,-1.84618672e-03,
  3.47700353e-05,-2.21708936e-03]


--- 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,
  9.38041644e-02,-7.04808594e-02, 1.30642795e-01, 4.84797356e-01,
  4.75014713e-01, 5.14354456e-01, 5.24187027e-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,
 -1.43780356e+00,-3.54550916e+00,-7.20365967e-01,-2.84580314e+01,
  2.85846920e+00, 4.88781974e+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([ 6.70856342, -3.69933138,  5.59640693, -3.69933138, 35.61306404,
       19.10642442,  5.59640693, 19.10642442, 19.3382732 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006331696684512
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.76718422e-14,  8.76718422e-14,  1.00000000e+00,  7.68635191e-27,
        1.00000000e+00, -8.76718422e-14, -1.00000000e+00,  0.00000000e+00,
       -8.76718422e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10734824, -0.03354014,  0.0619819 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.41120509e-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,
 -1.96726472e-06, 1.76893442e-06,-4.90501277e+00,-1.84837582e-03,
  3.98822109e-05,-2.21606401e-03]


--- 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,
  9.38069215e-02,-7.04971447e-02, 1.30636482e-01, 4.84718628e-01,
  4.75049898e-01, 5.14317789e-01, 5.24263920e-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,
 -1.40356213e+00,-3.45701279e+00,-9.49659521e-01,-2.75703939e+01,
  2.94935317e+00, 4.76318856e+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([ 6.73249981, -4.05252809,  5.37620403, -4.05252809, 40.53572624,
       25.48052937,  5.37620403, 25.48052937, 25.93946452,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006360617077257741
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.72732167e-14,  8.72732167e-14,  1.00000000e+00,  7.61661435e-27,
        1.00000000e+00, -8.72732167e-14, -1.00000000e+00,  0.00000000e+00,
       -8.72732167e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10734627, -0.03354123,  0.06198182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.89253958e-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,
 -6.46185637e-07, 1.64926783e-06,-4.90500218e+00,-1.85070702e-03,
  4.23649277e-05,-2.21661633e-03]


--- 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,
  9.38041812e-02,-7.05269578e-02, 1.30625577e-01, 4.84613435e-01,
  4.75103815e-01, 5.14211633e-01, 5.24416419e-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,
 -1.37434806e+00,-3.38194403e+00,-1.14791985e+00,-2.68323580e+01,
  3.01256258e+00, 4.65833627e+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([ 6.71592354, -4.38356955,  5.08801994, -4.38356955, 44.37258776,
       32.44299524,  5.08801994, 32.44299524, 34.66709664,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006340585504595736
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.56617017e-14,  1.31323403e-13,  1.00000000e+00, -8.62291815e-27,
        1.00000000e+00, -1.31323403e-13, -1.00000000e+00,  0.00000000e+00,
        6.56617017e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1073456 , -0.03353979,  0.06198188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.72713717e-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,
  2.67692486e-06, 3.32848784e-06,-4.90500740e+00,-1.85320130e-03,
  4.24973374e-05,-2.21870690e-03]


--- 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,
  9.38014575e-02,-7.05480055e-02, 1.30619887e-01, 4.84535583e-01,
  4.75132055e-01, 5.14140682e-01, 5.24532324e-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,
  4.16293066e-03, 2.19136101e+00, 1.30344708e+00, 5.92348184e+00,
 -4.59377047e-01,-3.10006747e+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([  6.72097868,   1.36663197,   6.58056771,   1.36663197,
        61.85030337, -11.44908781,   6.58056771, -11.44908781,
         9.09868985,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006346692536013804
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.74929385e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.74929385e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09306434, -0.08862431,  0.06198186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
  7.92082734e-06, 6.69085044e-06,-4.90502725e+00,-1.85586902e-03,
  4.04932728e-05,-2.22230064e-03]


--- 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,
  9.37987841e-02,-7.05605555e-02, 1.30618144e-01, 4.84484568e-01,
  4.75134576e-01, 5.14103748e-01, 5.24613357e-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,
  1.25617367e-02, 2.12441522e+00, 9.86973204e-01, 5.27922104e+00,
 -1.96957888e-01,-3.01793474e+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([ 6.8128293 ,  0.77470756, -6.76863881,  0.77470756, 55.46021654,
        5.56795828, -6.76863881,  5.56795828,  7.45011244,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006457962157643826
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.29788452e-14,  1.71915381e-13,  1.00000000e+00,  7.38872455e-27,
        1.00000000e+00, -1.71915381e-13, -1.00000000e+00,  0.00000000e+00,
       -4.29788452e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09306818, -0.08862223,  0.06198154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.06958505e-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,
  5.02450032e-06, 2.94357124e-06,-4.90501311e+00,-1.85317578e-03,
  4.26747010e-05,-2.22385886e-03]


--- 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,
  9.37961869e-02,-7.05648362e-02, 1.30619251e-01, 4.84459937e-01,
  4.75111398e-01, 5.14099824e-01, 5.24660938e-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,
  1.90521334e-02, 2.06733745e+00, 7.12631750e-01, 4.76455995e+00,
  8.22390944e-03,-2.94720576e+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([ 6.85343864,  1.14608544, -6.75693047,  1.14608544, 70.88652955,
       10.86105499, -6.75693047, 10.86105499,  8.69565044,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006507368692780513
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.26525327e-14,  1.70610131e-13,  1.00000000e+00,  7.27695419e-27,
        1.00000000e+00, -1.70610131e-13, -1.00000000e+00,  0.00000000e+00,
       -4.26525327e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0930712 , -0.08862166,  0.0619814 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
  2.55470284e-06, 6.50319854e-07,-4.90500429e+00,-1.85086360e-03,
  4.41399654e-05,-2.22470577e-03]


--- 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,
  9.37936859e-02,-7.05610405e-02, 1.30622264e-01, 4.84461286e-01,
  4.75062577e-01, 5.14128061e-01, 5.24676230e-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,
  2.40566549e-02, 2.01909936e+00, 4.76212580e-01, 4.35366343e+00,
  1.68632195e-01,-2.88689035e+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: -0.0006506485262328388
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.53166479e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.53166479e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09307356, -0.08862233,  0.0619814 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  3.91400737e-07,-2.51468054e-07,-4.90500036e+00,-1.84884577e-03,
  4.49796418e-05,-2.22484446e-03]


--- 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,
  9.37912965e-02,-7.05493299e-02, 1.30626370e-01, 4.84488264e-01,
  4.74988185e-01, 5.14187750e-01, 5.24660179e-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,
  2.79061083e-02, 1.97869949e+00, 2.73450194e-01, 4.02590644e+00,
  2.94019683e-01,-2.83597770e+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: -0.0006465253409171645
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.58607509e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.58607509e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0930754 , -0.08862399,  0.06198152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.16336479e-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,
 -1.55322043e-06, 1.79950164e-07,-4.90500099e+00,-1.84705824e-03,
  4.52612733e-05,-2.22427973e-03]


--- 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,
  9.37890306e-02,-7.05298386e-02, 1.30630878e-01, 4.84540568e-01,
  4.74888293e-01, 5.14278299e-01, 5.24613552e-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,
  3.08594755e-02, 1.94520487e+00, 1.00262498e-01, 3.76483514e+00,
  3.92019505e-01,-2.79349759e+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: -0.0006392165004870526
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.34212440e-14,  8.68424879e-14,  1.00000000e+00,  3.77080886e-27,
        1.00000000e+00, -8.68424879e-14, -1.00000000e+00,  0.00000000e+00,
       -4.34212440e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09307684, -0.08862642,  0.06198173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.29641884e-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,
 -3.34322953e-06, 1.89253233e-06,-4.90500592e+00,-1.84545366e-03,
  4.50350687e-05,-2.22301691e-03]


--- 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,
  9.37868971e-02,-7.05026762e-02, 1.30635196e-01, 4.84617938e-01,
  4.74762968e-01, 5.14399217e-01, 5.24536961e-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,
  3.31194465e-02, 1.91777000e+00,-4.71262676e-02, 3.55732856e+00,
  4.68606566e-01,-2.75855166e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006294435621253397
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09307796, -0.08862946,  0.06198201])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.40627812e-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,
 -5.02525887e-06, 4.84104116e-06,-4.90501495e+00,-1.84399695e-03,
  4.43381716e-05,-2.22106129e-03]


--- 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,
  9.37790616e-02,-7.04897788e-02, 1.30636778e-01, 4.84669986e-01,
  4.74657383e-01, 5.14444604e-01, 5.24539916e-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,
 -1.42550851e+00,-3.56627568e+00,-6.84425959e-01,-2.94747724e+01,
  1.91639531e+00, 4.89223447e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006296974369369157
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.40776379e-14,  8.81552758e-14,  1.00000000e+00, -3.88567633e-27,
        1.00000000e+00, -8.81552758e-14, -1.00000000e+00,  0.00000000e+00,
        4.40776379e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10732492, -0.0335321 ,  0.061982  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.96046821e-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,
 -6.63317503e-06, 8.98690266e-06,-4.90502792e+00,-1.84266207e-03,
  4.31978508e-05,-2.21841764e-03]


--- 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,
  9.37656429e-02,-7.04907777e-02, 1.30634689e-01, 4.84696745e-01,
  4.74571019e-01, 5.14417042e-01, 5.24620359e-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,
 -1.39579874e+00,-3.47403583e+00,-9.17377192e-01,-2.84037803e+01,
  2.17584439e+00, 4.76677360e+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([ 6.71341832, -2.28370915,  6.31305457, -2.28370915, 38.13428508,
       11.36630774,  6.31305457, 11.36630774, 10.82511112,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006337559580324587
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.18976842e-14,  4.37953683e-14,  1.00000000e+00,  9.59017144e-28,
        1.00000000e+00, -4.37953683e-14, -1.00000000e+00,  0.00000000e+00,
       -2.18976842e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10732103, -0.03353344,  0.06198188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -5.76174737e-06, 1.79106037e-06,-4.90500911e+00,-1.84414883e-03,
  4.47930158e-05,-2.21799882e-03]


--- 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,
  9.37467426e-02,-7.05053591e-02, 1.30628125e-01, 4.84698278e-01,
  4.74503429e-01, 5.14318646e-01, 5.24776528e-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,
 -1.37040225e+00,-3.39565839e+00,-1.11884197e+00,-2.75222743e+01,
  2.36588217e+00, 4.66059557e+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([ 6.70486879, -2.71753445,  6.12945936, -2.71753445, 45.45443899,
       17.17986623,  6.12945936, 17.17986623, 14.32167078,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006327235908344803
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.38668259e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.38668259e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10731884, -0.03353221,  0.06198191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.36532448e-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,
 -3.08976059e-06,-3.41881297e-06,-4.90500665e+00,-1.84552931e-03,
  4.39458938e-05,-2.21906234e-03]


--- 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,
  9.37224467e-02,-7.05332583e-02, 1.30616391e-01, 4.84674664e-01,
  4.74454229e-01, 5.14151132e-01, 5.25006923e-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,
 -1.34891657e+00,-3.32944134e+00,-1.29277493e+00,-2.68009566e+01,
  2.50142532e+00, 4.57145335e+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([ 6.66250566, -3.16903576,  5.86056261, -3.16903576, 52.13359977,
       24.58800169,  5.86056261, 24.58800169, 19.95820129,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006276143731761274
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.32671797e-13,  8.84478648e-14,  1.00000000e+00,  1.17345372e-26,
        1.00000000e+00, -8.84478648e-14, -1.00000000e+00,  0.00000000e+00,
       -1.32671797e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.107318  , -0.03352893,  0.06198206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.22692056e-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,
  1.36908166e-06,-6.80514280e-06,-4.90501922e+00,-1.84688320e-03,
  4.08995148e-05,-2.22158799e-03]


--- 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,
  9.36980487e-02,-7.05523261e-02, 1.30610090e-01, 4.84678102e-01,
  4.74380365e-01, 5.14019021e-01, 5.25199823e-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,
 -2.55072073e-02, 2.20785252e+00, 1.35857973e+00, 6.53821995e+00,
 -7.95851833e-01,-3.09269995e+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([  6.80198826,   1.4265032 ,   6.65072424,   1.4265032 ,
        55.95581366, -10.54292535,   6.65072424, -10.54292535,
         9.06332344,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006444796215976933
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09309652, -0.08862993,  0.06198158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.93033521e-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,
  7.60045531e-06,-8.47544200e-06,-4.90504584e+00,-1.84826130e-03,
  3.58357737e-05,-2.22555436e-03]


--- 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,
  9.36735855e-02,-7.05628431e-02, 1.30607913e-01, 4.84708197e-01,
  4.74281467e-01, 5.13921044e-01, 5.25357226e-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,
 -1.62993585e-02, 2.13771987e+00, 1.03091839e+00, 5.69722870e+00,
 -4.24486080e-01,-3.01327756e+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([ 6.89499658,  0.18554365, -6.89249964,  0.18554365, 43.70696648,
        0.99096518, -6.89249964,  0.99096518,  6.92167301,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000655808591291579
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.46453553e-14, -8.46453553e-14,  1.00000000e+00,  7.16483618e-27,
        1.00000000e+00,  8.46453553e-14, -1.00000000e+00,  0.00000000e+00,
        8.46453553e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09310149, -0.08862807,  0.06198125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.33025151e-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,
  2.34142046e-06,-9.25731314e-06,-4.90503168e+00,-1.84284305e-03,
  4.13128157e-05,-2.22640014e-03]


--- 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,
  9.36490840e-02,-7.05650478e-02, 1.30608725e-01, 4.84764580e-01,
  4.74157289e-01, 5.13856129e-01, 5.25480775e-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,
 -9.59039988e-03, 2.07805327e+00, 7.47123994e-01, 5.02279312e+00,
 -1.29829316e-01,-2.94460234e+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([ 6.93548733,  0.47689433, -6.91907192,  0.47689433, 56.59183826,
        3.4225446 , -6.91907192,  3.4225446 ,  7.17138488,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006607669273676758
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.10025460e-14, -1.68020368e-13,  1.00000000e+00,  3.52885552e-27,
        1.00000000e+00,  1.68020368e-13, -1.00000000e+00,  0.00000000e+00,
        2.10025460e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0931054 , -0.08862771,  0.06198111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.68376101e-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,
 -2.44872560e-06,-8.80670095e-06,-4.90502310e+00,-1.83787722e-03,
  4.59653191e-05,-2.22660252e-03]


--- 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,
  9.36270551e-02,-7.05588609e-02, 1.30611596e-01, 4.84836624e-01,
  4.74016120e-01, 5.13833971e-01, 5.25563333e-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,
  6.18172918e-01, 2.09789473e+00, 5.14846385e-01, 1.39349349e+01,
  1.08552941e+00,-2.85524697e+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([ 6.93228596,  4.64357076, -5.14721664,  4.64357076, 41.73862852,
       31.40060464, -5.14721664, 31.40060464, 35.260398  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006603742561661196
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.24512020e-07,  2.24511936e-07,  1.00000000e+00, -5.04056283e-14,
        1.00000000e+00, -2.24511936e-07, -1.00000000e+00,  0.00000000e+00,
        2.24512020e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08785104, -0.0891053 ,  0.06198112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -6.90899605e-06,-7.13351272e-06,-4.90501960e+00,-1.83324907e-03,
  4.99122175e-05,-2.22614786e-03]


--- 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,
  9.36075436e-02,-7.05444632e-02, 1.30615638e-01, 4.84923899e-01,
  4.73857905e-01, 5.13853984e-01, 5.25605918e-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,
  6.29331802e-01, 2.05272318e+00, 2.92723739e-01, 1.36091703e+01,
  1.31557576e+00,-2.80672646e+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: -0.0006576174464844736
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.44125282e-14,  8.44125282e-14,  1.00000000e+00, -7.12547491e-27,
        1.00000000e+00, -8.44125282e-14, -1.00000000e+00,  0.00000000e+00,
        8.44125282e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08767313, -0.08912362,  0.0619812 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.73118771e-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,
 -9.82162788e-06,-3.77750836e-06,-4.90501690e+00,-1.82906096e-03,
  5.28229334e-05,-2.22477130e-03]


--- 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,
  9.35905131e-02,-7.05220119e-02, 1.30620094e-01, 4.85026334e-01,
  4.73682368e-01, 5.13915384e-01, 5.25609596e-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,
  6.20266550e-01, 2.01336455e+00, 1.03497303e-01, 1.30812525e+01,
  1.47391984e+00,-2.76731929e+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: -0.000651233672341503
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.26199946e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.26199946e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08767455, -0.0891264 ,  0.06198138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.83364864e-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,
 -1.24650806e-05, 4.02864018e-07,-4.90501944e+00,-1.82516485e-03,
  5.45100083e-05,-2.22272109e-03]


--- 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,
  9.35792075e-02,-7.05140543e-02, 1.30622159e-01, 4.85064308e-01,
  4.73585476e-01, 5.13933994e-01, 5.25643666e-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,
  1.43119744e+00,-3.62339323e+00,-5.97714716e-01, 1.52843340e+01,
 -7.28352220e+00, 5.46533298e+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([ 6.89938915,  0.97861195, -6.82963317,  0.97861195, 51.22324289,
        6.35112484, -6.82963317,  6.35112484,  7.80943607,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006563456539779161
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05720117e-13,  1.26864140e-13,  1.00000000e+00, -1.34120917e-26,
        1.00000000e+00, -1.26864140e-13, -1.00000000e+00,  0.00000000e+00,
        1.05720117e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07972953, -0.03292947,  0.06198124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.49327848e-05, 5.40054715e-06,-4.90502705e+00,-1.82150924e-03,
  5.50567189e-05,-2.21999719e-03]


--- 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,
  9.35734322e-02,-7.05202003e-02, 1.30620808e-01, 4.85038864e-01,
  4.73564776e-01, 5.13912097e-01, 5.25707200e-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,
  1.38259066e+00,-3.52592212e+00,-8.53993225e-01, 1.52785643e+01,
 -6.57610842e+00, 5.29846869e+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([ 6.93571091, -4.6432155 ,  5.15214865, -4.6432155 , 20.73938732,
       12.44013879,  5.15214865, 12.44013879, 18.14700336,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006607943560115043
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.30050227e-14,  8.40066970e-14,  1.00000000e+00, -5.29284385e-27,
        1.00000000e+00, -8.40066970e-14, -1.00000000e+00,  0.00000000e+00,
        6.30050227e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07972557, -0.03293326,  0.06198111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -4.84098843e-06,-5.54865088e-07,-4.90500580e+00,-1.82540443e-03,
  5.14027919e-05,-2.21835718e-03]


--- 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,
  9.35730243e-02,-7.05401185e-02, 1.30615158e-01, 4.84950915e-01,
  4.73618199e-01, 5.13851531e-01, 5.25799406e-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,
  1.34187632e+00,-3.44303081e+00,-1.07490054e+00, 1.52447286e+01,
 -6.01137529e+00, 5.15856493e+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([ 6.92694084, -4.9614503 ,  4.83389287, -4.9614503 , 23.73631204,
       17.25293923,  4.83389287, 17.25293923, 24.63515303,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006597188910304058
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.20718218e-14,  8.41436436e-14,  1.00000000e+00,  3.54007638e-27,
        1.00000000e+00, -8.41436436e-14, -1.00000000e+00,  0.00000000e+00,
       -4.20718218e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07972154, -0.03293373,  0.06198114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  1.00677560e-06,-6.15034636e-07,-4.90500158e+00,-1.82807129e-03,
  4.99791856e-05,-2.21827107e-03]


--- 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,
  9.35772655e-02,-7.05638405e-02, 1.30612970e-01, 4.84834047e-01,
  4.73703813e-01, 5.13790829e-01, 5.25889369e-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,
  1.16223626e+00,-9.50948158e-01, 8.65632382e-01, 1.51942483e+01,
 -1.59731423e+00, 1.53618744e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006538162173825522
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.49032951e-14,  9.26526481e-07,  1.00000000e+00, -7.86651512e-20,
        1.00000000e+00, -9.26526481e-07, -1.00000000e+00,  0.00000000e+00,
        8.49032951e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08378268, -0.06162345,  0.06198131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  3.07752881e-06, 4.80302347e-06,-4.90501301e+00,-1.82981416e-03,
  5.06793246e-05,-2.21966672e-03]


--- 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,
  9.35841967e-02,-7.05789969e-02, 1.30614054e-01, 4.84734135e-01,
  4.73769256e-01, 5.13774800e-01, 5.25938176e-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,
  6.72518613e-01, 2.14137971e+00, 8.18066409e-01, 1.34135337e+01,
  2.03023433e+00,-3.01986839e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006617876779867471
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.19403028e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.19403028e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08768122, -0.08912553,  0.06198108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
  2.03520741e-06, 8.54885716e-06,-4.90501975e+00,-1.83042886e-03,
  5.26988598e-05,-2.22156467e-03]


--- 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,
  9.35937620e-02,-7.05858049e-02, 1.30617354e-01, 4.84650768e-01,
  4.73814947e-01, 5.13802240e-01, 5.25947038e-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,
  6.58517845e-01, 2.08710709e+00, 5.53962150e-01, 1.29860367e+01,
  2.01640278e+00,-2.94029387e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006642682089475493
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.35673761e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.35673761e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08768211, -0.08912498,  0.06198101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.84443662e-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,
  4.01122741e-07, 5.44063129e-06,-4.90500982e+00,-1.83003228e-03,
  5.34531592e-05,-2.22271924e-03]


--- 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,
  9.36059143e-02,-7.05844481e-02, 1.30621962e-01, 4.84583593e-01,
  4.73841252e-01, 5.13872130e-01, 5.25916954e-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,
  6.46766009e-01, 2.04122545e+00, 3.27058023e-01, 1.26344945e+01,
  1.99857992e+00,-2.87326422e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006620012403096565
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.38535457e-14,  4.19267728e-14,  1.00000000e+00,  3.51570856e-27,
        1.00000000e+00, -4.19267728e-14, -1.00000000e+00,  0.00000000e+00,
       -8.38535457e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08768247, -0.08912575,  0.06198108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-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,
 -1.02661145e-06, 3.53204934e-06,-4.90500571e+00,-1.82981003e-03,
  5.29960497e-05,-2.22311173e-03]


--- 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,
  9.36206149e-02,-7.05750800e-02, 1.30627103e-01, 4.84532309e-01,
  4.73848482e-01, 5.13983616e-01, 5.25848743e-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,
  6.37053881e-01, 2.00279016e+00, 1.32951313e-01, 1.23478155e+01,
  1.97808535e+00,-2.81724626e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006559549766336076
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.46264655e-14,  1.26939698e-13,  1.00000000e+00,  1.07424580e-26,
        1.00000000e+00, -1.26939698e-13, -1.00000000e+00,  0.00000000e+00,
       -8.46264655e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08768239, -0.08912757,  0.06198125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.56125665e-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,
 -2.28006818e-06, 2.74182085e-06,-4.90500699e+00,-1.82975393e-03,
  5.14040934e-05,-2.22275808e-03]


--- 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,
  9.36378322e-02,-7.05578283e-02, 1.30632113e-01, 4.84496659e-01,
  4.73836900e-01, 5.14135985e-01, 5.25743064e-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,
  6.29175579e-01, 1.97092170e+00,-3.24892346e-02, 1.21165780e+01,
  1.95583134e+00,-2.77087244e+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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006469532252707105
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  8.5803964e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -8.5803964e-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([ 0.08768198, -0.08913021,  0.06198151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.39921105e-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,
 -3.38407914e-06, 3.00187475e-06,-4.90501331e+00,-1.82985835e-03,
  4.87355693e-05,-2.22167184e-03]


--- 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,
  9.36574631e-02,-7.05328011e-02, 1.30636456e-01, 4.84476770e-01,
  4.73806442e-01, 5.14328335e-01, 5.25600683e-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,
  6.03412975e-01, 1.94385791e+00,-1.66815364e-01, 1.16375816e+01,
  1.90035025e+00,-2.73589942e+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: -0.0006356936875924618
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.08474425e-08,  1.08474425e-08,  1.00000000e+00, -1.17667009e-16,
        1.00000000e+00, -1.08474425e-08, -1.00000000e+00,  0.00000000e+00,
        1.08474425e-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([ 0.08786145, -0.08911694,  0.06198183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.36809933e-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,
 -4.35802237e-06, 4.25509869e-06,-4.90502442e+00,-1.83011953e-03,
  4.50340594e-05,-2.21986438e-03]


--- 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,
  9.36771942e-02,-7.05002117e-02, 1.30640283e-01, 4.84482556e-01,
  4.73749162e-01, 5.14550763e-01, 5.25429250e-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,
  2.50459066e-02, 1.89055141e+00,-1.28857736e-01, 2.79617512e+00,
  8.49891976e-01,-2.78075735e+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: -0.0006246347859940327
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.77739545e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.77739545e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09312037, -0.08863679,  0.06198214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -5.19287233e-06, 6.44894723e-06,-4.90504001e+00,-1.83053251e-03,
  4.03589463e-05,-2.21735640e-03]


--- Step 1710 ---
qpos:
[ 2.81646340e-03, 1.16297765e-01,-9.02708971e-03, 1.09663369e-01,
  3.48899713e-03, 1.10847669e-01,-2.06920290e-02, 9.96456121e-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,
  9.37005902e-02,-7.04834898e-02, 1.30640570e-01, 4.84443729e-01,
  4.73802462e-01, 5.14713986e-01, 5.25257093e-01]

qacc:
[  40.2558203 ,  91.49096329,-320.0312048 , 609.23059014, -85.536979  ,
  120.00217028,-636.26673693,  18.83719165, -87.23118434,  31.80268414,
  -67.79260867,  97.6290485 , -12.12249482,  21.97578581, -13.89763815,
   49.8339527 ,   0.91621563,  -3.96685694,  -0.88523863,  21.98693952,
  -32.08655388,  54.01842026]

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([ 0.20406994,  0.02555669,  0.20246332,  0.02555669,  0.2397257 ,
       -0.00450078,  0.20246332, -0.00450078,  0.20463807,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.716097270499493e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97561303e-01, -6.91412663e-02,  9.53582703e-03, -6.91381075e-02,
        9.97606879e-01,  6.60900771e-04, -9.55870216e-03,  1.08420217e-19,
       -9.99954315e-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([ 0.11363124, -0.08077742,  0.11255773])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 6.65422537, -4.59541564,  4.8125742 , -4.59541564, 36.06976284,
       28.08821549,  4.8125742 , 28.08821549, 33.47501185,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006266168477569445
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.42943335e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.42943335e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07967825, -0.0329235 ,  0.06198209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.09793799e-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,
 -5.24641461e-06, 9.57109847e-06,-4.90505596e+00,-1.83110920e-03,
  3.58114115e-05,-2.21450244e-03]


--- Step 1711 ---
qpos:
[ 2.68295981e-03, 1.20293307e-01,-9.12985977e-03, 1.12170387e-01,
  3.36370984e-03, 1.14259859e-01,-2.11128845e-02, 1.01922062e-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,
  9.37266515e-02,-7.04822400e-02, 1.30636588e-01, 4.84367548e-01,
  4.73967407e-01, 5.14816268e-01, 5.25078266e-01]

qacc:
[   7.09386769,  58.93868773,-208.9093775 , 449.94962981,-108.84306083,
    2.63457107,-328.80684519,-162.49170978, -15.15731258,  21.78389442,
  -35.82383203,  37.63459737, -11.21661793,  21.38758755,  -2.59482631,
   11.64552826,   0.66634957,  -3.86804163,  -1.06705639,  21.60377769,
  -36.04982753,  51.36419071]

qfrc_actuator:
[-0.00631173, 0.20723067,-0.00244065, 0.1260947 ,-0.00379082, 0.2101292 ,
  0.00188057, 0.12258596,-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([ 0.29167052,  0.24800035,  0.15351716,  0.24800035,  0.45352451,
       -0.26146815,  0.15351716, -0.26146815,  0.71406103,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005297825796886966
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99734079, -0.06924519,  0.02272573, -0.06922722,  0.99759967,
        0.00157743, -0.02278041,  0.        , -0.99974049])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11334615, -0.08076394,  0.11277594])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 6.68475849, -4.73134332,  4.7223285 , -4.73134332, 25.55591645,
       18.90718257,  4.7223285 , 18.90718257, 25.62803445,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006302969416979859
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.80714272e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.80714272e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07967469, -0.03292623,  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:
[ 7.70528006e-05, 5.00097371e-03, 1.67741384e-03, 1.10884865e-03,
  1.49153460e-03, 2.09185860e-02, 1.26159811e-02, 5.49203861e-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,
 -2.16819902e-06,-3.76914334e-06,-4.90503847e+00,-1.84123556e-03,
  3.82626888e-05,-2.21664571e-03]


--- Step 1712 ---
qpos:
[ 2.55748489e-03, 1.24307083e-01,-9.21861039e-03, 1.14698033e-01,
  3.21890116e-03, 1.17400555e-01,-2.16921025e-02, 1.04149175e-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,
  9.37427831e-02,-7.04947565e-02, 1.30629234e-01, 4.84289136e-01,
  4.74197482e-01, 5.14804738e-01, 5.24954152e-01]

qacc:
[  39.79449579,  27.15478311,-148.29399044, 467.56007258,-104.75277185,
  -17.52326251,-249.53373075,-152.34180367,  40.82783631,  36.55900487,
 -128.68611332, 261.76713051,  -7.97063946,  15.81663385,   0.87815845,
   -1.13669608,  -2.48245116,  -3.44155354,  -0.84327105, -27.66126813,
  -31.12142557,  57.57331395]

qfrc_actuator:
[-0.00588078, 0.20709276,-0.00213568, 0.1270482 ,-0.00295897, 0.21159527,
  0.0023344 , 0.12406787,-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([ 0.43060991, -0.38887346, -0.1849387 , -0.38887346,  0.55630478,
       -0.26430055, -0.1849387 , -0.26430055,  0.98635876,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009916342687496967
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99698581, -0.06920169,  0.03507736, -0.0691589 ,  0.99760269,
        0.00243325, -0.03516165,  0.        , -0.99938164])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11309037, -0.08075078,  0.11297531])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 6.7185164 ,  6.7183627 ,  0.04544418,  6.7183627 ,  6.71901845,
       -0.07422167,  0.04544418, -0.07422167, 17.69127715,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006343717699820589
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.18764271e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.18764271e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10723689, -0.03351545,  0.06198187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.23722041e-04, 2.90519128e-03, 1.53182805e-03, 1.23246723e-03,
  3.31294455e-03, 3.69421893e-02, 2.21368958e-02, 9.84488551e-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,
 -1.21040681e-05,-1.40369749e-05,-4.90503963e+00,-1.84416419e-03,
  4.33209253e-05,-2.22241770e-03]


--- Step 1713 ---
qpos:
[ 2.44769878e-03, 1.28326373e-01,-9.29677891e-03, 1.17250154e-01,
  3.05119718e-03, 1.20291070e-01,-2.24053470e-02, 1.06331696e-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,
  9.37485593e-02,-7.05203668e-02, 1.30617676e-01, 4.84213274e-01,
  4.74492305e-01, 5.14680620e-01, 5.24879432e-01]

qacc:
[  75.55653441,  27.75258791,-190.90117771, 590.97997766,-120.03081281,
  -47.50938592,-121.87080655,-251.94327582,  89.53200999,  26.20156454,
 -124.53492771, 332.13190711,  -5.8680334 ,  12.03705147,  -2.53190983,
    9.84487996,  -2.58883878,  -3.27347769,  -1.05075335, -27.19244141,
  -33.20303739,  54.65135777]

qfrc_actuator:
[-0.00506201, 0.20644097,-0.00197887, 0.1281946 ,-0.00189314, 0.21290826,
  0.00295115, 0.12478812,-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([ 0.43067336,  0.36611404,  0.22680398,  0.36611404,  0.68123214,
       -0.40445979,  0.22680398, -0.40445979,  1.08356494,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001398561854110824
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99654501, -0.06902864,  0.04618541, -0.06895463,  0.99761468,
        0.00319574, -0.04629584,  0.        , -0.99892777])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11285731, -0.08073831,  0.11315261])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 6.77163824, -5.84721035,  3.41543782, -5.84721035, 12.19662803,
        9.28755202,  3.41543782,  9.28755202, 22.67187508,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006407986613636424
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.08285087e-13,  4.33140350e-14,  1.00000000e+00,  4.69026406e-27,
        1.00000000e+00, -4.33140350e-14, -1.00000000e+00,  0.00000000e+00,
       -1.08285087e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10723285, -0.03352276,  0.06198168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.27802779e-04, 1.19395761e-03, 9.36898728e-04, 1.33310345e-03,
  5.35535540e-03, 5.17176809e-02, 3.06364358e-02, 1.30221477e-02,
  9.94004928e-04, 1.90592214e-03, 8.33882350e-04, 7.83310863e-04,
  8.52086047e-05, 4.65262380e-04,-6.59622634e-06, 4.92183305e-05,
 -2.62044272e-05,-9.93057178e-06,-4.90503155e+00,-1.83724423e-03,
  4.97389619e-05,-2.22608925e-03]


--- Step 1714 ---
qpos:
[ 2.35547004e-03, 1.32354726e-01,-9.37407263e-03, 1.19822367e-01,
  2.85730055e-03, 1.22963891e-01,-2.32321906e-02, 1.08472779e-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,
  9.37436223e-02,-7.05584679e-02, 1.30601192e-01, 4.84144006e-01,
  4.74851231e-01, 5.14445038e-01, 5.24849686e-01]

qacc:
[  81.95803262,  50.54039756,-246.84127191, 583.84446097,-134.68595207,
  -55.089056  , -45.94107668,-329.42093154, 104.81836069,   9.73526346,
  -89.42399528, 335.9942592 ,  -4.1213143 ,   8.37074087,  21.07166328,
  -71.12044578,  -2.67829778,  -3.12269812,  -1.23162459, -26.87104843,
  -34.83631209,  52.09934471]

qfrc_actuator:
[-0.00416345, 0.20699525,-0.00193088, 0.12919611,-0.00071126, 0.21458948,
  0.00365141, 0.12504862,-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([ 0.43067336,  0.39856338,  0.16317711,  0.39856338,  0.55442133,
       -0.30225692,  0.16317711, -0.30225692,  1.16894196,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001754438380143265
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99605998, -0.06871749,  0.05605739, -0.06860893,  0.99763616,
        0.00386125, -0.05619021,  0.        , -0.99842008])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11264397, -0.08072641,  0.11330935])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 6.77847577, -5.86025311,  3.40663578, -5.86025311, 13.89211224,
       12.2372079 ,  3.40663578, 12.2372079 , 27.82948924,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006416273311146831
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.48871415e-14,  8.65161887e-14,  1.00000000e+00, -5.61378818e-27,
        1.00000000e+00, -8.65161887e-14, -1.00000000e+00,  0.00000000e+00,
        6.48871415e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10723053, -0.03352623,  0.06198166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.27915514e-04, 1.32442579e-03, 4.04797799e-04, 1.09645870e-03,
  7.68254288e-03, 6.58065657e-02, 3.80073657e-02, 1.55032389e-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,
 -4.97315430e-05, 2.24907477e-06,-4.90504752e+00,-1.82147385e-03,
  5.30881817e-05,-2.22937883e-03]


--- Step 1715 ---
qpos:
[ 2.27727765e-03, 1.36395602e-01,-9.45239261e-03, 1.22409457e-01,
  2.66961379e-03, 1.25354351e-01,-2.42233801e-02, 1.10577669e-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,
  9.37356327e-02,-7.05862619e-02, 1.30591299e-01, 4.84123660e-01,
  4.75117011e-01, 5.14243629e-01, 5.24825302e-01]

qacc:
[ 6.35930800e+01, 4.97643329e+01,-2.15560575e+02, 4.63258251e+02,
  3.12097752e+01, 1.13825447e+01,-4.28814358e+02, 2.70498654e+02,
  6.69967810e+01, 9.26021408e+00,-9.00689840e+01, 3.30466958e+02,
  4.74751174e-02, 1.21727098e-01, 1.86969839e+01,-6.49720742e+01,
 -7.63164462e-01, 2.57679251e+00, 1.64786222e+00,-2.65745029e+01,
  2.14055394e+01,-4.36141173e+01]

qfrc_actuator:
[-3.45593023e-03, 2.07947870e-01,-1.87169099e-03, 1.29963248e-01,
  9.11384086e-05, 2.17375858e-01, 4.43496238e-03, 1.25722548e-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, -0.42984548, -0.02669085, -0.42984548,  0.43945119,
       -0.1413636 , -0.02669085, -0.1413636 ,  2.70727768,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020641042473002738
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99545014, -0.06997729,  0.06466988, -0.06983008,  0.99754858,
        0.00453654, -0.0648288 ,  0.        , -0.9978964 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11244815, -0.08073408,  0.11344666])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 6.98106001, -1.86821468, -6.72643834, -1.86821468, 16.88908847,
       -2.75187599, -6.72643834, -2.75187599,  7.74537165,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006663695608340042
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.1651926e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -4.1651926e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0930269 , -0.0886208 ,  0.06198095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.43270640e-04, 1.67538811e-03, 3.69099140e-04, 8.44613328e-04,
  9.79515665e-03, 7.93856395e-02, 4.44442745e-02, 1.82407971e-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,
 -8.32673397e-05, 2.26956787e-05,-4.90508528e+00,-1.79672542e-03,
  5.36708304e-05,-2.23199349e-03]


--- Step 1716 ---
qpos:
[ 2.21283133e-03, 1.40172377e-01,-9.72919592e-03, 1.24938845e-01,
  2.50005781e-03, 1.27503040e-01,-2.53616810e-02, 1.12650032e-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,
  9.37213359e-02,-7.06026587e-02, 1.30586029e-01, 4.84096803e-01,
  4.75243205e-01, 5.14131770e-01, 5.24845410e-01]

qacc:
[  59.77938458,  86.83035599,-572.46119031,  83.78444824,  90.06016359,
   24.28569156,-412.66821425, 260.62597944,  45.10732289,  74.40924902,
 -355.21169864, 809.6833134 ,  12.2334363 , -23.77239806, -10.89721166,
   33.01985151,  -1.57678544,   2.84930654,   1.155627  , -20.18251172,
   70.54901138, -44.68480282]

qfrc_actuator:
[-0.00320384, 0.20890163,-0.00182199, 0.13101301, 0.00067943, 0.22175818,
  0.00541793, 0.12704642,-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([ 0.26145013, -0.11937344,  0.2326073 , -0.11937344,  0.5696943 ,
        0.15819007,  0.2326073 ,  0.15819007,  0.34263285,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00044966058350503487
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97760791, -0.21021127,  0.00969468, -0.21020094,  0.97765598,
        0.00208451, -0.00991625,  0.        , -0.99995083])
  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([ 0.10904125, -0.02708874,  0.11608614])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336,  0.20099873, -0.38089244,  0.20099873,  0.98615182,
        0.2931286 , -0.38089244,  0.2931286 ,  0.5853587 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002328403893977054
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99496448, -0.06959397,  0.07212748, -0.06941182,  0.9975754 ,
        0.00503184, -0.07230278,  0.        , -0.99738273])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11227831, -0.08072475,  0.11356479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.12787347,  1.54458218,  6.9585089 ,  1.54458218, 19.35492415,
       -2.71404188,  6.9585089 , -2.71404188,  7.73031011,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006846067773523395
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.05423617e-14,  2.43254170e-13,  1.00000000e+00, -9.86209857e-27,
        1.00000000e+00, -2.43254170e-13, -1.00000000e+00,  0.00000000e+00,
        4.05423617e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09300178, -0.08861165,  0.06198043])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.79439516e-04, 1.85412375e-03, 4.18818632e-04, 1.13602297e-03,
  1.00715702e-02, 9.78059192e-02, 5.36230533e-02, 2.13671537e-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,
 -5.04018193e-05, 1.61637508e-05,-4.90504554e+00,-1.81736087e-03,
  4.83297079e-05,-2.22997970e-03]


--- Step 1717 ---
qpos:
[ 2.17099660e-03, 1.43672519e-01,-1.01785333e-02, 1.27417515e-01,
  2.35394375e-03, 1.29449469e-01,-2.66339706e-02, 1.14692890e-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,
  9.36992022e-02,-7.06084427e-02, 1.30584250e-01, 4.84051888e-01,
  4.75226264e-01, 5.14112969e-01, 5.24920587e-01]

qacc:
[ 9.67978569e+01, 1.20635880e+01,-3.59672506e+02,-3.96279112e+01,
  1.14894348e+02, 4.59753159e+01,-4.27054729e+02, 2.77247620e+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,
 -1.95922019e+00, 2.65317812e+00, 8.72976616e-01,-2.00900149e+01,
  7.78144474e+01,-4.08398008e+01]

qfrc_actuator:
[-3.92269176e-03, 2.10642504e-01,-1.61561067e-03, 1.32441002e-01,
  1.19587078e-03, 2.26921899e-01, 6.56904606e-03, 1.28540294e-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, -0.39116374,  0.18019564, -0.39116374,  0.50789006,
        0.1676199 ,  0.18019564,  0.1676199 ,  0.79453803,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011856732263484148
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96569382, -0.25893764,  0.01966568, -0.25888396,  0.96589404,
        0.00527199, -0.02036008,  0.        , -0.99979271])
  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([ 0.10884243, -0.02763062,  0.11628976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.27500228,  0.33144123, -0.27500228,  0.62065421,
        0.15763026,  0.33144123,  0.15763026,  0.56146179,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0025518831967876673
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9944943 , -0.06947408,  0.07845026, -0.06925892,  0.99758376,
        0.00546346, -0.07864027,  0.        , -0.99690306])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11213159, -0.08071943,  0.11366514])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.21074051,   1.75762141,   6.99325001,   1.75762141,
        59.35807227, -13.10624769,   6.99325001, -13.10624769,
        10.50474852,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006950538272391393
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.19798962e-13,  7.98659745e-14,  1.00000000e+00,  9.56786082e-27,
        1.00000000e+00, -7.98659745e-14, -1.00000000e+00,  0.00000000e+00,
       -1.19798962e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0929819 , -0.08860554,  0.06198014])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.14036579e-03, 1.66610304e-02, 1.05030989e-02, 5.43724946e-03,
  9.67983109e-03, 1.14988691e-01, 6.21129498e-02, 2.44810154e-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,
 -1.11409446e-05, 5.67548037e-06,-4.90501591e+00,-1.84214343e-03,
  4.59807733e-05,-2.22874214e-03]


--- Step 1718 ---
qpos:
[ 2.15790236e-03, 1.46923320e-01,-1.07734505e-02, 1.29851319e-01,
  2.23479141e-03, 1.31211406e-01,-2.80226725e-02, 1.16710976e-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,
  9.36680783e-02,-7.06047917e-02, 1.30585117e-01, 4.83986164e-01,
  4.75070287e-01, 5.14180374e-01, 5.25056338e-01]

qacc:
[ 1.20396580e+02,-1.51681383e+01,-2.35197652e+02,-1.25251359e+02,
  1.30885375e+02, 3.00555379e+01,-3.56287826e+02, 2.47474476e+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,
 -2.24756508e+00, 2.35874521e+00, 6.61266109e-01,-2.16519443e+01,
  7.70976144e+01,-3.61017502e+01]

qfrc_actuator:
[-0.00571779, 0.21206844,-0.00124403, 0.13375697, 0.00163888, 0.2312802 ,
  0.00786678, 0.12998637, 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, -0.41180451,  0.12608165, -0.41180451,  0.42166603,
       -0.02941949,  0.12608165, -0.02941949,  0.33458419,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016573673439043283
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.53747424e-01, -2.99286605e-01,  2.81669909e-02, -2.99156172e-01,
        9.54163261e-01,  8.83496924e-03, -2.95200958e-02,  1.73472348e-18,
       -9.99564187e-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([ 0.10865744, -0.0280676 ,  0.11646801])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.29547574,  0.31332671, -0.29547574,  0.69421899,
        0.24853082,  0.31332671,  0.24853082,  0.66504478,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0027389780494203844
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99405221, -0.06964969,  0.08372057, -0.06940398,  0.99757151,
        0.00584531, -0.08392438,  0.        , -0.99647213])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11200406, -0.08071812,  0.11374967])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.24271622,  1.82058227,  7.01016536,  1.82058227, 21.46776974,
       -3.69433228,  7.01016536, -3.69433228,  8.20215662,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006991199906871692
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.94014647e-14,  1.58802929e-13,  1.00000000e+00,  1.26091852e-26,
        1.00000000e+00, -1.58802929e-13, -1.00000000e+00,  0.00000000e+00,
       -7.94014647e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09296614, -0.08860187,  0.06198002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.07923336e-03, 3.17917937e-02, 1.94604892e-02, 9.27833979e-03,
  8.94922366e-03, 1.29399435e-01, 7.00973709e-02, 2.73966184e-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,
  1.86853553e-06,-2.07178565e-08,-4.90500194e+00,-1.85183161e-03,
  4.55813187e-05,-2.23007882e-03]


--- Step 1719 ---
qpos:
[ 2.17956726e-03, 1.49955965e-01,-1.14932537e-02, 1.32244541e-01,
  2.14543521e-03, 1.32807266e-01,-2.95116962e-02, 1.18708580e-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,
  9.36269810e-02,-7.05929125e-02, 1.30587961e-01, 4.83899139e-01,
  4.74780493e-01, 5.14325090e-01, 5.25256898e-01]

qacc:
[ 1.42567317e+02,-2.29937673e+01,-1.65780527e+02,-1.76020833e+02,
  1.43407965e+02, 1.82377887e+01,-2.97027807e+02, 2.23433345e+02,
  2.52626161e+01, 8.55810341e+01,-3.70255838e+02, 7.71345587e+02,
  4.46615980e+00,-1.21245343e+01,-2.18902071e+01, 7.37196818e+01,
 -2.49335228e+00, 2.05706012e+00, 4.94372442e-01,-2.36879161e+01,
  7.47106284e+01,-3.14916374e+01]

qfrc_actuator:
[-0.00767673, 0.21370833,-0.00069577, 0.13480712, 0.00198942, 0.23479232,
  0.00925299, 0.1317304 , 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, -0.41867751,  0.10093899, -0.41867751,  0.4321099 ,
        0.00595852,  0.10093899,  0.00595852,  0.45538827,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021345841730553913
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.94244712, -0.33248887,  0.03527861, -0.33225617,  0.94310718,
        0.01243734, -0.03740679,  0.        , -0.99930012])
  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([ 0.10847885, -0.02841919,  0.11662345])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.30231969,  0.30672845, -0.30231969,  0.76588717,
        0.33039562,  0.30672845,  0.33039562,  0.75632004,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0028919884075497373
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9936526 , -0.07012043,  0.08796385, -0.06984727,  0.99753853,
        0.00618328, -0.0881809 ,  0.        , -0.99610448])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11189311, -0.08072059,  0.11381936])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.23401245,  1.91138976,  6.97692807,  1.91138976, 26.25953769,
       -5.2122071 ,  6.97692807, -5.2122071 ,  8.66194164,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006980111208466228
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09295363, -0.08860017,  0.06198005])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.48763454e-03, 4.57827338e-02, 2.72515683e-02, 1.25617234e-02,
  7.95032178e-03, 1.42083730e-01, 7.72950655e-02, 3.03742276e-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,
 -1.21466923e-05,-1.33317541e-06,-4.90500107e+00,-1.84662062e-03,
  4.68942716e-05,-2.23450006e-03]


--- Step 1720 ---
qpos:
[ 2.24151338e-03, 1.52804963e-01,-1.23172254e-02, 1.34601024e-01,
  2.08859066e-03, 1.34260713e-01,-3.10872656e-02, 1.20689081e-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,
  9.35750682e-02,-7.05738075e-02, 1.30592180e-01, 4.83790428e-01,
  4.74360848e-01, 5.14539700e-01, 5.25525932e-01]

qacc:
[ 1.62018389e+02,-2.73778978e+01,-1.00436250e+02,-2.32676966e+02,
  1.55247373e+02, 1.79450291e+01,-2.64936263e+02, 2.10565737e+02,
  1.45598223e+01, 6.77053317e+01,-2.63335141e+02, 4.88309917e+02,
  1.62991015e+00,-6.68029366e+00, 8.36912522e+00,-2.81856917e+01,
 -2.70384785e+00, 1.80647518e+00, 3.43770072e-01,-2.55225146e+01,
  7.28446527e+01,-2.77223764e+01]

qfrc_actuator:
[-9.18341068e-03, 2.15953441e-01,-3.96571319e-06, 1.35338654e-01,
  2.21761383e-03, 2.38508959e-01, 1.07050207e-02, 1.33321511e-01,
  7.32975934e-04, 2.16889646e-01, 7.19498037e-04, 1.24893838e-01,
  9.19368200e-04,-3.94742936e-03, 0.00000000e+00,-2.18731190e-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, -0.42274988,  0.08223184, -0.42274988,  0.43386397,
        0.01640281,  0.08223184,  0.01640281,  0.5149994 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0025216693263298614
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.32810502e-01, -3.57971555e-01,  4.14841429e-02, -3.57618085e-01,
        9.33732492e-01,  1.59040659e-02, -4.44282953e-02, -1.73472348e-18,
       -9.99012576e-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([ 0.10829652, -0.02868158,  0.11676287])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.30809874,  0.30092309, -0.30809874,  0.84284643,
        0.42200153,  0.30092309,  0.42200153,  0.8627377 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0030133275010719913
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99330556, -0.07087901,  0.09121527, -0.07058204,  0.99748492,
        0.00648155, -0.09144526,  0.        , -0.9958101 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1117963 , -0.08072658,  0.11387526])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.19249349,  2.00262649,  6.90807135,  2.00262649, 32.20043201,
       -7.24971671,  6.90807135, -7.24971671,  9.29416182,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000692742551713893
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.00662202e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.00662202e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09294369, -0.08860004,  0.0619802 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07439949e-02, 5.88292029e-02, 3.41555864e-02, 1.51130019e-02,
  6.68754136e-03, 1.54059098e-01, 8.37572346e-02, 3.29849887e-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,
 -4.92616042e-05,-6.32450813e-07,-4.90501004e+00,-1.82934199e-03,
  4.98551436e-05,-2.24251664e-03]


--- Step 1721 ---
qpos:
[ 2.34907901e-03, 1.55497628e-01,-1.32244623e-02, 1.36924644e-01,
  2.06680199e-03, 1.35592415e-01,-3.27354761e-02, 1.22655800e-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,
  9.35116042e-02,-7.05483317e-02, 1.30597225e-01, 4.83659727e-01,
  4.73814363e-01, 5.14817865e-01, 5.25866698e-01]

qacc:
[ 1.80269215e+02,-4.17187927e+01,-1.35352410e+01,-3.05271076e+02,
  1.66304765e+02, 1.32200996e+01,-2.22545358e+02, 1.88419681e+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,
 -2.88782290e+00, 1.59266882e+00, 2.06310368e-01,-2.72206762e+01,
  7.13732255e+01,-2.45761845e+01]

qfrc_actuator:
[-0.01036715, 0.21797535, 0.00080321, 0.13551814, 0.00237551, 0.24260411,
  0.0122939 , 0.13450614, 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, -0.42564517,  0.06561805, -0.42564517,  0.43569356,
        0.03256462,  0.06561805,  0.03256462,  0.64191056,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0028825441316563147
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.92402238, -0.37952228,  0.04631941, -0.37904634,  0.9251826 ,
        0.01900084, -0.05006515,  0.        , -0.99874595])
  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([ 0.10811718, -0.02890016,  0.11688227])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.31620964,  0.29238844, -0.31620964,  0.92434895,
        0.53389587,  0.29238844,  0.53389587,  1.00806629,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0031060391944528745
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.93014773e-01, -7.19200299e-02,  9.35369938e-02, -7.16030754e-02,
        9.97410402e-01,  6.74464932e-03, -9.37798459e-02,  8.67361738e-19,
       -9.95592959e-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([ 0.11171098, -0.08073584,  0.11391867])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.12457876,   2.10703352,   6.80588218,   2.10703352,
        40.0917717 , -10.20631549,   6.80588218, -10.20631549,
        10.28435266,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006841939189953794
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.62267304e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.62267304e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0929358 , -0.08860113,  0.06198044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.39528800e-02, 6.99350312e-02, 4.01425211e-02, 1.71204923e-02,
  5.21889805e-03, 1.65235995e-01, 8.96702014e-02, 3.50207359e-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,
 -1.06218093e-04, 4.04689331e-08,-4.90502645e+00,-1.80236123e-03,
  5.44350983e-05,-2.25459497e-03]


--- Step 1722 ---
qpos:
[ 2.50608697e-03, 1.58060932e-01,-1.41991062e-02, 1.39218447e-01,
  2.08142803e-03, 1.36816410e-01,-3.44418468e-02, 1.24612402e-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,
  9.34360315e-02,-7.05175824e-02, 1.30602735e-01, 4.83510246e-01,
  4.73147741e-01, 5.15148529e-01, 5.26280392e-01]

qacc:
[ 1.92122499e+02,-4.41109750e+01, 3.36750797e+01,-3.44399246e+02,
  1.71860017e+02,-1.13255442e+00,-1.60011979e+02, 1.56209816e+02,
  4.62657005e+00, 3.24275977e+01,-1.54016129e+02, 3.57234968e+02,
 -1.07453354e+00,-4.23884554e-01,-1.53345669e+01, 5.19042858e+01,
 -3.02718599e+00, 1.31837765e+00, 1.16459711e-01,-2.95722230e+01,
  6.63959686e+01,-2.07880082e+01]

qfrc_actuator:
[-0.01114779, 0.2193414 , 0.00168262, 0.1360653 , 0.00251119, 0.24625257,
  0.01396784, 0.13550365, 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, -0.42753612,  0.05188835, -0.42753612,  0.43501299,
        0.03575663,  0.05188835,  0.03575663,  0.72529153,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003168456182655232
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.91677214, -0.39627437,  0.0499546 , -0.39568738,  0.91813214,
        0.02156087, -0.05440894,  0.        , -0.99851874])
  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([ 0.1079325 , -0.02906558,  0.11698458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.32293545,  0.28494251, -0.32293545,  1.007587  ,
        0.65383668,  0.28494251,  0.65383668,  1.17168963,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00317295239321925
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92780195e-01, -7.32392849e-02,  9.49920621e-02, -7.29063089e-02,
        9.97314397e-01,  6.97588516e-03, -9.52478600e-02,  8.67361738e-19,
       -9.95453588e-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([ 0.11163483, -0.08074817,  0.11395079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.03584456,   2.23697838,   6.67075981,   2.23697838,
        50.99504192, -14.74131539,   6.67075981, -14.74131539,
        11.97921005,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006731389182267344
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.24661147e-14,  8.24661147e-14,  1.00000000e+00,  6.80066007e-27,
        1.00000000e+00, -8.24661147e-14, -1.00000000e+00,  0.00000000e+00,
       -8.24661147e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09292953, -0.08860315,  0.06198076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.70250444e-02, 7.90259747e-02, 4.51593822e-02, 1.93024333e-02,
  3.60101037e-03, 1.74938148e-01, 9.49753505e-02, 3.67038350e-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,
 -1.80663548e-04,-9.50897180e-07,-4.90504876e+00,-1.76740367e-03,
  6.05970341e-05,-2.27115401e-03]


--- Step 1723 ---
qpos:
[ 2.71452030e-03, 1.60526511e-01,-1.52352905e-02, 1.41483682e-01,
  2.13211685e-03, 1.37944615e-01,-3.61926386e-02, 1.26562525e-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,
  9.33479774e-02,-7.04830665e-02, 1.30608592e-01, 4.83349445e-01,
  4.72372872e-01, 5.15514101e-01, 5.26765978e-01]

qacc:
[ 1.96555907e+02,-1.61276771e+01,-1.07150719e+01,-3.11075953e+02,
  1.69476343e+02,-1.62512560e+01,-9.86573872e+01, 1.27400908e+02,
  2.27343533e+00, 6.11369938e+00,-7.42527049e+01, 2.59109852e+02,
 -1.18405890e+00, 8.69922154e-02,-8.29034040e+00, 2.87735837e+01,
 -3.12033796e+00, 9.41653985e-01, 8.65401221e-02,-3.28236101e+01,
  5.68461971e+01,-1.57803950e+01]

qfrc_actuator:
[-0.01149562, 0.22088207, 0.00262281, 0.13737574, 0.00258265, 0.24925935,
  0.0156719 , 0.1364085 , 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, -0.42862543,  0.04194971, -0.42862543,  0.43454863,
        0.03959603,  0.04194971,  0.03959603,  0.8352499 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0034083542582210406
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.91103549, -0.40889162,  0.05312222, -0.40819827,  0.91258295,
        0.02380192, -0.05821084,  0.        , -0.99830431])
  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([ 0.10774022, -0.02918621,  0.11707889])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.3183559 ,  0.29005009, -0.3183559 ,  1.15029505,
        0.78984913,  0.29005009,  0.78984913,  1.29760337,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003216207432219953
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92601610e-01, -7.48182580e-02,  9.56256880e-02, -7.44734586e-02,
        9.97197186e-01,  7.17465663e-03, -9.58944623e-02,  8.67361738e-19,
       -9.95391507e-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([ 0.11156596, -0.08076329,  0.11397252])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  6.93096286,   2.33752725,   6.52489176,   2.33752725,
        65.24975807, -20.89257229,   6.52489176, -20.89257229,
        14.41567813,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006602120020689356
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.40807969e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.40807969e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09292457, -0.08860584,  0.06198113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.98550353e-02, 8.69485032e-02, 4.94464729e-02, 2.20957082e-02,
  1.85114297e-03, 1.83301444e-01, 9.95885624e-02, 3.81112902e-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,
 -2.66136728e-04,-6.93217520e-06,-4.90507540e+00,-1.72794935e-03,
  6.82141366e-05,-2.29229561e-03]


--- Step 1724 ---
qpos:
[ 2.91631136e-03, 1.62726948e-01,-1.64367223e-02, 1.43720670e-01,
  2.16064710e-03, 1.39011184e-01,-3.79659608e-02, 1.28507166e-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,
  9.32541739e-02,-7.04704813e-02, 1.30614089e-01, 4.83277888e-01,
  4.71752438e-01, 5.15655994e-01, 5.27248534e-01]

qacc:
[-2.52996857e+01, 5.30087671e+01,-5.76449322e+02, 5.40504801e+02,
 -1.03445523e+02,-2.95470274e+01, 1.06347673e+01,-2.45377794e+01,
  3.15278631e+00, 1.98608933e+01,-1.45550971e+02, 4.11245412e+02,
 -1.11546854e+00, 8.12556192e-03, 2.09265353e+01,-7.09666664e+01,
 -1.43733861e+00,-5.48266358e+00,-8.99025844e-02,-4.18868019e+01,
 -1.18451734e+02, 6.83985717e+01]

qfrc_actuator:
[-0.01157   , 0.22331099, 0.00367383, 0.13879978, 0.00256586, 0.25203656,
  0.01740356, 0.13722266, 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,  0.40621577, -0.14306742,  0.40621577,  0.82904101,
        1.1310977 , -0.14306742,  1.1310977 ,  3.6422343 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003538600101291214
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.90673476, -0.418037  ,  0.05547198, -0.4172569 ,  0.90843   ,
        0.02552683, -0.06106357,  0.        , -0.99813388])
  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([ 0.10753959, -0.02926948,  0.11716202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336,  0.29583442, -0.31298807,  0.29583442,  0.80392469,
        0.35279489, -0.31298807,  0.35279489,  0.76413293,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003237652541555698
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92478686e-01, -7.66200286e-02,  9.54747585e-02, -7.62679452e-02,
        9.97060365e-01,  7.33684638e-03, -9.57562470e-02,  8.67361738e-19,
       -9.95404813e-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([ 0.11150269, -0.08078078,  0.11398459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 6.95447071,  1.57061886, -6.77479293,  1.57061886, 56.71376167,
       11.53583315, -6.77479293, 11.53583315,  9.6288546 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006630977561950663
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.09287208e-14,  4.18574416e-14,  1.00000000e+00,  8.76022709e-28,
        1.00000000e+00, -4.18574416e-14, -1.00000000e+00,  0.00000000e+00,
       -2.09287208e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07921756, -0.03298649,  0.06198105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.25103192e-02, 9.41817992e-02, 5.35529612e-02, 2.49404372e-02,
  3.07965297e-05, 1.90843278e-01, 1.03544100e-01, 3.92464833e-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,
 -3.51919170e-04,-2.26035717e-05,-4.90510464e+00,-1.68942657e-03,
  7.70002723e-05,-2.31769041e-03]


--- Step 1725 ---
qpos:
[ 3.10633105e-03, 1.64670452e-01,-1.77773150e-02, 1.45937367e-01,
  2.16160063e-03, 1.40058754e-01,-3.97555439e-02, 1.30445314e-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,
  9.31533342e-02,-7.04786871e-02, 1.30618198e-01, 4.83278106e-01,
  4.71264046e-01, 5.15598200e-01, 5.27741384e-01]

qacc:
[-4.37904694e+01, 7.34831692e+00,-4.31473149e+02, 4.85814102e+02,
 -1.28580914e+02, 7.23825461e+00,-3.44558641e+01,-3.84078243e+01,
  1.42070801e+00, 5.32133560e+01,-2.70503982e+02, 6.19047949e+02,
 -1.46234771e+00, 1.10000726e+00, 7.16092892e-01,-3.07793426e+00,
 -1.75905579e+00,-5.19775429e+00,-3.46739287e-01,-4.03199458e+01,
 -9.91395124e+01, 6.47115591e+01]

qfrc_actuator:
[-0.01137182, 0.22679891, 0.00491967, 0.14024982, 0.00248666, 0.25583412,
  0.0192009 , 0.13855207, 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, -0.12916593, -0.41084754, -0.12916593,  4.1664716 ,
       -1.1744937 , -0.41084754, -1.1744937 ,  0.7999212 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003715833976180697
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.90291419, -0.42603176,  0.05694656, -0.42518694,  0.90470821,
        0.02681643, -0.06294467,  0.        , -0.99801702])
  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([ 0.10736695, -0.02934329,  0.11722814])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336,  0.42801755,  0.04775479,  0.42801755,  0.4419976 ,
       -0.10149714,  0.04775479, -0.10149714,  1.34037396,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00324041093546098
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92458831e-01, -7.79558646e-02,  9.45957249e-02, -7.76041503e-02,
        9.96956811e-01,  7.39680138e-03, -9.48844763e-02,  8.67361738e-19,
       -9.95488290e-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([ 0.11144017, -0.08079422,  0.11398832])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.06997832, -1.86841291,  6.81862352, -1.86841291, 11.97869702,
        1.34506816,  6.81862352,  1.34506816,  7.43854871,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006773773945265016
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.22925163e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.22925163e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07913891, -0.03301266,  0.06198064])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.19841666e-02, 1.10855469e-01, 6.30442817e-02, 2.77964948e-02,
  1.05983922e-03, 1.97700361e-01, 1.06471830e-01, 4.08473394e-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,
 -1.78493126e-04,-9.21420913e-05,-4.90508792e+00,-1.77739985e-03,
  6.70419416e-05,-2.30744568e-03]


--- Step 1726 ---
qpos:
[ 3.28007005e-03, 1.66397232e-01,-1.92386194e-02, 1.48138811e-01,
  2.13080414e-03, 1.41120877e-01,-4.15583825e-02, 1.32375785e-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,
  9.30443970e-02,-7.05063232e-02, 1.30620289e-01, 4.83335651e-01,
  4.70883413e-01, 5.15361820e-01, 5.28259080e-01]

qacc:
[-5.99747165e+01, 1.92868983e+01,-4.18103281e+02, 5.00419385e+02,
 -1.47749370e+02, 4.07430008e+01,-8.45233615e+01,-3.85356047e+01,
  3.62871448e-01, 5.56863719e+01,-2.76773576e+02, 6.29319980e+02,
 -1.38195484e+00, 1.32523648e+00,-2.13964597e+01, 7.28056624e+01,
 -2.02438070e+00,-4.85759932e+00,-5.04938701e-01,-4.09983461e+01,
 -8.05120148e+01, 6.07375409e+01]

qfrc_actuator:
[-0.01103781, 0.23080704, 0.0062514 , 0.14193185, 0.0023843 , 0.26015489,
  0.02098714, 0.14038912, 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, -0.09836074, -0.41929071, -0.09836074,  3.34494161,
       -0.68365356, -0.41929071, -0.68365356,  0.59105056,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037824588472620464
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.99749515e-01, -4.32603778e-01,  5.74872257e-02, -4.31723474e-01,
        9.01584145e-01,  2.75838824e-02, -6.37624629e-02,  3.46944695e-18,
       -9.97965104e-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([ 0.10721768, -0.02940511,  0.11727706])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336,  0.43056113,  0.00983125,  0.43056113,  0.43124014,
       -0.02482255,  0.00983125, -0.02482255,  1.51778086,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0032294399696634578
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92521459e-01, -7.89032848e-02,  9.31419625e-02, -7.85581259e-02,
        9.96882276e-01,  7.37219126e-03, -9.34332616e-02,  8.67361738e-19,
       -9.95625545e-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([ 0.11137507, -0.08080444,  0.11398599])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.12578618, -1.91264603,  6.86429995, -1.91264603, 13.99387783,
        1.91370254,  6.86429995,  1.91370254,  7.65901398,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006843451988777643
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.21673575e-13,  4.05578583e-14,  1.00000000e+00, -4.93481961e-27,
        1.00000000e+00, -4.05578583e-14, -1.00000000e+00,  0.00000000e+00,
        1.21673575e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07907589, -0.03303092,  0.06198045])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.10647239e-02, 1.27649856e-01, 7.13217930e-02, 3.04875021e-02,
  2.33661463e-03, 2.02949846e-01, 1.09075494e-01, 4.30063953e-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,
 -7.90132220e-05,-1.16338096e-04,-4.90512199e+00,-1.82269416e-03,
  5.24786153e-05,-2.29236571e-03]


--- Step 1727 ---
qpos:
[ 3.43251466e-03, 1.67940118e-01,-2.08004215e-02, 1.50330416e-01,
  2.06428267e-03, 1.42201578e-01,-4.33652441e-02, 1.34299896e-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,
  9.29264744e-02,-7.05522162e-02, 1.30619785e-01, 4.83439022e-01,
  4.70589759e-01, 5.14963763e-01, 5.28814063e-01]

qacc:
[ -77.71758454,  17.33322513,-370.98336903, 490.61303335,-165.49763661,
   23.11385324, -19.57146679, -97.86714974,  -1.2320057 ,  25.95249157,
 -135.68480047, 327.23856689,  -1.83724636,   2.30478789,  -3.10326313,
   11.55512743,  -2.24633973,  -4.56420739,  -0.64834242, -42.08114364,
  -65.07502487,  57.38542766]

qfrc_actuator:
[-0.01080837, 0.23460404, 0.00767188, 0.1435431 , 0.00235424, 0.26364522,
  0.02273472, 0.14180668, 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, -0.09077342, -0.42099849, -0.09077342,  3.38540045,
       -0.63708229, -0.42099849, -0.63708229,  0.5680376 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037643650741407473
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.89723971, -0.43783028,  0.05714489, -0.43694497,  0.89905764,
        0.02782888, -0.06356088,  0.        , -0.99797796])
  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([ 0.10708645, -0.02945597,  0.11731039])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336,  0.42904388, -0.03742843,  0.42904388,  0.46032978,
        0.33995308, -0.03742843,  0.33995308,  4.32757178,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003208809379359028
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92648233e-01, -7.95368639e-02,  9.12325173e-02, -7.92030486e-02,
        9.96831925e-01,  7.27941002e-03, -9.15224673e-02, -8.67361738e-19,
       -9.95803012e-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([ 0.11130496, -0.08081217,  0.1139793 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.13335922, -1.95497197,  6.8602404 , -1.95497197, 24.92026826,
        5.06875949,  6.8602404 ,  5.06875949,  8.57781045,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006852945977301739
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.07525049e-14,  8.10033399e-14,  1.00000000e+00,  4.92115581e-27,
        1.00000000e+00, -8.10033399e-14, -1.00000000e+00,  0.00000000e+00,
       -6.07525049e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07902513, -0.03304282,  0.06198042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.00237848e-02, 1.42232075e-01, 7.87695588e-02, 3.28564363e-02,
  3.89440816e-03, 2.05691143e-01, 1.11490288e-01, 4.48051729e-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,
 -3.17097804e-05,-1.12574911e-04,-4.90519874e+00,-1.83719344e-03,
  3.41822143e-05,-2.27607464e-03]


--- Step 1728 ---
qpos:
[ 3.56055741e-03, 1.69317326e-01,-2.24456266e-02, 1.52517247e-01,
  1.95883586e-03, 1.43315367e-01,-4.51715110e-02, 1.36217553e-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,
  9.27988582e-02,-7.06152055e-02, 1.30616254e-01, 4.83578347e-01,
  4.70362677e-01, 5.14418605e-01, 5.29418958e-01]

qacc:
[ -88.32153575,   4.04357829,-310.01509379, 476.6725088 ,-179.69042764,
   29.24741254, -13.2315646 ,-123.75009562,  -4.25707124,  22.3183678 ,
  -93.7251105 , 190.21674319,  -1.92773709,   2.89903457,  -9.03446482,
   31.55188462,  -2.42339807,  -4.27406277,  -0.75716236, -44.11457282,
  -50.6732724 ,  54.31116035]

qfrc_actuator:
[-0.01096744, 0.23784888, 0.00920919, 0.14500607, 0.00238426, 0.26771034,
  0.02452618, 0.14313408, 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,  0.09176952,  0.42078248,  0.09176952,  1.32086983,
       -0.19414521,  0.42078248, -0.19414521,  0.47301498,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038801813493743
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.95381266e-01, -4.41806686e-01,  5.56708216e-02, -4.40955186e-01,
        8.97110279e-01,  2.74166307e-02, -6.20557170e-02,  3.46944695e-18,
       -9.98072687e-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([ 0.10696887, -0.02949689,  0.11732628])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336,  0.42712275, -0.05518783,  0.42712275,  0.47916575,
        0.37530385, -0.05518783,  0.37530385,  3.3353142 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0031796181176459654
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99282955, -0.07991757,  0.08889693, -0.07959913,  0.99680148,
        0.00712722, -0.08918218,  0.        , -0.99601533])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11122925, -0.08081811,  0.1139687 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.10184277, -1.98045654,  6.82011456, -1.98045654, 18.29202624,
        3.24945746,  6.82011456,  3.24945746,  8.04543532,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000681349744705767
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.0736165e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -4.0736165e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07898403, -0.03304963,  0.06198053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.91202091e-02, 1.54628493e-01, 8.53268044e-02, 3.48068699e-02,
  5.71108218e-03, 2.08805296e-01, 1.13487208e-01, 4.64479229e-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,
 -1.79361804e-05,-9.17858795e-05,-4.90531143e+00,-1.83087236e-03,
  1.22931160e-05,-2.25985956e-03]


--- Step 1729 ---
qpos:
[ 3.72531565e-03, 1.70681159e-01,-2.40701567e-02, 1.54713399e-01,
  1.87379446e-03, 1.44406523e-01,-4.70147657e-02, 1.38134432e-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,
  9.26573416e-02,-7.06689403e-02, 1.30621897e-01, 4.83620910e-01,
  4.69942470e-01, 5.13992858e-01, 5.30166231e-01]

qacc:
[ 132.56466601, -56.53879771, 136.24929413,   2.5498834 ,  93.2968607 ,
   71.00321041,-292.81713978, 351.9096115 ,  -6.01968564,  35.92114474,
 -149.45013768, 298.77677117,  -1.17963582,   1.66322829,  -5.31606007,
   18.81943266,  -3.47510919,   2.31362378,   2.29382837, -28.9496344 ,
  138.36735578, -17.71745569]

qfrc_actuator:
[-0.01145451, 0.24010768, 0.01085745, 0.14625467, 0.00248555, 0.2720274 ,
  0.02635871, 0.14487157, 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, -0.07103712, -0.42477437, -0.07103712,  1.51672913,
       -0.18162647, -0.42477437, -0.18162647,  0.46104765,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038106916992061853
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.89421721, -0.44441276,  0.0535992 , -0.44361657,  0.89582213,
        0.02659029, -0.05983241,  0.        , -0.99820844])
  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([ 0.10686184, -0.02952642,  0.11733117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336,  0.42438518, -0.07332636,  0.42438518,  0.47600072,
        0.2623376 , -0.07332636,  0.2623376 ,  1.94898394,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003144090098833291
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.93052915e-01, -8.01025942e-02,  8.61944478e-02, -7.98025503e-02,
        9.96786624e-01,  6.92665683e-03, -8.64723158e-02, -8.67361738e-19,
       -9.96254254e-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([ 0.11114687, -0.08082287,  0.11395501])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28021184,  0.86080537, -7.22914231,  0.86080537, 33.96032031,
        3.1769164 , -7.22914231,  3.1769164 ,  7.65850108,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007039154075552112
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.88605430e-14, -3.94302715e-14,  1.00000000e+00, -3.10949262e-27,
        1.00000000e+00,  3.94302715e-14, -1.00000000e+00,  0.00000000e+00,
       -7.88605430e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08740903, -0.08915208,  0.06197989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.83888917e-02, 1.65135215e-01, 9.11431894e-02, 3.62901782e-02,
  7.75915630e-03, 2.11444948e-01, 1.15293985e-01, 4.85054949e-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,
 -2.44958588e-05,-6.28093891e-05,-4.90545592e+00,-1.81142834e-03,
 -1.31827660e-05,-2.24540368e-03]


--- Step 1730 ---
qpos:
[ 3.92854288e-03, 1.72082430e-01,-2.56697487e-02, 1.56918137e-01,
  1.81149922e-03, 1.45464592e-01,-4.88821134e-02, 1.40055026e-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,
  9.25016307e-02,-7.07150353e-02, 1.30635270e-01, 4.83578700e-01,
  4.69345463e-01, 5.13668280e-01, 5.31047433e-01]

qacc:
[ 137.77183138,  -2.83785303,  45.31417126,  36.3955903 , 103.95649245,
   30.4804553 ,-187.47065773, 312.08065731,  -5.85872181,  29.70008757,
 -156.28600409, 390.81597485,  -1.13405654,   1.67831503,   6.71291881,
  -22.38336505,  -3.54859026,   1.90992968,   1.93238998, -30.43441468,
  124.58617886, -14.35097994]

qfrc_actuator:
[-0.0119412 , 0.24252318, 0.01248381, 0.14759324, 0.00255035, 0.27549069,
  0.02819997, 0.146568  , 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, -0.42034578,  0.09374947, -0.42034578,  0.47747272,
        0.20983493,  0.09374947,  0.20983493,  1.37151308,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037676559688156162
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.94917004e-01, -4.43320619e-01,  5.08958311e-02, -4.42605407e-01,
        8.96363112e-01,  2.51719097e-02, -5.67803722e-02,  3.46944695e-18,
       -9.98386693e-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([ 0.10672802, -0.02951739,  0.11732977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.33855649,  0.26619361, -0.33855649,  0.87110993,
        0.5601662 ,  0.26619361,  0.5601662 ,  1.14311683,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0030985398121098407
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.93258973e-01, -8.08350565e-02,  8.30801225e-02, -8.05537580e-02,
        9.96727492e-01,  6.73783602e-03, -8.33528955e-02, -8.67361738e-19,
       -9.96520093e-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([ 0.11106592, -0.08083348,  0.11393649])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.41444175, -1.3789666 ,  7.28508048, -1.3789666 , 25.45151085,
        3.41417173,  7.28508048,  3.41417173,  8.06069799,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007213575340545286
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.69537277e-14,  3.84768638e-14,  1.00000000e+00, -2.96093810e-27,
        1.00000000e+00, -3.84768638e-14, -1.00000000e+00,  0.00000000e+00,
        7.69537277e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08739193, -0.08915182,  0.0619794 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.07152736e-02, 1.68184583e-01, 9.17340655e-02, 3.71585414e-02,
  6.80337870e-03, 2.16017656e-01, 1.18989135e-01, 5.02382076e-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,
 -4.63183452e-07,-1.90403379e-04,-4.90542982e+00,-1.85109541e-03,
 -2.86425826e-06,-2.32415504e-03]


--- Step 1731 ---
qpos:
[ 4.17032664e-03, 1.73553422e-01,-2.72396519e-02, 1.59131540e-01,
  1.77335889e-03, 1.46494063e-01,-5.07640028e-02, 1.41982360e-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,
  9.23315359e-02,-7.07551374e-02, 1.30655171e-01, 4.83463780e-01,
  4.68587752e-01, 5.13425944e-01, 5.32054595e-01]

qacc:
[ 1.37070474e+02, 2.66969758e+01, 1.56551690e+00, 5.01165540e+01,
  1.10140138e+02, 1.59640967e+01,-1.39936362e+02, 2.98645150e+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,
 -3.59595537e+00, 1.49822570e+00, 1.63208026e+00,-3.23072228e+01,
  1.10789938e+02,-1.08126511e+01]

qfrc_actuator:
[-0.01233759, 0.24550208, 0.01410226, 0.14910708, 0.00247623, 0.27876303,
  0.03008387, 0.14811133, 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, -0.42446043,  0.07288952, -0.42446043,  0.46609977,
        0.20630002,  0.07288952,  0.20630002,  1.63202838,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0036761782019710016
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.97081392e-01, -4.39307482e-01,  4.74753828e-02, -4.38693578e-01,
        8.98336761e-01,  2.32165617e-02, -5.28480909e-02, -3.46944695e-18,
       -9.98602563e-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([ 0.10656748, -0.02947728,  0.11732221])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.33778521,  0.26717166, -0.33778521,  0.93722742,
        0.64043646,  0.26717166,  0.64043646,  1.24037736,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0030418014429353735
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99345021, -0.08205964,  0.07951661, -0.08179804,  0.99662742,
        0.00654719, -0.07978569,  0.        , -0.99681204])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11098616, -0.08084937,  0.11391268])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.48223484, -1.57668446,  7.31422616, -1.57668446, 31.14220904,
        5.10024067,  7.31422616,  5.10024067,  8.58166355,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007303564964679793
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.60055555e-14, -3.80027778e-14,  1.00000000e+00, -2.88842223e-27,
        1.00000000e+00,  3.80027778e-14, -1.00000000e+00,  0.00000000e+00,
       -7.60055555e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08737797, -0.08915289,  0.06197915])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.30394914e-02, 1.69255026e-01, 9.21031840e-02, 3.82387164e-02,
  5.59164332e-03, 2.20923580e-01, 1.22082844e-01, 5.15933829e-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,
 -1.85871590e-05,-2.99813645e-04,-4.90541964e+00,-1.87444870e-03,
  6.92200026e-06,-2.40539287e-03]


--- Step 1732 ---
qpos:
[ 4.45049202e-03, 1.75106740e-01,-2.87745718e-02, 1.61354448e-01,
  1.76030862e-03, 1.47507228e-01,-5.26530340e-02, 1.43918486e-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,
  9.21469176e-02,-7.07907467e-02, 1.30680558e-01, 4.83286814e-01,
  4.67683494e-01, 5.13248688e-01, 5.33180822e-01]

qacc:
[ 1.35508830e+02, 3.03056003e+01, 9.28238342e+00, 3.94023501e+01,
  1.14054788e+02, 1.57322034e+01,-1.24218895e+02, 2.97653344e+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,
 -3.63087739e+00, 1.12321772e+00, 1.37128565e+00,-3.41410817e+01,
  9.85412780e+01,-7.58037181e+00]

qfrc_actuator:
[-0.01262426, 0.24829243, 0.01568347, 0.15052727, 0.00227275, 0.28228459,
  0.03197569, 0.14945178, 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, -0.42791545,  0.04866118, -0.42791545,  0.45154118,
        0.18350692,  0.04866118,  0.18350692,  2.04439184,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003633116061135083
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.90032283, -0.43300896,  0.04384119, -0.4324965 ,  0.90138962,
        0.0210604 , -0.04863734,  0.        , -0.9988165 ])
  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([ 0.10638062, -0.02941283,  0.1173148 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.33533095,  0.27024561, -0.33533095,  1.04780292,
        0.76575766,  0.27024561,  0.76575766,  1.38085436,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0029744017669522077
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99362372, -0.08372127,  0.07551586, -0.08348052,  0.99648921,
        0.00634456, -0.07578192,  0.        , -0.99712442])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11090655, -0.08086996,  0.11388382])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.49734516,  1.823799  , -7.2721346 ,  1.823799  , 67.09633014,
       14.94699637, -7.2721346 , 14.94699637, 11.24594424,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007323820818137122
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.57953432e-14,  7.57953432e-14,  1.00000000e+00,  5.74493405e-27,
        1.00000000e+00, -7.57953432e-14, -1.00000000e+00,  0.00000000e+00,
       -7.57953432e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0873665 , -0.08915501,  0.0619791 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.52589496e-02, 1.68520158e-01, 9.21964241e-02, 3.92210629e-02,
  4.18013900e-03, 2.25855584e-01, 1.24707413e-01, 5.25944727e-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,
 -6.48845233e-05,-3.98356278e-04,-4.90542514e+00,-1.88654957e-03,
  1.57672873e-05,-2.48852377e-03]


--- Step 1733 ---
qpos:
[ 4.76666609e-03, 1.76756496e-01,-3.02679804e-02, 1.63587929e-01,
  1.77246255e-03, 1.48509708e-01,-5.45405681e-02, 1.45865887e-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,
  9.19477668e-02,-7.08232950e-02, 1.30710533e-01, 4.83059063e-01,
  4.66646902e-01, 5.13119134e-01, 5.34418717e-01]

qacc:
[ 1.26175476e+02, 3.29399986e+01, 2.23935800e+01, 2.42169980e+01,
  1.14314298e+02, 4.16691001e+00,-8.27250227e+01, 2.81477842e+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,
 -3.63312318e+00, 7.65257550e-01, 1.14724095e+00,-3.60411186e+01,
  8.59516871e+01,-4.59197807e+00]

qfrc_actuator:
[-0.01282484, 0.25101792, 0.01717192, 0.15186923, 0.00198105, 0.28544001,
  0.03381743, 0.15039945, 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, -0.42996255,  0.02473338, -0.42996255,  0.43614353,
        0.09509292,  0.02473338,  0.09509292,  2.08375891,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0034410800180995145
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.04440784e-01, -4.24736448e-01,  3.98223306e-02, -4.24325344e-01,
        9.05317044e-01,  1.86829524e-02, -4.39871655e-02, -3.46944695e-18,
       -9.99032096e-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([ 0.10616907, -0.02932663,  0.11730595])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.33291063,  0.27322162, -0.33291063,  1.19900279,
        0.93618155,  0.27322162,  0.93618155,  1.57137661,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002897781486248428
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99377345, -0.08577113,  0.07111706, -0.08555234,  0.99631487,
        0.00612235, -0.0713801 ,  0.        , -0.99744919])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11082567, -0.08089469,  0.11385052])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.46991101,  2.16370739, -7.14968117,  2.16370739, 54.08099758,
       14.10590907, -7.14968117, 14.10590907, 11.73878105,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007287099831554678
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.61772893e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.61772893e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08735701, -0.08915789,  0.06197921])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.73841612e-02, 1.67086647e-01, 9.19308208e-02, 4.00828451e-02,
  2.63369097e-03, 2.29807508e-01, 1.26912192e-01, 5.31001862e-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,
 -1.28311262e-04,-4.92605512e-04,-4.90544475e+00,-1.89171654e-03,
  2.35805760e-05,-2.57371425e-03]


--- Step 1734 ---
qpos:
[ 5.11673199e-03, 1.78511190e-01,-3.17225900e-02, 1.65831486e-01,
  1.80878802e-03, 1.49519370e-01,-5.64221809e-02, 1.47825547e-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,
  9.17341089e-02,-7.08543615e-02, 1.30744439e-01, 4.82793001e-01,
  4.65493250e-01, 5.13017790e-01, 5.35760861e-01]

qacc:
[ 1.17706971e+02, 5.06975560e+01,-2.23859838e+01, 5.79916613e+01,
  1.09228861e+02, 1.73746644e+01,-9.96595131e+01, 2.95000258e+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,
 -3.62677232e+00, 3.70420705e-01, 9.82493581e-01,-3.85428378e+01,
  7.22457022e+01,-1.19908682e+00]

qfrc_actuator:
[-1.30932659e-02, 2.53905991e-01, 1.86374487e-02, 1.53549933e-01,
  1.46649952e-03, 2.88980231e-01, 3.56943360e-02, 1.51655806e-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, -0.43034751, -0.01674982, -0.43034751,  0.43421803,
       -0.09107218, -0.01674982, -0.09107218,  2.77056044,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003398616017759272
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.09124616e-01, -4.14982659e-01,  3.58025862e-02, -4.14661236e-01,
        9.09829321e-01,  1.63299336e-02, -3.93508820e-02,  1.73472348e-18,
       -9.99225454e-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([ 0.10593349, -0.02922428,  0.11730038])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.32301274,  0.28485489, -0.32301274,  1.44097666,
        1.14563886,  0.28485489,  1.14563886,  1.72977669,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002812812309339861
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99389473, -0.08815861,  0.06634256, -0.08796286,  0.99610645,
        0.00587153, -0.06660187,  0.        , -0.99777963])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11074258, -0.08092303,  0.11381314])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.40750893,  2.59424765, -6.93837644,  2.59424765, 59.17458581,
       19.35562574, -6.93837644, 19.35562574, 14.64454587,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007204450094966119
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.70511982e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.70511982e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08734912, -0.08916132,  0.06197945])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.94592031e-02, 1.65106339e-01, 9.13143071e-02, 4.12296017e-02,
  8.58697590e-04, 2.33863594e-01, 1.28720309e-01, 5.37904955e-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,
 -1.99595853e-04,-5.86848803e-04,-4.90547885e+00,-1.89278859e-03,
  3.01698923e-05,-2.65994723e-03]


--- Step 1735 ---
qpos:
[ 5.49661373e-03, 1.80376517e-01,-3.31384001e-02, 1.68085463e-01,
  1.86750669e-03, 1.50560240e-01,-5.82967116e-02, 1.49797373e-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,
  9.15059770e-02,-7.08854681e-02, 1.30781760e-01, 4.82501327e-01,
  4.64237304e-01, 5.12925233e-01, 5.37200056e-01]

qacc:
[ 1.02577541e+02, 5.89223374e+01,-4.21272452e+01, 7.91947557e+01,
  1.00704470e+02, 4.55364886e+01,-1.53485400e+02, 3.27042093e+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,
 -3.61851861e+00,-1.00132305e-02, 8.53805852e-01,-4.12735736e+01,
  5.86821997e+01, 2.00404439e+00]

qfrc_actuator:
[-1.34146814e-02, 2.57093073e-01, 2.01108341e-02, 1.55234870e-01,
  8.44694493e-04, 2.93305827e-01, 3.75873257e-02, 1.53304897e-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, -0.42715597, -0.05493008, -0.42715597,  0.47291261,
       -0.32846758, -0.05493008, -0.32846758,  2.98495475,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00322750531812175
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.14207854e-01, -4.04047661e-01,  3.11365941e-02, -4.03813520e-01,
        9.14737934e-01,  1.37533031e-02, -3.40388137e-02, -1.73472348e-18,
       -9.99420512e-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([ 0.10567612, -0.02910839,  0.11729101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.30640362,  0.30264891, -0.30640362,  1.90237604,
        1.48996087,  0.30264891,  1.48996087,  1.93911892,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0027215170280769476
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99398145, -0.09082912,  0.061245  , -0.09065719,  0.99586649,
        0.00558592, -0.06149921,  0.        , -0.99810713])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11065567, -0.0809544 ,  0.11377249])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.31578034, -3.14051588,  6.60740509, -3.14051588, 38.97838085,
       15.04931185,  6.60740509, 15.04931185, 14.46875525,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007084934700915951
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.56701942e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.56701942e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08734252, -0.08916509,  0.0619798 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.14820080e-02, 1.62995750e-01, 9.08396095e-02, 4.24051455e-02,
 -9.71916603e-04, 2.37811465e-01, 1.30323164e-01, 5.48242487e-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,
 -2.69151917e-04,-6.85021448e-04,-4.90553028e+00,-1.89268639e-03,
  3.48425248e-05,-2.74590091e-03]


--- Step 1736 ---
qpos:
[ 5.90222032e-03, 1.82346473e-01,-3.45114640e-02, 1.70351378e-01,
  1.94684641e-03, 1.51634951e-01,-6.01588566e-02, 1.51783025e-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,
  9.12633453e-02,-7.09178054e-02, 1.30821993e-01, 4.82194177e-01,
  4.62890275e-01, 5.12826141e-01, 5.38730655e-01]

qacc:
[ 8.77039546e+01, 4.31247204e+01,-3.70358888e+00, 6.53453652e+01,
  9.24799326e+01, 3.76401437e+01,-1.27274305e+02, 3.19265571e+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,
 -3.62494517e+00,-3.07675165e-01, 7.28297000e-01,-4.35779969e+01,
  4.80732895e+01, 4.36616741e+00]

qfrc_actuator:
[-1.37418676e-02, 2.59772796e-01, 2.15556623e-02, 1.56598426e-01,
  4.16935457e-04, 2.96850818e-01, 3.94864352e-02, 1.55025047e-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, -0.41408015, -0.11839412, -0.41408015,  0.69342145,
       -0.91895416, -0.11839412, -0.91895416,  3.64468999,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003055662105635704
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.19468890e-01, -3.92301746e-01,  2.60057884e-02, -3.92144928e-01,
        9.19836583e-01,  1.10912268e-02, -2.82721832e-02, -1.73472348e-18,
       -9.99600262e-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([ 0.10539854, -0.02898308,  0.11728   ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.28208855,  0.32543139, -0.28208855,  2.78138208,
        2.03762769,  0.32543139,  2.03762769,  2.19691796,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002626425766919142
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99402782, -0.09372887,  0.05588916, -0.09358107,  0.99559776,
        0.00526159, -0.05613629,  0.        , -0.99842312])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11056303, -0.08098818,  0.11372962])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.19926372, -3.75819217,  6.14047145, -3.75819217, 42.47867219,
       21.5922829 ,  6.14047145, 21.5922829 , 20.41452726,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006935993591040551
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.20050178e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.20050178e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08733698, -0.08916905,  0.06198023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.33073286e-02, 1.60088629e-01, 9.03345920e-02, 4.32416914e-02,
 -2.51959299e-03, 2.39776386e-01, 1.31873695e-01, 5.59335895e-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,
 -3.30436196e-04,-7.89927545e-04,-4.90560108e+00,-1.89322254e-03,
  3.72746681e-05,-2.83066484e-03]


--- Step 1737 ---
qpos:
[ 6.32935266e-03, 1.84418562e-01,-3.58439934e-02, 1.72629458e-01,
  2.04421841e-03, 1.52745232e-01,-6.20036537e-02, 1.53784129e-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,
  9.10062341e-02,-7.09526148e-02, 1.30864767e-01, 4.81882391e-01,
  4.61464044e-01, 5.12704225e-01, 5.40346810e-01]

qacc:
[ 7.25945031e+01, 4.64551307e+01,-2.11713416e+01, 9.17030882e+01,
  8.06349818e+01, 2.94427217e+01,-1.01573190e+02, 3.12627144e+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,
 -3.61986107e+00,-6.18015057e-01, 6.34944832e-01,-4.61085682e+01,
  3.68226201e+01, 6.85010879e+00]

qfrc_actuator:
[-1.41513622e-02, 2.62216370e-01, 2.29461370e-02, 1.58225036e-01,
  1.33924155e-04, 2.99859071e-01, 4.13633275e-02, 1.56834565e-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., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029458968588661526
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.24808453e-01, -3.79856918e-01,  2.09295666e-02, -3.79759679e-01,
        9.25045254e-01,  8.59443431e-03, -2.26254516e-02,  1.73472348e-18,
       -9.99744012e-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([ 0.10510259, -0.02884938,  0.11727309])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025278991379680308
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99403165, -0.09681483,  0.05027885, -0.09669122,  0.99530241,
        0.00489071, -0.05051616,  0.        , -0.99872324])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11046413, -0.08102395,  0.11368462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.06215264, -4.42659087,  5.50266236, -4.42659087, 43.79720628,
       29.55134123,  5.50266236, 29.55134123, 30.83459018,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006764041672202153
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.20680208e-14,  4.10340104e-14,  1.00000000e+00,  3.36758001e-27,
        1.00000000e+00, -4.10340104e-14, -1.00000000e+00,  0.00000000e+00,
       -8.20680208e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08733231, -0.08917306,  0.06198073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.50108022e-02, 1.57241202e-01, 8.95761534e-02, 4.42650561e-02,
 -3.83393781e-03, 2.41071479e-01, 1.33136283e-01, 5.70492063e-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,
 -3.82592783e-04,-9.02819908e-04,-4.90569045e+00,-1.89486044e-03,
  3.77583059e-05,-2.91487504e-03]


--- Step 1738 ---
qpos:
[ 6.77364437e-03, 1.86587590e-01,-3.71348993e-02, 1.74920600e-01,
  2.15717863e-03, 1.53893792e-01,-6.38259676e-02, 1.55802147e-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,
  9.07346896e-02,-7.09908365e-02, 1.30909670e-01, 4.81574037e-01,
  4.59967587e-01, 5.12547348e-01, 5.42043801e-01]

qacc:
[ 57.24045283, 38.40624591, -6.13929447, 94.19077413, 69.49141418,
  21.73038681,-75.04877136,301.39446864,  0.81178243, 16.26391563,
 -80.65506044,202.61796924, -0.32617128,  1.81159156,  1.88209724,
  -6.46503433, -3.60831926, -0.85308286,  0.53233642,-47.880196  ,
  28.32091135,  8.61353563]

qfrc_actuator:
[-1.45808273e-02, 2.64496651e-01, 2.42891130e-02, 1.59596166e-01,
  9.18755192e-05, 3.03027088e-01, 4.32169730e-02, 1.58104711e-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., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0028017093277381746
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.30094406e-01, -3.66994047e-01,  1.54843672e-02, -3.66943199e-01,
        9.30223290e-01,  6.10893174e-03, -1.66458606e-02,  8.67361738e-19,
       -9.99861448e-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([ 0.10478978, -0.02871054,  0.11726547])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002426176634743284
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.93991536e-01, -1.00041315e-01,  4.44135321e-02, -9.99415994e-02,
        9.94983284e-01,  4.46559077e-03, -4.46374655e-02, -8.67361738e-19,
       -9.99003252e-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([ 0.11035847, -0.08106128,  0.11363753])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006574259296554252
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.22185593e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.22185593e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08732836, -0.08917701,  0.06198127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.65246362e-02, 1.54351128e-01, 8.88791330e-02, 4.50211806e-02,
 -4.77789648e-03, 2.42438421e-01, 1.34126891e-01, 5.75440085e-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,
 -4.21602257e-04,-1.02369737e-03,-4.90580190e+00,-1.89825560e-03,
  3.57508279e-05,-2.99691310e-03]


--- Step 1739 ---
qpos:
[ 7.23046450e-03, 1.88848751e-01,-3.83797122e-02, 1.77226309e-01,
  2.28377704e-03, 1.55083547e-01,-6.56202092e-02, 1.57838429e-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,
  9.04487828e-02,-7.10330225e-02, 1.30956215e-01, 4.81274057e-01,
  4.58406375e-01, 5.12348385e-01, 5.43817993e-01]

qacc:
[ 41.34882822, 22.72361394, 34.20247978, 76.60789842, 60.60998431,
  12.82803351,-43.43192498,282.38177286,  4.24422646, -4.95448834,
  -6.58456017, 78.92527747, -0.43737378,  2.16889587, -8.51207868,
  28.99670536, -3.59060405, -0.99108367,  0.41056757,-48.70888136,
  23.02528503,  9.40327732]

qfrc_actuator:
[-1.49910134e-02, 2.66590041e-01, 2.55862868e-02, 1.60488697e-01,
  2.78398793e-04, 3.06416051e-01, 4.50801012e-02, 1.58777301e-01,
  3.04984632e-04, 2.21508600e-01, 9.12217632e-04, 1.36819428e-01,
  8.02896780e-04,-3.44551059e-03, 0.00000000e+00,-1.82321449e-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, -0.29522726, -0.31356085, -0.29522726,  2.12051566,
       -1.59103889, -0.31356085, -1.59103889,  1.92868578,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002575906999708572
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.93475956, -0.35514744,  0.00973993, -0.35512817,  0.9348103 ,
        0.00370034, -0.01041915,  0.        , -0.99994572])
  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([ 0.10446759, -0.02858249,  0.11725781])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023217598773816886
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99392204, -0.10310708,  0.0385733 , -0.10302952,  0.99467026,
        0.00399849, -0.03877999,  0.        , -0.99924777])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11024519, -0.08109693,  0.11359152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006371304400109995
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.35634116e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.35634116e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08732502, -0.08918081,  0.06198186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.78011281e-02, 1.51529898e-01, 8.80802217e-02, 4.52536061e-02,
 -5.37109623e-03, 2.43889336e-01, 1.34869488e-01, 5.73679851e-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,
 -4.49337558e-04,-1.15110628e-03,-4.90593395e+00,-1.90285979e-03,
  3.15910931e-05,-3.07706073e-03]


--- Step 1740 ---
qpos:
[ 7.69393911e-03, 1.91161228e-01,-3.96043037e-02, 1.79546611e-01,
  2.42348733e-03, 1.56327223e-01,-6.73843675e-02, 1.59893012e-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,
  9.01482134e-02,-7.10793881e-02, 1.31003946e-01, 4.80979452e-01,
  4.56777941e-01, 5.12108531e-01, 5.45671633e-01]

qacc:
[ 2.16332078e+01, 4.07728152e+01,-1.07525547e+02, 2.86674758e+02,
  5.79366101e+01, 2.40344022e+01,-5.91130812e+01, 2.85932667e+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,
 -3.66563250e+00,-1.04488302e+00, 2.96474377e-01,-4.88794078e+01,
  2.52715290e+01, 9.80864782e+00]

qfrc_actuator:
[-0.01540962, 0.26848407, 0.02679936, 0.16165542, 0.00058003, 0.30936902,
  0.04688108, 0.16030817, 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, -0.29898264, -0.30998213, -0.29898264,  0.53725224,
       -0.10279701, -0.30998213, -0.10279701,  0.52982269,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002490228474861618
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.93975157, -0.34184086,  0.0034375 , -0.34183858,  0.93975785,
        0.00125041, -0.00365786,  0.        , -0.99999331])
  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([ 0.1041248 , -0.0284376 ,  0.11724718])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002215229010107863
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99378746, -0.10652545,  0.0322305 , -0.10646947,  0.99430998,
        0.00345302, -0.03241494,  0.        , -0.9994745 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11012453, -0.08113653,  0.11354083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006159483142726269
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.01230671e-14,  9.01230671e-14,  1.00000000e+00, -8.12216722e-27,
        1.00000000e+00, -9.01230671e-14, -1.00000000e+00,  0.00000000e+00,
        9.01230671e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08732219, -0.08918436,  0.06198247])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.88546955e-02, 1.48745642e-01, 8.69721118e-02, 4.56845947e-02,
 -5.75171085e-03, 2.44756515e-01, 1.35269663e-01, 5.79825439e-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,
 -4.69941165e-04,-1.28330116e-03,-4.90608325e+00,-1.90744715e-03,
  2.60472286e-05,-3.15623885e-03]


--- Step 1741 ---
qpos:
[ 8.15741844e-03, 1.93493228e-01,-4.08166774e-02, 1.81884326e-01,
  2.57590056e-03, 1.57630031e-01,-6.91159601e-02, 1.61966344e-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,
  8.98326709e-02,-7.11300962e-02, 1.31052469e-01, 4.80687378e-01,
  4.55079415e-01, 5.11829121e-01, 5.47606904e-01]

qacc:
[ 3.75678046e-02, 2.67430043e+01,-1.29762544e+02, 3.92121137e+02,
  5.58454340e+01, 2.48966406e+01,-5.40784029e+01, 2.80856431e+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,
 -3.74327366e+00,-1.08562322e+00, 1.97949766e-01,-4.91288932e+01,
  2.76065015e+01, 1.00277117e+01]

qfrc_actuator:
[-0.0157969 , 0.26980087, 0.0280049 , 0.16301632, 0.00092804, 0.31167613,
  0.04861377, 0.1622224 , 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([ 0.43067336, -0.30124923, -0.30777986, -0.30124923,  0.40792155,
        0.02226905, -0.30777986,  0.02226905,  0.40887682,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022643384272626656
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.44826010e-01, -3.27561327e-01, -2.71793738e-03, -3.27559972e-01,
        9.44829920e-01, -9.42276654e-04,  2.87664195e-03,  0.00000000e+00,
       -9.99995862e-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([ 0.10376939, -0.02828163,  0.11724011])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002108118289191479
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.93595233e-01, -1.10036307e-01,  2.57006705e-02, -1.09999514e-01,
        9.93927568e-01,  2.84528465e-03, -2.58576895e-02,  4.33680869e-19,
       -9.99665634e-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([ 0.10999519, -0.08117719,  0.11348917])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005942002763798249
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.3421618e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -9.3421618e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08731979, -0.08918762,  0.06198309])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.95825352e-02, 1.47422702e-01, 8.71490615e-02, 4.63083143e-02,
 -6.05969745e-03, 2.44339393e-01, 1.35500046e-01, 5.89783374e-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,
 -4.90802544e-04,-1.42312899e-03,-4.90624233e+00,-1.91327984e-03,
  1.97489760e-05,-3.24111677e-03]


--- Step 1742 ---
qpos:
[ 8.61585330e-03, 1.95838394e-01,-4.20089726e-02, 1.84242681e-01,
  2.74081040e-03, 1.58988198e-01,-7.08097060e-02, 1.64059732e-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,
  8.95020000e-02,-7.11851161e-02, 1.31101314e-01, 4.80395422e-01,
  4.53307921e-01, 5.11512457e-01, 5.49624574e-01]

qacc:
[-1.59011814e+01, 3.05083887e+00,-7.10516390e+01, 3.81636611e+02,
  5.47475029e+01, 7.98888818e+00,-6.62791099e+00, 2.50969293e+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,
 -3.78208822e+00,-1.07796185e+00, 8.03930089e-02,-4.88516205e+01,
  2.97439031e+01, 9.57490893e+00]

qfrc_actuator:
[-0.01619692, 0.27099564, 0.0292236 , 0.16398799, 0.00121028, 0.31390626,
  0.05032649, 0.16331148, 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([ 0.43067336, -0.30633999, -0.30271331, -0.30633999,  0.3784267 ,
        0.0528726 , -0.30271331,  0.0528726 ,  0.37716731,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002051259088678439
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.50060078e-01, -3.11908258e-01, -9.95421009e-03, -3.11891139e-01,
        9.50112224e-01, -3.26782485e-03,  1.04768782e-02,  4.33680869e-19,
       -9.99945116e-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([ 0.1034023 , -0.02811059,  0.11722164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020010809012681154
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99333934, -0.11364811,  0.01900154, -0.11362732,  0.99352107,
        0.00217357, -0.01912545,  0.        , -0.99981709])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10985669, -0.08121901,  0.11343683])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005721208457665494
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.70269684e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.70269684e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08731775, -0.08919051,  0.06198373])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.99898729e-02, 1.47566334e-01, 8.77388330e-02, 4.64018598e-02,
 -6.41306263e-03, 2.43582229e-01, 1.35585255e-01, 5.91263716e-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,
 -5.12282842e-04,-1.57144642e-03,-4.90641132e+00,-1.92018448e-03,
  1.28227585e-05,-3.33230937e-03]


--- Step 1743 ---
qpos:
[ 9.06313878e-03, 1.98194409e-01,-4.31857470e-02, 1.86622978e-01,
  2.91814380e-03, 1.60418939e-01,-7.24657702e-02, 1.66172227e-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,
  8.91560538e-02,-7.12444442e-02, 1.31150080e-01, 4.80101095e-01,
  4.51460603e-01, 5.11160691e-01, 5.51725485e-01]

qacc:
[-3.48971048e+01, 1.52281172e+01,-1.23919797e+02, 4.64439533e+02,
  5.39626278e+01, 2.91047380e+01,-4.48456066e+01, 2.59903544e+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,
 -3.81883789e+00,-1.07705589e+00,-1.95382662e-02,-4.86114415e+01,
  3.18790264e+01, 9.20961125e+00]

qfrc_actuator:
[-0.01672379, 0.27234652, 0.03036643, 0.16512423, 0.00134166, 0.31704671,
  0.05199115, 0.16457125, 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([ 0.43067336, -0.31016545, -0.29879246, -0.31016545,  0.34627801,
        0.0876077 , -0.29879246,  0.0876077 ,  0.33973103,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018647091319002258
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9554338 , -0.29472937, -0.01675846, -0.29468404,  0.95558077,
       -0.0051688 ,  0.01753746,  0.        , -0.99984621])
  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([ 0.10302276, -0.02792269,  0.1172088 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018940344546253382
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99301439, -0.11736783,  0.01213295, -0.11735907,  0.99308851,
        0.00143393, -0.01221739,  0.        , -0.99992536])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10970912, -0.08126207,  0.11338381])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005499520799027574
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.01876321e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.01876321e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08731602, -0.08919299,  0.06198436])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.02713325e-02, 1.48183215e-01, 8.78592897e-02, 4.64984720e-02,
 -6.90700289e-03, 2.43921548e-01, 1.35357249e-01, 5.93795409e-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,
 -5.35707965e-04,-1.72725493e-03,-4.90658810e+00,-1.92676491e-03,
  6.02330891e-06,-3.42933340e-03]


--- Step 1744 ---
qpos:
[ 9.48983760e-03, 2.00547907e-01,-4.43716913e-02, 1.89025498e-01,
  3.10804732e-03, 1.61935162e-01,-7.40844177e-02, 1.68302994e-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,
  8.87945134e-02,-7.13081844e-02, 1.31198454e-01, 4.79799593e-01,
  4.49532847e-01, 5.10776998e-01, 5.53912833e-01]

qacc:
[-6.38701086e+01, 6.65643856e+01,-3.32418065e+02, 7.22140509e+02,
  5.41348515e+01, 4.50702260e+01,-7.34459280e+01, 2.64607115e+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,
 -3.89856648e+00,-1.10300145e+00,-9.82320406e-02,-4.85888883e+01,
  3.58717208e+01, 9.37707239e+00]

qfrc_actuator:
[-0.0173009 , 0.27462249, 0.03151353, 0.16716629, 0.0013066 , 0.32055196,
  0.05362977, 0.16597962, 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([ 0.43067336, -0.30731316, -0.30172531, -0.30731316,  0.30675303,
        0.12621528, -0.30172531,  0.12621528,  0.30212061,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015864901452596844
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.60894704e-01, -2.75797319e-01, -2.48436553e-02, -2.75705185e-01,
        9.61215813e-01, -7.12827800e-03,  2.58460743e-02, -8.67361738e-19,
       -9.99665934e-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([ 0.10263173, -0.02771481,  0.11718164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001788962018956166
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92614268e-01, -1.21203990e-01,  5.14864554e-03, -1.21202360e-01,
        9.92627620e-01,  6.28671187e-04, -5.18688523e-03, -1.08420217e-19,
       -9.99986548e-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([ 0.10955135, -0.08130636,  0.11333103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005278625668566211
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08731455, -0.089195  ,  0.061985  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.02974004e-02, 1.49840344e-01, 8.82115193e-02, 4.74357882e-02,
 -7.56384939e-03, 2.43762026e-01, 1.35110199e-01, 5.98284126e-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,
 -5.60700665e-04,-1.89106549e-03,-4.90677240e+00,-1.93325722e-03,
 -6.64335038e-07,-3.53257405e-03]


--- Step 1745 ---
qpos:
[ 9.88918557e-03, 2.02896215e-01,-4.55636938e-02, 1.91453679e-01,
  3.31086281e-03, 1.63529992e-01,-7.56610389e-02, 1.70453066e-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,
  8.84171346e-02,-7.13763066e-02, 1.31246048e-01, 4.79486241e-01,
  4.47519717e-01, 5.10365362e-01, 5.56189036e-01]

qacc:
[-8.36978993e+01, 6.12570832e+01,-3.32708944e+02, 7.77760820e+02,
  5.53307424e+01, 2.54178307e+01,-2.10315303e+01, 2.28517495e+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,
 -3.95958645e+00,-1.09553180e+00,-1.94653511e-01,-4.82495361e+01,
  3.99393140e+01, 9.07545589e+00]

qfrc_actuator:
[-0.01778774, 0.27707198, 0.03271717, 0.16910369, 0.00116656, 0.32357732,
  0.05527345, 0.16672474, 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([ 0.43067336, -0.30484449, -0.30421929, -0.30484449,  0.29149187,
        0.13946752, -0.30421929,  0.13946752,  0.29091922,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012910038035257396
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.66446057e-01, -2.54670284e-01, -3.35419864e-02, -2.54517042e-01,
        9.67027945e-01, -8.83340264e-03,  3.46856433e-02,  1.73472348e-18,
       -9.99398272e-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([ 0.1022292 , -0.0274821 ,  0.11714664])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001687252289250851
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92133166e-01, -1.25172322e-01, -1.91603896e-03, -1.25172089e-01,
        9.92135016e-01, -2.41736298e-04,  1.93122803e-03,  0.00000000e+00,
       -9.99998135e-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([ 0.10938254, -0.081352  ,  0.11327916])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005059576382936137
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09715018e-13,  1.09715018e-13,  1.00000000e+00,  1.20373851e-26,
        1.00000000e+00, -1.09715018e-13, -1.00000000e+00,  0.00000000e+00,
       -1.09715018e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08731329, -0.0891965 ,  0.06198562])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.97604097e-02, 1.52339351e-01, 8.98548284e-02, 4.82543162e-02,
 -8.33312538e-03, 2.42473616e-01, 1.34880073e-01, 5.96554203e-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,
 -5.87326394e-04,-2.06589223e-03,-4.90696293e+00,-1.94169128e-03,
 -7.71459035e-06,-3.64521414e-03]


--- Step 1746 ---
qpos:
[ 1.02574755e-02, 2.05261888e-01,-4.67366172e-02, 1.93911420e-01,
  3.52702357e-03, 1.65206149e-01,-7.71935201e-02, 1.72622400e-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,
  8.80238813e-02,-7.14486071e-02, 1.31292450e-01, 4.79159289e-01,
  4.45417970e-01, 5.09928655e-01, 5.58553466e-01]

qacc:
[-9.37029959e+01, 2.91266464e+01,-1.91909751e+02, 6.50215799e+02,
  5.67471836e+01, 2.30750543e+01,-7.33841820e+00, 2.08993081e+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,
 -3.96859893e+00,-1.04456035e+00,-2.98281557e-01,-4.76882347e+01,
  4.18457741e+01, 7.93006008e+00]

qfrc_actuator:
[-1.82054232e-02, 2.79433990e-01, 3.39375439e-02, 1.70202593e-01,
  9.75906631e-04, 3.26500460e-01, 5.68828504e-02, 1.67560632e-01,
  3.17202149e-04, 2.23640107e-01, 1.15210000e-03, 1.43429384e-01,
  1.18319460e-03,-2.74314460e-03, 0.00000000e+00,-2.15252406e-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, -0.30735048, -0.30168729, -0.30735048,  0.29162833,
        0.14165514, -0.30168729,  0.14165514,  0.28635911,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010328066332410924
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97199043, -0.23105746, -0.04297731, -0.23083193,  0.97294011,
       -0.01020641,  0.04417261,  0.        , -0.99902391])
  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([ 0.10181516, -0.02722042,  0.11710189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015883935274776774
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.91565663e-01, -1.29287235e-01, -9.07448984e-03, -1.29281821e-01,
        9.91607186e-01, -1.18314562e-03,  9.15129496e-03, -4.33680869e-19,
       -9.99958126e-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([ 0.10920305, -0.08139914,  0.11322804])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004843624742578573
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.14606631e-13,  1.14606631e-13,  1.00000000e+00,  1.31346798e-26,
        1.00000000e+00, -1.14606631e-13, -1.00000000e+00,  0.00000000e+00,
       -1.14606631e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08731222, -0.08919744,  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:
[-3.88155673e-02, 1.54884823e-01, 9.13593771e-02, 4.80625633e-02,
 -9.17015777e-03, 2.41423453e-01, 1.34383741e-01, 5.95213447e-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,
 -6.17022088e-04,-2.25168465e-03,-4.90715760e+00,-1.95118419e-03,
 -1.44955733e-05,-3.76760859e-03]


--- Step 1747 ---
qpos:
[ 1.05847432e-02, 2.07671184e-01,-4.78758915e-02, 1.96402250e-01,
  3.75707428e-03, 1.66963406e-01,-7.86799242e-02, 1.74811029e-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,
  8.76147692e-02,-7.15248180e-02, 1.31337270e-01, 4.78818130e-01,
  4.43224822e-01, 5.09469278e-01, 5.61004467e-01]

qacc:
[-1.22209703e+02, 3.04029406e+01,-1.60948195e+02, 6.37977855e+02,
  5.85893126e+01, 1.75207558e+01, 1.18281961e+01, 1.87854223e+02,
 -1.66573216e+00, 2.46485107e+01,-1.24863238e+02, 3.06263677e+02,
 -1.02964616e+01, 2.14855257e+01, 6.76339167e+00,-2.10915726e+01,
 -3.96473442e+00,-9.77579392e-01,-3.95405999e-01,-4.71381909e+01,
  4.29974219e+01, 6.45332097e+00]

qfrc_actuator:
[-1.85847129e-02, 2.81794038e-01, 3.51097378e-02, 1.71103788e-01,
  7.67043385e-04, 3.28777768e-01, 5.84349964e-02, 1.68656348e-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([ 0.31963484, -0.22895599, -0.22303718, -0.22895599,  0.22443672,
        0.09772441, -0.22303718,  0.09772441,  0.21931708,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005972670102018982
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.77313764e-01, -2.05199617e-01, -5.24492488e-02, -2.04904754e-01,
        9.78720142e-01, -1.09965712e-02,  5.35896285e-02,  1.73472348e-18,
       -9.98563043e-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([ 0.10138786, -0.02693123,  0.1170562 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014929089418123445
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99090712, -0.13355519, -0.01631238, -0.1335371 ,  0.99104138,
       -0.0021983 ,  0.01645984,  0.        , -0.99986453])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10901271, -0.08144782,  0.11317796])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004631695375108963
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.39701218e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.39701218e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08731129, -0.08919779,  0.06198685])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.76471539e-02, 1.56299945e-01, 9.15585665e-02, 4.74778344e-02,
 -1.00471666e-02, 2.39588104e-01, 1.33723023e-01, 5.96488745e-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,
 -6.50625378e-04,-2.44585120e-03,-4.90735705e+00,-1.95876474e-03,
 -1.99592989e-05,-3.89683228e-03]


--- Step 1748 ---
qpos:
[ 1.08596061e-02, 2.10130318e-01,-4.89805522e-02, 1.98929420e-01,
  4.00178436e-03, 1.68794755e-01,-8.01163388e-02, 1.77019685e-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,
  8.71897768e-02,-7.16046803e-02, 1.31380122e-01, 4.78460863e-01,
  4.40936548e-01, 5.08990602e-01, 5.63541241e-01]

qacc:
[-1.54125919e+02, 4.23670243e+01,-2.04771493e+02, 7.30004970e+02,
  6.13746343e+01,-9.41781219e-01, 6.09879557e+01, 1.51156138e+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,
 -3.97005461e+00,-9.12884810e-01,-4.92000301e-01,-4.64669971e+01,
  4.51747471e+01, 5.09827675e+00]

qfrc_actuator:
[-1.89363330e-02, 2.83551621e-01, 3.62130690e-02, 1.72421334e-01,
  4.88113280e-04, 3.30457747e-01, 5.99331994e-02, 1.69349885e-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([ 0.22496939, -0.15869767, -0.15945619, -0.15869767,  0.16152467,
        0.06314292, -0.15945619,  0.06314292,  0.16212684,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002909731048507236
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82154299e-01, -1.77363244e-01, -6.25716563e-02, -1.77004397e-01,
        9.84145456e-01, -1.12766989e-02,  6.35796832e-02, -1.73472348e-18,
       -9.97976765e-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([ 0.10094639, -0.02661649,  0.11700293])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014009836240431348
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99015332, -0.13797931, -0.02362435, -0.13794005,  0.99043511,
       -0.00329115,  0.0238525 ,  0.        , -0.99971549])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10881156, -0.08149804,  0.11312908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004424189390538624
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.25471914e-13,  1.25471914e-13,  1.00000000e+00,  1.57432013e-26,
        1.00000000e+00, -1.25471914e-13, -1.00000000e+00,  0.00000000e+00,
       -1.25471914e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08731047, -0.08919749,  0.06198744])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.59526232e-02, 1.55797960e-01, 9.09595812e-02, 4.71327045e-02,
 -1.10215755e-02, 2.37163181e-01, 1.32910017e-01, 5.93721955e-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,
 -6.88938571e-04,-2.64768262e-03,-4.90756178e+00,-1.96295897e-03,
 -2.35354901e-05,-4.03190152e-03]


--- Step 1749 ---
qpos:
[ 1.05179930e-02, 2.13541361e-01,-4.91702038e-02, 2.02175995e-01,
  4.25793895e-03, 1.70694150e-01,-8.15062403e-02, 1.79246288e-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,
  8.67560975e-02,-7.16809036e-02, 1.31418550e-01, 4.78200716e-01,
  4.38617679e-01, 5.08452768e-01, 5.66051579e-01]

qacc:
[-1.78575538e+03, 1.54854861e+02,-1.69820233e+03, 1.18092263e+04,
  4.74730466e+01,-3.37475808e+00, 6.68254339e+01, 1.19570088e+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,
 -2.17174656e+00, 9.09767406e-01,-1.10612491e+00,-3.86727230e+01,
 -3.60768459e+01,-2.84339839e+01]

qfrc_actuator:
[-1.92790653e-02, 2.84924063e-01, 3.73139165e-02, 1.73670412e-01,
  1.96322934e-04, 3.32091197e-01, 6.13589406e-02, 1.69900180e-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: -0.0013121621984640043
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89288056e-01, -1.42546788e-01, -3.14571956e-02, -1.42474778e-01,
        9.89788065e-01, -4.53038619e-03,  3.17817487e-02,  8.67361738e-19,
       -9.99494833e-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([ 0.10860034, -0.08154963,  0.11307625])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00042214288911053555
  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([ 0.08730974, -0.08919653,  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:
[-3.36793532e-02, 1.54598190e-01, 9.03089449e-02, 4.65563484e-02,
 -1.20473956e-02, 2.35038941e-01, 1.31827450e-01, 5.89153571e-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,
 -7.33012200e-04,-2.85818605e-03,-4.90776963e+00,-1.96414722e-03,
 -2.50702570e-05,-4.17432578e-03]


--- Step 1750 ---
qpos:
[ 1.01296677e-02, 2.17706448e-01,-4.90252252e-02, 2.05508720e-01,
  4.53268370e-03, 1.72639854e-01,-8.28672233e-02, 1.81492228e-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,
  8.63161381e-02,-7.17493338e-02, 1.31460846e-01, 4.78023882e-01,
  4.36295050e-01, 5.07862331e-01, 5.68520581e-01]

qacc:
[-133.41138729, 238.41169195, 232.07263545, 175.29487401,  76.15603727,
   18.96056754, -59.81178364, 311.05249056,  -1.87471864, -11.84030159,
   47.09691717, -79.51240523,  -8.50841816,  19.18375581,   5.78502495,
  -17.92645459,  -1.57001211,   1.94826991,   0.96722485, -23.54940432,
  -41.75879857, -22.88234222]

qfrc_actuator:
[-1.89959264e-02, 2.85445207e-01, 3.75190329e-02, 1.73719238e-01,
 -7.03271785e-05, 3.33815161e-01, 6.27246855e-02, 1.70855675e-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: -0.0012285915039300537
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.88377896e-01, -1.46968840e-01, -3.88496405e-02, -1.46855438e-01,
        9.89141122e-01, -5.77236804e-03,  3.92761353e-02,  8.67361738e-19,
       -9.99228395e-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([ 0.10837991, -0.08159923,  0.1130304 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.15165977,  4.72061537,  2.06285941,  4.72061537,  6.83156401,
       -3.84426672,  2.06285941, -3.84426672, 13.94881991,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004349828796557237
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27616865e-13,  1.27616865e-13,  1.00000000e+00,  1.62860641e-26,
        1.00000000e+00, -1.27616865e-13, -1.00000000e+00,  0.00000000e+00,
       -1.27616865e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08056976, -0.09215366,  0.06198767])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.52538010e-03, 1.07414519e-01, 4.47294693e-02, 1.06155859e-02,
 -1.28872594e-02, 2.33304437e-01, 1.30857327e-01, 5.89675147e-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,
 -8.11467214e-04,-2.93587510e-03,-4.90804581e+00,-1.83706589e-03,
  1.65255256e-05,-4.17233633e-03]


--- Step 1751 ---
qpos:
[ 9.74461217e-03, 2.22362184e-01,-4.86820186e-02, 2.08882192e-01,
  4.82492445e-03, 1.74629697e-01,-8.41987878e-02, 1.83757757e-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,
  8.58697260e-02,-7.18108795e-02, 1.31505787e-01, 4.77935598e-01,
  4.33964428e-01, 5.07218207e-01, 5.70948448e-01]

qacc:
[  8.42486489,178.50768813,130.78884761,-95.9903977 , 70.93184253,
  15.22705846,-51.69945217,308.10964046, -0.71139335,  1.84012409,
 -35.67949374,133.13462994, -5.68254531, 13.5182442 , 18.41006088,
 -61.97852019, -1.61317967,  1.7211349 ,  0.66097189,-26.0429951 ,
 -42.0188734 ,-25.32121261]

qfrc_actuator:
[-1.86071805e-02, 2.85077396e-01, 3.73655805e-02, 1.73482169e-01,
 -3.69121874e-04, 3.35108630e-01, 6.40711745e-02, 1.72489536e-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., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011486807359011983
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98742138, -0.15120472, -0.0462184 , -0.15103936,  0.98850247,
       -0.00706973,  0.04675598,  0.        , -0.99890634])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10815351, -0.08164627,  0.11298621])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.22369299, -4.71071916, -2.25745287, -4.71071916,  6.68478273,
       -3.04891566, -2.25745287, -3.04891566, 11.5859899 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00044664936485018514
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.24283511e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.24283511e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08058056, -0.09216768,  0.06198734])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.02699950e-04, 6.91972617e-02, 2.77938865e-02, 6.04915513e-03,
 -1.41167110e-02, 2.32224169e-01, 1.30746668e-01, 5.96282962e-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,
 -8.46010307e-04,-2.94490708e-03,-4.90824906e+00,-1.72690440e-03,
  5.43471989e-05,-4.13544477e-03]


--- Step 1752 ---
qpos:
[ 9.36717695e-03, 2.27336025e-01,-4.82189881e-02, 2.12291135e-01,
  5.13340666e-03, 1.76677702e-01,-8.55041175e-02, 1.86041455e-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,
  8.54166912e-02,-7.18663306e-02, 1.31552320e-01, 4.77940782e-01,
  4.31623094e-01, 5.06518375e-01, 5.73335198e-01]

qacc:
[ 2.00039670e+01, 1.57643960e+02,-1.00863908e+02, 2.87108133e+02,
  6.49760363e+01, 3.94502016e+01,-1.05025956e+02, 3.30602973e+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,
 -1.65567102e+00, 1.52364543e+00, 3.98278440e-01,-2.83160256e+01,
 -4.28809250e+01,-2.71374766e+01]

qfrc_actuator:
[-1.82041199e-02, 2.85238651e-01, 3.70350422e-02, 1.73847870e-01,
 -6.58039968e-04, 3.37423391e-01, 6.53585373e-02, 1.74256141e-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., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010721303390932115
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86420435e-01, -1.55253615e-01, -5.35820967e-02, -1.55025072e-01,
        9.87874645e-01, -8.42092086e-03,  5.42397732e-02, -1.73472348e-18,
       -9.98527940e-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([ 0.10792123, -0.08169072,  0.1129435 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.26155586, -4.72868174, -2.3072796 , -4.72868174,  7.17541722,
       -3.92238602, -2.3072796 , -3.92238602, 13.30033674,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004525462567718519
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.13320190e-14,  6.13320190e-14,  1.00000000e+00, -3.76161655e-27,
        1.00000000e+00, -6.13320190e-14, -1.00000000e+00,  0.00000000e+00,
        6.13320190e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08058872, -0.09217807,  0.06198719])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.34938711e-04, 4.46565192e-02, 1.74915034e-02, 4.35514935e-03,
 -1.52815987e-02, 2.32271761e-01, 1.30550996e-01, 6.04090484e-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,
 -8.90962042e-04,-2.95051994e-03,-4.90847524e+00,-1.61419389e-03,
  9.64806936e-05,-4.09798235e-03]


--- Step 1753 ---
qpos:
[ 9.01359093e-03, 2.32384463e-01,-4.78014311e-02, 2.15667387e-01,
  5.46121459e-03, 1.78798047e-01,-8.67840069e-02, 1.88342105e-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,
  8.49555827e-02,-7.19160447e-02, 1.31599461e-01, 4.78015711e-01,
  4.29249169e-01, 5.05781143e-01, 5.75700935e-01]

qacc:
[ 6.13414531e+01, 1.58847270e+02,-2.87289143e+02,-2.57983547e+02,
  7.63231758e+01, 5.77005856e+01,-1.37739056e+02, 3.32534444e+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,
 -2.01841950e+00, 1.43425773e+00, 1.51867129e-01,-2.82402342e+01,
 -2.17926765e+01,-2.51979132e+01]

qfrc_actuator:
[-1.78158816e-02, 2.86261716e-01, 3.65973653e-02, 1.74564209e-01,
 -9.64528575e-04, 3.41047106e-01, 6.66550987e-02, 1.75439127e-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([ 0.2079126 , -0.02744621,  0.20609308, -0.02744621,  0.64995418,
        0.05886839,  0.20609308,  0.05886839,  0.21575234,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001302106745421107
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97671963, -0.19436457, -0.09078089, -0.19353044,  0.98092936,
       -0.01798762,  0.09254579,  0.        , -0.99570843])
  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([ 0.09826213, -0.02689616,  0.1173878 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010001819026201092
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9853787 , -0.15911439, -0.06092154, -0.15881116,  0.98726015,
       -0.00981858,  0.06170769,  0.        , -0.99809426])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10768218, -0.08173247,  0.11290284])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.26827487,  4.7242307 ,  2.33160124,  4.7242307 ,  6.57283676,
       -2.64326989,  2.33160124, -2.64326989, 10.6240006 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004535766077102682
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.11926963e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.11926963e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08059485, -0.09218573,  0.06198717])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.30583126e-04, 2.95912699e-02, 1.09960755e-02, 3.27585662e-03,
 -1.64014448e-02, 2.32924822e-01, 1.30522778e-01, 6.06768926e-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,
 -9.42489427e-04,-2.94952126e-03,-4.90872542e+00,-1.50106072e-03,
  1.42378113e-04,-4.05817894e-03]


--- Step 1754 ---
qpos:
[ 8.68297691e-03, 2.37440260e-01,-4.74187374e-02, 2.19015603e-01,
  5.80637839e-03, 1.80983173e-01,-8.80361559e-02, 1.90660410e-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,
  8.44861153e-02,-7.19612492e-02, 1.31646599e-01, 4.78164296e-01,
  4.26843836e-01, 5.04999560e-01, 5.78047308e-01]

qacc:
[ 5.76335469e+01, 5.03685379e+01,-4.97849371e+01,-3.78822962e+02,
  6.77859195e+01, 4.29036803e+01,-1.02486215e+02, 3.11883224e+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,
 -2.08974202e+00, 1.12736918e+00,-7.50104624e-04,-3.11845470e+01,
 -2.43429892e+01,-2.42540616e+01]

qfrc_actuator:
[-1.74735664e-02, 2.86302643e-01, 3.61595153e-02, 1.75172100e-01,
 -1.29114035e-03, 3.43838767e-01, 6.79652323e-02, 1.76496678e-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([ 0.22302698, -0.05242999, -0.21677668, -0.05242999,  0.8622122 ,
       -0.15459447, -0.21677668, -0.15459447,  0.26041747,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002782604540054166
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.75587676e-01, -1.98741175e-01, -9.34378479e-02, -1.97835869e-01,
        9.80052011e-01, -1.89479206e-02,  9.53396828e-02, -3.46944695e-18,
       -9.95444798e-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([ 0.0976319 , -0.0269568 ,  0.11756009])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009339977980820805
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98428624, -0.16287324, -0.06821218, -0.16248353,  0.986647  ,
       -0.0112603 ,  0.06913535,  0.        , -0.99760729])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10743538, -0.08177228,  0.11286492])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.24885886, -4.66105173, -2.41352772, -4.66105173,  8.74922088,
       -6.75996732, -2.41352772, -6.75996732, 18.30383939,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004505860892241309
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.84796488e-13,  1.23197659e-13,  1.00000000e+00, -2.27664947e-26,
        1.00000000e+00, -1.23197659e-13, -1.00000000e+00,  0.00000000e+00,
        1.84796488e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08059947, -0.09219131,  0.06198726])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.38402317e-04, 2.57142358e-02, 1.27628528e-02, 5.49902918e-03,
 -1.76959580e-02, 2.32034158e-01, 1.30546787e-01, 6.08799273e-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,
 -1.00830836e-03,-2.98031986e-03,-4.90895802e+00,-1.40017760e-03,
  1.88502572e-04,-4.05205684e-03]


--- Step 1755 ---
qpos:
[ 8.37456008e-03, 2.42461173e-01,-4.70790249e-02, 2.22337469e-01,
  6.16640722e-03, 1.83229451e-01,-8.92591364e-02, 1.92996795e-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,
  8.40079842e-02,-7.20031156e-02, 1.31693270e-01, 4.78391175e-01,
  4.24409238e-01, 5.04165549e-01, 5.80375552e-01]

qacc:
[ 5.41185015e+01, 2.05905103e+01,-3.13605195e+01,-3.25053689e+02,
  5.73636721e+01, 3.50855342e+01,-8.33611044e+01, 3.00758425e+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,
 -2.16591422e+00, 8.34549610e-01,-1.16606431e-01,-3.42816254e+01,
 -2.77140695e+01,-2.31631020e+01]

qfrc_actuator:
[-1.71497149e-02, 2.85543149e-01, 3.57468932e-02, 1.75900871e-01,
 -1.60008119e-03, 3.45648250e-01, 6.92177753e-02, 1.78234846e-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([ 0.25265454, -0.06042857, -0.24532164, -0.06042857,  0.30090195,
       -0.01188449, -0.24532164, -0.01188449,  0.25558197,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004203658627852921
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97442373, -0.20300747, -0.09636579, -0.20202196,  0.97917719,
       -0.01997899,  0.09841507,  0.        , -0.99514545])
  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([ 0.09700327, -0.02701615,  0.11773313])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008725039897810155
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9831439 , -0.16651972, -0.07549339, -0.16603095,  0.98603812,
       -0.01274914,  0.07656234,  0.        , -0.9970648 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10718115, -0.0818101 ,  0.11282925])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.20853158, -4.58145435, -2.47771613, -4.58145435,  9.94485632,
       -8.75776501, -2.47771613, -8.75776501, 21.40219484,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004442437547044209
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.37173860e-14,  6.24782573e-14,  1.00000000e+00,  5.85529896e-27,
        1.00000000e+00, -6.24782573e-14, -1.00000000e+00,  0.00000000e+00,
       -9.37173860e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08060293, -0.09219532,  0.06198744])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.28278218e-03, 2.43987196e-02, 1.40245388e-02, 7.61109856e-03,
 -1.88742776e-02, 2.30536563e-01, 1.30397084e-01, 6.17281831e-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,
 -1.06791384e-03,-3.00784418e-03,-4.90922112e+00,-1.30305901e-03,
  2.34326083e-04,-4.04261138e-03]


--- Step 1756 ---
qpos:
[ 8.08830066e-03, 2.47406328e-01,-4.67912217e-02, 2.25635582e-01,
  6.53991558e-03, 1.85533403e-01,-9.04500241e-02, 1.95351872e-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,
  8.35207291e-02,-7.20423269e-02, 1.31738922e-01, 4.78694746e-01,
  4.21942551e-01, 5.03277698e-01, 5.82689783e-01]

qacc:
[ 5.25357367e+01,-3.36218965e+00,-3.46410771e+01,-2.34490050e+02,
  5.14013052e+01, 2.37448429e+01,-5.22325363e+01, 2.78666757e+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,
 -2.28098441e+00, 6.63765681e-01,-2.54895399e-01,-3.60419104e+01,
 -2.58729373e+01,-2.22713390e+01]

qfrc_actuator:
[-1.68631082e-02, 2.84502475e-01, 3.54069761e-02, 1.76267881e-01,
 -1.93837624e-03, 3.47147938e-01, 7.04587448e-02, 1.79788061e-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([ 0.3006344 , -0.07946327, -0.28994246, -0.07946327,  0.1532473 ,
        0.04039374, -0.28994246,  0.04039374,  0.28956386,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005515459651027727
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97322291, -0.20712693, -0.0996775 , -0.20604904,  0.97831408,
       -0.02110355,  0.10188702,  0.        , -0.99479598])
  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([ 0.0963795 , -0.02707417,  0.11790385])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008149677255210906
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98195268, -0.17004037, -0.08279617, -0.16943913,  0.9854371 ,
       -0.01428675,  0.08401974,  0.        , -0.99646409])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10691951, -0.08184584,  0.11279548])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  5.152217  ,  -4.47983504,  -2.54488075,  -4.47983504,
        11.46781778, -11.1175542 ,  -2.54488075, -11.1175542 ,
        24.72280349,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004350754938349799
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.59487124e-13,  1.91384548e-13,  1.00000000e+00, -3.05233711e-26,
        1.00000000e+00, -1.91384548e-13, -1.00000000e+00,  0.00000000e+00,
        1.59487124e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08060556, -0.09219815,  0.06198771])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.12604023e-03, 2.49158161e-02, 1.57656510e-02, 9.27782019e-03,
 -1.99573665e-02, 2.28908049e-01, 1.30163323e-01, 6.23699531e-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,
 -1.12000691e-03,-3.02907084e-03,-4.90951799e+00,-1.21017063e-03,
  2.79686974e-04,-4.02795935e-03]


--- Step 1757 ---
qpos:
[ 7.82343461e-03, 2.52262461e-01,-4.65497381e-02, 2.28912456e-01,
  6.92539321e-03, 1.87895553e-01,-9.16047688e-02, 1.97726119e-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,
  8.30240767e-02,-7.20793932e-02, 1.31782967e-01, 4.79073534e-01,
  4.19441855e-01, 5.02335162e-01, 5.84992704e-01]

qacc:
[  49.37368056, -31.25455781,  28.64055836,-252.61860766,  45.08107441,
   14.31372525, -19.71118422, 248.30076743,   1.13162893, -14.63839902,
    3.56347957,  95.61027123,   1.04892648,  -1.95592582,   4.55189625,
  -15.39137327,  -2.34934859,   0.53627905,  -0.40180126, -37.09438946,
  -24.49429188, -21.64183535]

qfrc_actuator:
[-1.66431927e-02, 2.83276911e-01, 3.51368029e-02, 1.76337014e-01,
 -2.28109171e-03, 3.49062107e-01, 7.16604258e-02, 1.80423591e-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([ 0.34798486, -0.10400181, -0.33207994, -0.10400181,  0.15199328,
        0.06138125, -0.33207994,  0.06138125,  0.3287613 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006660169477075934
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71974799e-01, -2.11077585e-01, -1.03495141e-01, -2.09891084e-01,
        9.77469311e-01, -2.23490437e-02,  1.05880706e-01, -3.46944695e-18,
       -9.94378839e-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([ 0.09576339, -0.02713112,  0.11806893])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007608436060666193
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98071008, -0.17344239, -0.09014143, -0.17271435,  0.98484402,
       -0.01587495,  0.09152864,  0.        , -0.99580244])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10665049, -0.08187958,  0.11276341])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  5.08473616,  -4.32976784,  -2.66601805,  -4.32976784,
        14.18099215, -14.77284699,  -2.66601805, -14.77284699,
        29.07669597,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004235734084072629
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.63817977e-13,  6.55271910e-14,  1.00000000e+00,  1.07345319e-26,
        1.00000000e+00, -6.55271910e-14, -1.00000000e+00,  0.00000000e+00,
       -1.63817977e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08060757, -0.0922001 ,  0.06198804])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.03429260e-03, 2.72949903e-02, 1.80243400e-02, 1.05176287e-02,
 -2.09756025e-02, 2.27865459e-01, 1.29742974e-01, 6.20632659e-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,
 -1.17006995e-03,-3.05136949e-03,-4.90983487e+00,-1.12126816e-03,
  3.25454582e-04,-4.01572652e-03]


--- Step 1758 ---
qpos:
[ 7.57898954e-03, 2.57020681e-01,-4.63521683e-02, 2.32170228e-01,
  7.32126944e-03, 1.90320685e-01,-9.27199870e-02, 2.00119574e-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,
  8.25177899e-02,-7.21147597e-02, 1.31824879e-01, 4.79525915e-01,
  4.16905543e-01, 5.01337162e-01, 5.87286740e-01]

qacc:
[  45.88916174, -45.34976264,  52.92031279,-237.28411002,  38.64234477,
   11.41106328,  -0.42244895, 221.29156017,   1.13270735,  -1.50230347,
  -77.63120127, 294.88885345,   1.15736361,  -2.27487001,  -8.057833  ,
   27.17235968,  -2.40858183,   0.42490661,  -0.53327628, -37.95704237,
  -23.21519421, -20.96805687]

qfrc_actuator:
[-1.64536383e-02, 2.81540165e-01, 3.48881446e-02, 1.76429688e-01,
 -2.64809360e-03, 3.50952835e-01, 7.28216466e-02, 1.80926619e-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([ 0.38461841, -0.12541462, -0.36359661, -0.12541462,  0.14542211,
        0.08250548, -0.36359661,  0.08250548,  0.35615997,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007622208966202339
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97067315, -0.21485277, -0.10785135, -0.2135387 ,  0.97664645,
       -0.02372625,  0.11043029,  0.        , -0.99388387])
  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([ 0.09515536, -0.0271871 ,  0.11822736])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007102205516799959
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97941474, -0.17673199, -0.09753245, -0.17586216,  0.98425901,
       -0.01751277,  0.09909226,  0.        , -0.99507825])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10637383, -0.08191139,  0.11273316])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  5.01054121,  -4.09152482,  -2.89222195,  -4.09152482,
        19.64164741, -20.69811214,  -2.89222195, -20.69811214,
        34.2914336 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004102121676147624
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.38307561e-14,  6.76615123e-14,  1.00000000e+00, -2.28904012e-27,
        1.00000000e+00, -6.76615123e-14, -1.00000000e+00,  0.00000000e+00,
        3.38307561e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08060915, -0.09220137,  0.06198842])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.93439519e-03, 2.98299223e-02, 2.00267347e-02, 1.16558399e-02,
 -2.19426400e-02, 2.26770739e-01, 1.29078567e-01, 6.15999201e-02,
  4.08351884e-05,-2.12752590e-03,-4.13206004e-04, 5.20601533e-04,
 -1.98969678e-05,-8.22864729e-05,-4.24407951e-06, 1.29878185e-04,
 -1.21771907e-03,-3.07218456e-03,-4.91016824e+00,-1.03533974e-03,
  3.72062057e-04,-4.00426388e-03]


--- Step 1759 ---
qpos:
[ 7.35410485e-03, 2.61667689e-01,-4.62071833e-02, 2.35410710e-01,
  7.72600664e-03, 1.92814075e-01,-9.37933737e-02, 2.02532007e-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,
  8.20015522e-02,-7.21488869e-02, 1.31864240e-01, 4.80049489e-01,
  4.14331632e-01, 5.00282927e-01, 5.89575084e-01]

qacc:
[  42.78754121, -35.31439097, -15.0841108 ,-117.45177288,  32.4618325 ,
   11.57352285,  10.03984247, 199.64503025,   0.63843716, -14.77513006,
   18.99142665,  13.80045101,   2.25520909,  -4.52351922, -11.44897548,
   38.84342042,  -2.48773715,   0.30984712,  -0.63753641, -38.94179523,
  -21.474773  , -19.97193265]

qfrc_actuator:
[-1.62543802e-02, 2.79736487e-01, 3.46685175e-02, 1.76933403e-01,
 -3.05063702e-03, 3.52481888e-01, 7.39407504e-02, 1.81750750e-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([ 0.40831546, -0.13601636, -0.38499489, -0.13601636,  0.12624803,
        0.09965271, -0.38499489,  0.09965271,  0.37310876,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008389463149156806
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96904888, -0.21960519, -0.11277334, -0.21813305,  0.97558883,
       -0.02538529,  0.11559515,  0.        , -0.99329641])
  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([ 0.09455868, -0.02725572,  0.11837823])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006636290549769687
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9780661 , -0.17991579, -0.10496198, -0.17888864,  0.98368202,
       -0.01919758,  0.10670316,  0.        , -0.99429092])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.106089  , -0.08194129,  0.11270509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003953908791733546
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.50989073e-14,  7.01978146e-14,  1.00000000e+00,  2.46386658e-27,
        1.00000000e+00, -7.01978146e-14, -1.00000000e+00,  0.00000000e+00,
       -3.50989073e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08061044, -0.09220213,  0.06198884])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.77573993e-03, 3.27466244e-02, 2.19396290e-02, 1.30986373e-02,
 -2.28667462e-02, 2.25072461e-01, 1.28201689e-01, 6.14554620e-02,
  2.31287902e-05,-1.95025005e-03,-5.14418999e-04,-4.09232204e-05,
 -4.47945973e-05,-1.71504907e-04, 9.94986676e-06, 1.90002636e-04,
 -1.26224644e-03,-3.09128425e-03,-4.91051724e+00,-9.52147117e-04,
  4.19428933e-04,-3.99327160e-03]


--- Step 1760 ---
qpos:
[ 7.15001262e-03, 2.66208679e-01,-4.61164693e-02, 2.38633805e-01,
  8.13802157e-03, 1.95375339e-01,-9.48214409e-02, 2.04963630e-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,
  8.14751028e-02,-7.21821615e-02, 1.31900647e-01, 4.80641941e-01,
  4.11718417e-01, 4.99171830e-01, 5.91860417e-01]

qacc:
[ 4.42963725e+01,-2.40166975e+01,-4.48388680e+01,-9.12231709e+01,
  2.63233409e+01, 2.00457105e+00, 4.24046629e+01, 1.66543463e+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,
 -2.55292206e+00, 2.13166255e-01,-7.38611889e-01,-3.97121533e+01,
 -1.99153991e+01,-1.90792283e+01]

qfrc_actuator:
[-1.60566077e-02, 2.79010273e-01, 3.45280506e-02, 1.77316765e-01,
 -3.44162190e-03, 3.53656951e-01, 7.50164685e-02, 1.82316274e-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([ 0.43067336, -0.15041435, -0.40355305, -0.15041435,  0.13931406,
        0.10859692, -0.40355305,  0.10859692,  0.39019656,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012991092265187264
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.67803984e-01, -2.22196527e-01, -1.18254610e-01, -2.20556169e-01,
        9.75001899e-01, -2.69494485e-02,  1.21286543e-01,  3.46944695e-18,
       -9.92617537e-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([ 0.09396615, -0.02730076,  0.11852055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006215243857554151
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.76663043e-01, -1.83002235e-01, -1.12425455e-01, -1.81801697e-01,
        9.83112497e-01, -2.09275233e-02,  1.14356654e-01,  3.46944695e-18,
       -9.93439760e-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([ 0.10579548, -0.08196932,  0.11267953])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003794090046686932
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.65773812e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.65773812e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08061153, -0.0922025 ,  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:
[-5.57512652e-03, 3.74102485e-02, 2.43671696e-02, 1.43311639e-02,
 -2.37024732e-02, 2.22753443e-01, 1.27164933e-01, 6.10635887e-02,
 -2.57009428e-05,-1.08446703e-03,-5.33697441e-04,-5.25286381e-04,
 -7.16799863e-05,-2.60382540e-04, 2.29849599e-05, 1.07742571e-05,
 -1.30279334e-03,-3.11099394e-03,-4.91088223e+00,-8.71947120e-04,
  4.67020944e-04,-3.98398431e-03]


--- Step 1761 ---
qpos:
[ 6.96243396e-03, 2.70662752e-01,-4.60783188e-02, 2.41841936e-01,
  8.55575534e-03, 1.98011397e-01,-9.58032651e-02, 2.07413713e-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,
  8.09382229e-02,-7.22149132e-02, 1.31933744e-01, 4.81301702e-01,
  4.09064683e-01, 4.98002849e-01, 5.94144696e-01]

qacc:
[ 3.42729883e+01, 1.19707153e+00,-1.07694002e+02,-5.38149407e+00,
  2.03577065e+01, 7.10694934e+00, 4.05384416e+01, 1.49341434e+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,
 -2.60762625e+00, 1.30685301e-01,-8.27484662e-01,-4.04605856e+01,
 -1.89361686e+01,-1.83693102e+01]

qfrc_actuator:
[-1.59042881e-02, 2.79608922e-01, 3.44578001e-02, 1.77670435e-01,
 -3.82763281e-03, 3.54947753e-01, 7.60636871e-02, 1.83073883e-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([ 0.42584581, -0.15194658, -0.39781515, -0.15194658,  0.12281388,
        0.11574387, -0.39781515,  0.11574387,  0.38163713,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009266397945122952
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96636964, -0.22505845, -0.12441227, -0.2232162 ,  0.97434527,
       -0.02873728,  0.12768807,  0.        , -0.99181438])
  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([ 0.09338367, -0.02735057,  0.11865268])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005838269504699999
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.75203375e-01, -1.85998130e-01, -1.19929454e-01, -1.84607385e-01,
        9.82550098e-01, -2.27028161e-02,  1.22059378e-01, -3.46944695e-18,
       -9.92522800e-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([ 0.10549311, -0.08199555,  0.11265656])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00036252867124632326
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14841575e-13,  7.65610497e-14,  1.00000000e+00, -8.79239150e-27,
        1.00000000e+00, -7.65610497e-14, -1.00000000e+00,  0.00000000e+00,
        1.14841575e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08061251, -0.09220257,  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:
[-6.48135365e-03, 4.31435630e-02, 2.69512117e-02, 1.55392293e-02,
 -2.44540646e-02, 2.20566430e-01, 1.25923947e-01, 6.08528861e-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,
 -1.33900260e-03,-3.13092662e-03,-4.91126222e+00,-7.94155207e-04,
  5.14947388e-04,-3.97597784e-03]


--- Step 1762 ---
qpos:
[ 6.79037281e-03, 2.75026474e-01,-4.60995780e-02, 2.45036941e-01,
  8.97787130e-03, 2.00733098e-01,-9.67406710e-02, 2.09880751e-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,
  8.03905737e-02,-7.22475288e-02, 1.31963267e-01, 4.82025888e-01,
  4.06368346e-01, 4.96775255e-01, 5.96431184e-01]

qacc:
[ 3.14180011e+01, 1.91969158e+01,-1.85186053e+02, 1.13849806e+02,
  1.52797504e+01, 2.32999143e+01, 1.00266272e+01, 1.48196876e+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,
 -2.69233967e+00, 3.40671905e-02,-8.93660565e-01,-4.13920589e+01,
 -1.70390197e+01,-1.72268661e+01]

qfrc_actuator:
[-1.57655256e-02, 2.80067154e-01, 3.44496804e-02, 1.78561152e-01,
 -4.22976416e-03, 3.56469209e-01, 7.70214969e-02, 1.84206086e-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([ 0.42738214, -0.1489274 , -0.40059471, -0.1489274 ,  0.11326496,
        0.11677802, -0.40059471,  0.11677802,  0.38396807,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009395309205299277
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.64776986e-01, -2.28084528e-01, -1.31083237e-01, -2.26007972e-01,
        9.73641335e-01, -3.07074660e-02,  1.34631956e-01, -3.46944695e-18,
       -9.90895674e-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([ 0.09280923, -0.02740393,  0.11877693])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.30044945,  0.01113327, -0.3002431 ,  0.01113327,  3.29929375,
        0.11119969, -0.3002431 ,  0.11119969,  0.30457283,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005510987466296876
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.73686596e-01, -1.88909187e-01, -1.27466589e-01, -1.87310959e-01,
        9.81994562e-01, -2.45211233e-02,  1.29803763e-01, -3.46944695e-18,
       -9.91539703e-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([ 0.10518131, -0.08201999,  0.11263661])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034494298935232315
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.20696361e-13,  1.60928481e-13,  1.00000000e+00,  1.94234819e-26,
        1.00000000e+00, -1.60928481e-13, -1.00000000e+00,  0.00000000e+00,
       -1.20696361e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08061342, -0.09220242,  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:
[-7.18586598e-03, 4.77853626e-02, 2.95138425e-02, 1.71633330e-02,
 -2.51438914e-02, 2.18260952e-01, 1.24546019e-01, 6.10529936e-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,
 -1.37051467e-03,-3.14970759e-03,-4.91165826e+00,-7.18202915e-04,
  5.63439578e-04,-3.96814987e-03]


--- Step 1763 ---
qpos:
[ 6.63248482e-03, 2.79304455e-01,-4.61700642e-02, 2.48221772e-01,
  9.40298454e-03, 2.03538342e-01,-9.76325034e-02, 2.12364387e-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,
  7.98319080e-02,-7.22802882e-02, 1.31988893e-01, 4.82812069e-01,
  4.03627658e-01, 4.95488587e-01, 5.98722206e-01]

qacc:
[ 2.80906610e+01, 2.98561081e+00,-1.31149464e+02, 9.21976584e+01,
  1.02991355e+01, 1.67553631e+01, 3.07405740e+01, 1.21675320e+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,
 -2.75410286e+00,-3.59743706e-02,-9.74073616e-01,-4.20288259e+01,
 -1.54891934e+01,-1.64088413e+01]

qfrc_actuator:
[-1.56405068e-02, 2.80266304e-01, 3.44712054e-02, 1.79210162e-01,
 -4.66027130e-03, 3.57875258e-01, 7.79267416e-02, 1.84793804e-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([ 0.42641553, -0.14837443, -0.39976897, -0.14837443,  0.11244982,
        0.11652851, -0.39976897,  0.11652851,  0.38316592,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000931148098603511
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96309033, -0.23092268, -0.13831754, -0.22857736,  0.97297211,
       -0.03282793,  0.14215982,  0.        , -0.98984372])
  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([ 0.0922422 , -0.02745695,  0.11889199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.28933548,  0.00852874, -0.28920975,  0.00852874,  2.96696532,
        0.07896282, -0.28920975,  0.07896282,  0.29166408,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005240785841343296
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97211187, -0.19174523, -0.13502697, -0.18992186,  0.98144473,
       -0.02638027,  0.1375798 ,  0.        , -0.99049069])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485934, -0.08204267,  0.11262021])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003267658917160132
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.27410371e-13,  8.49402472e-14,  1.00000000e+00, -1.08222684e-26,
        1.00000000e+00, -8.49402472e-14, -1.00000000e+00,  0.00000000e+00,
        1.27410371e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08061432, -0.0922021 ,  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:
[-7.85381214e-03, 5.23438025e-02, 3.24502203e-02, 1.84543707e-02,
 -2.57953650e-02, 2.15294010e-01, 1.23205320e-01, 6.07834878e-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,
 -1.39649341e-03,-3.17155488e-03,-4.91207044e+00,-6.44403973e-04,
  6.11743202e-04,-3.96287027e-03]


--- Step 1764 ---
qpos:
[ 6.48676628e-03, 2.83517236e-01,-4.62737803e-02, 2.51398470e-01,
  9.82966062e-03, 2.06428844e-01,-9.84788161e-02, 2.14863764e-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,
  7.92621022e-02,-7.23133775e-02, 1.32010287e-01, 4.83659472e-01,
  4.00841954e-01, 4.94141733e-01, 6.01018461e-01]

qacc:
[ 2.36213909e+01,-1.01130731e+01,-5.43825313e+01, 1.28595757e+01,
  5.27001020e+00, 1.74969900e+01, 3.49468587e+01, 1.01753506e+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,
 -2.78502678e+00,-8.24878260e-02,-1.05787985e+00,-4.25363092e+01,
 -1.51640645e+01,-1.60705099e+01]

qfrc_actuator:
[-1.55285968e-02, 2.80590073e-01, 3.44885932e-02, 1.79379145e-01,
 -5.09041926e-03, 3.59499453e-01, 7.88347825e-02, 1.85279190e-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([ 0.42216833, -0.150584  , -0.39439898, -0.150584  ,  0.11572482,
        0.11700205, -0.39439898,  0.11700205,  0.37749621,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009022260226881684
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96130132, -0.23357794, -0.14608602, -0.23092665,  0.97233808,
       -0.03509322,  0.150242  ,  0.        , -0.98864925])
  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([ 0.09168163, -0.02750976,  0.1189982 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 2.80489118e-01,  1.54751231e-03, -2.80484849e-01,  1.54751231e-03,
        2.70031866e+00,  1.33508673e-02, -2.80484849e-01,  1.33508673e-02,
        2.80562778e-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: -0.0005023041756439622
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70475602e-01, -1.94512409e-01, -1.42625482e-01, -1.92445240e-01,
        9.80900058e-01, -2.82826226e-02,  1.45402665e-01, -3.46944695e-18,
       -9.89372561e-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([ 0.10452725, -0.08206368,  0.11260728])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030812842775211624
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.15272808e-13,  9.00779452e-14,  1.00000000e+00, -2.83991267e-26,
        1.00000000e+00, -9.00779452e-14, -1.00000000e+00,  0.00000000e+00,
        3.15272808e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08061523, -0.09220167,  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:
[-8.46699114e-03, 5.68001640e-02, 3.48750433e-02, 1.91179180e-02,
 -2.63771943e-02, 2.12646699e-01, 1.21808150e-01, 6.04291518e-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,
 -1.41698500e-03,-3.19518061e-03,-4.91249743e+00,-5.71884395e-04,
  6.60336053e-04,-3.95928133e-03]


--- Step 1765 ---
qpos:
[ 6.35087307e-03, 2.87684092e-01,-4.63923052e-02, 2.54568920e-01,
  1.02564481e-02, 2.09401334e-01,-9.92796197e-02, 2.17378270e-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,
  7.86810933e-02,-7.23469223e-02, 1.32027121e-01, 4.84568415e-01,
  3.98011190e-01, 4.92733091e-01, 6.03319687e-01]

qacc:
[ 1.87176300e+01,-3.18655476e+01, 5.11223319e+01,-9.96216352e+01,
  3.81581221e-01, 1.21202389e+01, 5.03411724e+01, 7.87780618e+01,
 -1.34295704e+00,-1.41820162e+01, 6.44336213e+01,-1.45868495e+02,
  2.77890743e+00,-6.11616744e+00,-1.46062837e+01, 4.87382048e+01,
 -2.80079164e+00,-1.13838385e-01,-1.14027369e+00,-4.30271864e+01,
 -1.56098386e+01,-1.60402361e+01]

qfrc_actuator:
[-1.54459704e-02, 2.80416531e-01, 3.45782030e-02, 1.79208882e-01,
 -5.50236353e-03, 3.60686827e-01, 7.96908203e-02, 1.85821664e-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([ 0.41256958, -0.15237069, -0.38340166, -0.15237069,  0.11966064,
        0.11640726, -0.38340166,  0.11640726,  0.36630725,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008557861832834341
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95935678, -0.23643135, -0.15406096, -0.23344048,  0.9716482 ,
       -0.03748769,  0.15855632,  0.        , -0.98734993])
  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([ 0.0911259 , -0.02756665,  0.11910026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 2.73980743e-01, -7.40290279e-04, -2.73979743e-01, -7.40290279e-04,
        2.45058422e+00, -5.88115886e-03, -2.73979743e-01, -5.88115886e-03,
        2.73996634e-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: -0.00048568971284671176
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96877584, -0.1972127 , -0.15026819, -0.19488225,  0.98036072,
       -0.03022846,  0.15327847,  0.        , -0.98818303])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10418491, -0.08208304,  0.11259796])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028914135536468877
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.43989653e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.43989653e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08061616, -0.09220114,  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:
[-9.00846383e-03, 5.97351645e-02, 3.65735997e-02, 1.93402840e-02,
 -2.68690781e-02, 2.09473359e-01, 1.20360167e-01, 6.01744725e-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,
 -1.43180492e-03,-3.21609365e-03,-4.91294064e+00,-4.99922720e-04,
  7.09972803e-04,-3.95458564e-03]


--- Step 1766 ---
qpos:
[ 6.22316586e-03, 2.91804080e-01,-4.65338298e-02, 2.57734098e-01,
  1.06822304e-02, 2.12447387e-01,-1.00033466e-01, 2.19907846e-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,
  7.80886985e-02,-7.23810756e-02, 1.32039078e-01, 4.85536569e-01,
  3.95133597e-01, 4.91262662e-01, 6.05627508e-01]

qacc:
[  15.2406506 ,  -8.58260585, -36.76575925,  15.2625801 ,  -3.19937058,
   -2.85808048,  87.66463842,  45.47382486,  -0.9309989 , -22.24498855,
   74.19109927,-117.07737017,   3.08089661,  -7.04251694,   6.10774963,
  -21.25780353,  -2.84644753,  -0.15214556,  -1.21923519, -43.39346331,
  -14.11908104, -15.50526372]

qfrc_actuator:
[-1.54011903e-02, 2.80253203e-01, 3.47060166e-02, 1.79599805e-01,
 -5.92031195e-03, 3.61261724e-01, 8.04797063e-02, 1.86126415e-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([ 0.39550769, -0.14451866, -0.36815851, -0.14451866,  0.10809324,
        0.11282301, -0.36815851,  0.11282301,  0.35121962,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007949472801613101
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95735109, -0.23877513, -0.1626817 , -0.23540062,  0.97107489,
       -0.04000139,  0.16752745,  0.        , -0.98586741])
  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([ 0.09057196, -0.02761925,  0.11919413])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.26955099, -0.00336547, -0.26952998, -0.00336547,  2.23709113,
       -0.02456759, -0.26952998, -0.02456759,  0.26985775,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004736152149536253
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.67009450e-01, -1.99843849e-01, -1.57972023e-01, -1.97229451e-01,
        9.79827758e-01, -3.22196802e-02,  1.61224278e-01,  3.46944695e-18,
       -9.86917794e-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([ 0.10383253, -0.08210078,  0.11259209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002698872172244293
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.5426208e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.5426208e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08061713, -0.09220054,  0.06199239])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.46981757e-03, 6.17189784e-02, 3.73902278e-02, 2.00295567e-02,
 -2.72943019e-02, 2.05847453e-01, 1.18844060e-01, 5.97122978e-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,
 -1.44073606e-03,-3.23113088e-03,-4.91340174e+00,-4.28184123e-04,
  7.61187106e-04,-3.94692743e-03]


--- Step 1767 ---
qpos:
[ 6.10263979e-03, 2.95865504e-01,-4.67058569e-02, 2.60896318e-01,
  1.11061896e-02, 2.15561874e-01,-1.00738957e-01, 2.22452237e-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,
  7.74846890e-02,-7.24159946e-02, 1.32045845e-01, 4.86560079e-01,
  3.92206449e-01, 4.89731465e-01, 6.07944473e-01]

qacc:
[  13.09837415,   1.26471707,-102.80159799, 137.80395225,  -5.71336711,
  -13.78151438, 117.68124257,  13.637542  ,  -0.60575753, -10.93304404,
   -2.89373437,  86.2387063 ,   3.52524852,  -8.074369  ,  11.06629529,
  -38.84646261,  -2.90369182,  -0.19142694,  -1.29738011, -43.61419019,
  -11.53660774, -14.70891709]

qfrc_actuator:
[-1.53636563e-02, 2.79955542e-01, 3.48886197e-02, 1.80417723e-01,
 -6.34079082e-03, 3.61551282e-01, 8.12086494e-02, 1.86193778e-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([ 0.36874076, -0.13021428, -0.34498404, -0.13021428,  0.09501911,
        0.10331628, -0.34498404,  0.10331628,  0.32974401,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007187257758405664
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95527026, -0.24074456, -0.17175795, -0.23694503,  0.97058851,
       -0.0426028 ,  0.17696268,  0.        , -0.98421756])
  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([ 0.09002003, -0.02766931,  0.11928138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.26652596, -0.01169023, -0.26626946, -0.01169023,  2.15478434,
       -0.08290165, -0.26626946, -0.08290165,  0.27016566,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046497040479991737
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.65169883e-01, -2.02409922e-01, -1.65762843e-01, -1.99489211e-01,
        9.79300885e-01, -3.42612211e-02,  1.69266510e-01,  6.93889390e-18,
       -9.85570316e-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([ 0.10347064, -0.08211705,  0.11258927])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025043336487089174
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.43320731e-13,  2.84002344e-13,  1.00000000e+00,  1.25904127e-25,
        1.00000000e+00, -2.84002344e-13, -1.00000000e+00,  0.00000000e+00,
       -4.43320731e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08061815, -0.0921999 ,  0.06199294])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.85600496e-03, 6.36175930e-02, 3.86720544e-02, 2.10971469e-02,
 -2.76660864e-02, 2.02354325e-01, 1.17194143e-01, 5.90154233e-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,
 -1.44334032e-03,-3.24787593e-03,-4.91387643e+00,-3.56763028e-04,
  8.13119438e-04,-3.94084482e-03]


--- Step 1768 ---
qpos:
[ 5.94007341e-03, 2.99867461e-01,-4.68973937e-02, 2.64054511e-01,
  1.14746275e-02, 2.18723214e-01,-1.01413852e-01, 2.25011961e-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,
  7.68752608e-02,-7.24694309e-02, 1.32054465e-01, 4.87745125e-01,
  3.89394049e-01, 4.87942826e-01, 6.10236647e-01]

qacc:
[-7.50765626e+01,-3.21837715e+01, 1.80552087e+01,-1.36599547e+01,
 -1.74164034e+02, 7.44539441e+00,-1.18108741e-01, 1.79186117e+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,
 -1.35467189e+00,-4.62932465e+00, 4.63327077e-01,-7.59472362e+01,
 -1.41927721e+02, 2.34491235e+01]

qfrc_actuator:
[-1.53327393e-02, 2.79217168e-01, 3.51385518e-02, 1.80746024e-01,
 -6.74381533e-03, 3.62035900e-01, 8.19169510e-02, 1.86556750e-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([ 0.33111289, -0.07907344, -0.32153248, -0.07907344,  0.23886278,
        0.02268677, -0.32153248,  0.02268677,  0.3255336 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000624887194780491
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95301473, -0.24277049, -0.18117787, -0.23849885,  0.97008375,
       -0.04534108,  0.18676518,  0.        , -0.98240458])
  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([ 0.08947193, -0.02772214,  0.11936214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.26450587, -0.02332331, -0.26347558, -0.02332331,  2.06698204,
       -0.15955829, -0.26347558, -0.15955829,  0.27863025,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00045900315439258323
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63250160e-01, -2.04919798e-01, -1.73657726e-01, -2.01668686e-01,
        9.78778768e-01, -3.63574561e-02,  1.77422857e-01, -6.93889390e-18,
       -9.84134711e-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([ 0.10309957, -0.08213203,  0.11258928])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.3611957 ,  0.94562364, -4.25744335,  0.94562364,  7.5394136 ,
        0.70591614, -4.25744335,  0.70591614,  4.51798722,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023690852986633926
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.17157350e-13, -2.34314701e-13,  1.00000000e+00, -2.74516894e-26,
        1.00000000e+00,  2.34314701e-13, -1.00000000e+00,  0.00000000e+00,
       -1.17157350e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06790476, -0.03482673,  0.06199332])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.01982457e-02, 6.56627340e-02, 4.03973885e-02, 2.15599153e-02,
 -2.79794306e-02, 1.99309773e-01, 1.15452295e-01, 5.86266568e-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,
 -1.43909121e-03,-3.27141586e-03,-4.91436138e+00,-2.85390794e-04,
  8.65250299e-04,-3.93917599e-03]


--- Step 1769 ---
qpos:
[ 5.73096246e-03, 3.03824094e-01,-4.70922205e-02, 2.67211197e-01,
  1.17829115e-02, 2.21932804e-01,-1.02054641e-01, 2.27586678e-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,
  7.62593891e-02,-7.25399125e-02, 1.32063259e-01, 4.89061916e-01,
  3.86678176e-01, 4.85930570e-01, 6.12511152e-01]

qacc:
[-8.15154705e+01,-5.33437095e+01, 1.09152006e+02,-9.40917445e+01,
 -1.85081128e+02,-8.58916408e-01, 3.33942435e+01, 1.34464885e+02,
 -3.64168157e-01,-1.95280686e+01, 4.48249699e+01,-4.16099432e+01,
  2.83527899e+00,-6.66816195e+00,-6.83624687e+00, 2.27779374e+01,
 -1.61088377e+00,-4.26132356e+00, 4.33006769e-02,-6.60290205e+01,
 -1.19568755e+02, 2.25809534e+01]

qfrc_actuator:
[-1.52239385e-02, 2.78203187e-01, 3.53413264e-02, 1.80569776e-01,
 -7.09969234e-03, 3.62418727e-01, 8.26290382e-02, 1.87250418e-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([ 0.29617715, -0.03895631, -0.293604  , -0.03895631,  0.24238919,
        0.00713676, -0.293604  ,  0.00713676,  0.29523022,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005407482866946107
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9507806 , -0.24426167, -0.19066329, -0.23949367,  0.96970936,
       -0.04802649,  0.196619  ,  0.        , -0.98047997])
  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([ 0.08893701, -0.02776964,  0.11944175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.26204476, -0.09294796, -0.2450064 , -0.09294796,  2.55277547,
       -0.86903341, -0.2450064 , -0.86903341,  0.59172955,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00045150956436342335
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.61319433e-01, -2.06857648e-01, -1.81864951e-01, -2.03252413e-01,
        9.78371051e-01, -3.84518288e-02,  1.85885458e-01,  6.93889390e-18,
       -9.82571420e-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([ 0.10272036, -0.08214143,  0.11258864])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.46542615, -1.05723267,  4.33846629, -1.05723267,  6.6964312 ,
        0.54366941,  4.33846629,  0.54366941,  4.59791192,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027590178050559966
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.0119896e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -2.0119896e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06778862, -0.03486778,  0.06199223])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.99227420e-03, 6.74803068e-02, 4.15270906e-02, 2.15718077e-02,
 -2.55554420e-02, 1.97239690e-01, 1.14600870e-01, 5.85425758e-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,
 -1.20998088e-03,-2.82551058e-03,-4.91528735e+00,-3.26862031e-04,
  8.26473887e-04,-3.63407552e-03]


--- Step 1770 ---
qpos:
[ 5.47548712e-03, 3.07744985e-01,-4.73009691e-02, 2.70366839e-01,
  1.20258100e-02, 2.25167987e-01,-1.02686572e-01, 2.30175214e-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,
  7.56360390e-02,-7.26261273e-02, 1.32070729e-01, 4.90487469e-01,
  3.84042289e-01, 4.83721036e-01, 6.14774367e-01]

qacc:
[-7.97863384e+01,-1.05431424e+01,-2.55879142e+01, 5.33300108e+01,
 -1.97429037e+02, 3.56627010e+01,-1.34039578e+02, 3.31734820e+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,
 -1.86958418e+00,-3.93329438e+00,-3.30843904e-01,-5.91440590e+01,
 -1.01344716e+02, 2.15058159e+01]

qfrc_actuator:
[-1.49938289e-02, 2.78276172e-01, 3.55073905e-02, 1.80764489e-01,
 -7.41819248e-03, 3.63217416e-01, 8.32566367e-02, 1.88420752e-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([ 0.26605969, -0.00294577, -0.26604338, -0.00294577,  0.15389287,
        0.00124197, -0.26604338,  0.00124197,  0.26604593,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004636072554957151
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.94854581, -0.24529429, -0.20022876, -0.24000536,  0.96944866,
       -0.05066279,  0.2065388 ,  0.        , -0.97843841])
  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([ 0.08841161, -0.02781326,  0.11952075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25909588, -0.07358612, -0.24842656, -0.07358612,  0.60643786,
       -0.10288573, -0.24842656, -0.10288573,  0.28957153,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004421861812668783
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.59337611e-01, -2.08425593e-01, -1.90342115e-01, -2.04440384e-01,
        9.78038226e-01, -4.05630038e-02,  1.94616233e-01,  6.93889390e-18,
       -9.80879464e-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([ 0.10233299, -0.08214786,  0.11258799])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.55089697, -1.06430333,  4.42469452, -1.06430333,  4.95456931,
        0.09709819,  4.42469452,  0.09709819,  4.57425269,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003031460803028241
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.66233673e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.66233673e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06769623, -0.03489736,  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:
[-5.43869230e-03, 6.96800967e-02, 4.18099393e-02, 2.18285512e-02,
 -2.28617139e-02, 1.95513645e-01, 1.13488469e-01, 5.89518606e-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,
 -1.02996172e-03,-2.38885955e-03,-4.91613805e+00,-3.40511169e-04,
  7.86804651e-04,-3.35653217e-03]


--- Step 1771 ---
qpos:
[ 5.17717204e-03, 3.11633913e-01,-4.75325217e-02, 2.73522546e-01,
  1.22003921e-02, 2.28409567e-01,-1.03325437e-01, 2.32777864e-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,
  7.50042910e-02,-7.27268813e-02, 1.32075538e-01, 4.92003183e-01,
  3.81470489e-01, 4.81335205e-01, 6.17032863e-01]

qacc:
[-7.24472419e+01, 2.10511964e+01,-1.34272017e+02, 1.87678954e+02,
 -2.02343148e+02, 5.38752106e+01,-2.36101340e+02, 4.73505493e+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,
 -2.09948435e+00,-3.63480159e+00,-6.65299513e-01,-5.46461515e+01,
 -8.56481364e+01, 2.04807356e+01]

qfrc_actuator:
[-1.47257544e-02, 2.79205163e-01, 3.56811290e-02, 1.81252928e-01,
 -7.66722071e-03, 3.64677291e-01, 8.38806535e-02, 1.89783499e-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([ 0.24456542,  0.02491157, -0.24329336,  0.02491157,  0.11343457,
       -0.0134269 , -0.24329336, -0.0134269 ,  0.2431906 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038959773992719535
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.46286860e-01, -2.45920859e-01, -2.09914529e-01, -2.40084700e-01,
        9.69289911e-01, -5.32579167e-02,  2.16565268e-01, -6.93889390e-18,
       -9.76268142e-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([ 0.08789384, -0.02785405,  0.11959844])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25441004, -0.05365852, -0.24868701, -0.05365852,  0.37888919,
       -0.02685853, -0.24868701, -0.02685853,  0.26020523,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004265250799715181
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95732167, -0.20945062, -0.19916239, -0.20506   ,  0.97781923,
       -0.04266094,  0.20368017,  0.        , -0.97903748])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10193962, -0.08214997,  0.11258511])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.61044043, -1.05673412,  4.48770253, -1.05673412,  5.19724852,
        0.13817764,  4.48770253,  0.13817764,  4.64297758,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003202703664640094
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73325905e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.73325905e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06762256, -0.0349176 ,  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:
[-2.85600016e-03, 7.22585768e-02, 4.26327935e-02, 2.23560596e-02,
 -1.98357999e-02, 1.95580664e-01, 1.13634296e-01, 5.96124257e-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,
 -8.79665003e-04,-1.97429511e-03,-4.91693232e+00,-3.32672261e-04,
  7.47821263e-04,-3.10661763e-03]


--- Step 1772 ---
qpos:
[ 4.83459850e-03, 3.15506812e-01,-4.77658433e-02, 2.76680515e-01,
  1.23045788e-02, 2.31662308e-01,-1.03949889e-01, 2.35396887e-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,
  7.43636794e-02,-7.28410609e-02, 1.32076442e-01, 4.93592795e-01,
  3.78949024e-01, 4.78791163e-01, 6.19292187e-01]

qacc:
[-7.34688166e+01,-1.16644315e+01, 2.17400721e+00, 4.95536886e+01,
 -2.04328765e+02, 6.68494217e+00,-6.92467327e+01, 3.14161799e+02,
  4.21427938e-01, 9.66769709e+00,-6.91206371e+01, 1.87894302e+02,
  2.30952253e-01,-1.54013048e+00, 9.40504437e+00,-3.22640374e+01,
 -2.21591130e+00,-3.35641194e+00,-9.76133267e-01,-5.07232705e+01,
 -7.20766488e+01, 1.96960753e+01]

qfrc_actuator:
[-1.44376325e-02, 2.79806147e-01, 3.59271807e-02, 1.81100290e-01,
 -7.86323326e-03, 3.65477677e-01, 8.45325230e-02, 1.90314982e-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([ 0.22897989,  0.05023211, -0.22340216,  0.05023211,  0.1224937 ,
       -0.02394348, -0.22340216, -0.02394348,  0.22359618,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031504449068062715
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9439802 , -0.24618379, -0.21976108, -0.23977205,  0.96922316,
       -0.05581956,  0.2267394 ,  0.        , -0.97395546])
  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([ 0.08738242, -0.02789282,  0.11967386])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24748973, -0.03467843, -0.24504811, -0.03467843,  0.43201665,
       -0.02611367, -0.24504811, -0.02611367,  0.25118526,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040120804616089375
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95522059, -0.2100978 , -0.20835675, -0.20527132,  0.97768038,
       -0.04477465,  0.21311336,  0.        , -0.97702748])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10154266, -0.08215025,  0.1125785 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.64162851, -1.04370748,  4.52276352, -1.04370748,  5.50356653,
        0.19890741,  4.52276352,  0.19890741,  4.6875299 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003287328246296267
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.68864035e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.68864035e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06756365, -0.03493026,  0.06199075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.30000166e-04, 7.43217331e-02, 4.39728106e-02, 2.21871657e-02,
 -1.66095891e-02, 1.95947849e-01, 1.14597419e-01, 5.94270156e-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,
 -7.45459814e-04,-1.59110739e-03,-4.91768715e+00,-3.08206777e-04,
  7.10180785e-04,-2.88473002e-03]


--- Step 1773 ---
qpos:
[ 4.45554632e-03, 3.19361044e-01,-4.80070650e-02, 2.79842020e-01,
  1.23372895e-02, 2.34934340e-01,-1.04552388e-01, 2.38032692e-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,
  7.37138164e-02,-7.29676712e-02, 1.32072328e-01, 4.95242027e-01,
  3.76463432e-01, 4.76103592e-01, 6.21559321e-01]

qacc:
[-5.95238458e+01, 4.21629884e+00,-6.38140402e+01, 1.45666431e+02,
 -2.03472756e+02,-2.35374760e+00,-2.34717185e+01, 2.59265878e+02,
  2.91242257e-01,-2.12086650e+01, 7.15720575e+01,-1.13688809e+02,
  1.77747405e-01,-1.08463589e+00, 1.46378379e-01,-1.11285210e+00,
 -2.31282566e+00,-3.10766032e+00,-1.25477219e+00,-4.87560602e+01,
 -5.93234168e+01, 1.92485184e+01]

qfrc_actuator:
[-1.41189274e-02, 2.80171675e-01, 3.61869544e-02, 1.81430663e-01,
 -7.99803079e-03, 3.65981563e-01, 8.51292722e-02, 1.90623844e-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([ 0.217849  ,  0.06798524, -0.20696906,  0.06798524,  0.10333044,
       -0.03761708, -0.20696906, -0.03761708,  0.20549253,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023993161748285047
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.94161142, -0.24613587, -0.22975   , -0.23912082,  0.96923533,
       -0.05834467,  0.23704254,  0.        , -0.97149927])
  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([ 0.08687435, -0.02793035,  0.11974833])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.2395311 , -0.01562023, -0.23902124, -0.01562023,  0.41270756,
       -0.01131722, -0.23902124, -0.01131722,  0.24027068,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036810367565431683
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95302548, -0.21042223, -0.21786446, -0.20513049,  0.9776106 ,
       -0.04689344,  0.22285402,  0.        , -0.97485183])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10114102, -0.08214927,  0.11256941])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.64585089, -1.02848926,  4.53057837, -1.02848926,  5.95993621,
        0.29831128,  4.53057837,  0.29831128,  4.71357071,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032985400076854243
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.36580130e-13,  1.68290065e-13,  1.00000000e+00, -5.66430920e-26,
        1.00000000e+00, -1.68290065e-13, -1.00000000e+00,  0.00000000e+00,
        3.36580130e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06751644, -0.03493679,  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:
[ 2.09822283e-03, 7.53541842e-02, 4.42753245e-02, 2.23914003e-02,
 -1.32178265e-02, 1.95780062e-01, 1.14437894e-01, 5.89059392e-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,
 -6.16330887e-04,-1.24280673e-03,-4.91840258e+00,-2.71011455e-04,
  6.73690352e-04,-2.68959783e-03]


--- Step 1774 ---
qpos:
[ 4.05088105e-03, 3.23177335e-01,-4.82636062e-02, 2.83009766e-01,
  1.22993715e-02, 2.38223738e-01,-1.05137700e-01, 2.40685253e-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,
  7.30542927e-02,-7.31058376e-02, 1.32062198e-01, 4.96939046e-01,
  3.73999595e-01, 4.73284005e-01, 6.23841436e-01]

qacc:
[-4.10659761e+01, 4.54311031e+00,-1.11882244e+02, 2.61903901e+02,
 -1.97247225e+02, 7.90190115e+00,-6.32882613e+01, 3.05860700e+02,
  1.51163872e-01,-2.20201591e+01, 4.90083310e+01,-2.41419389e+01,
  2.69952405e-01,-1.05852922e+00,-5.49504918e+00, 1.83396985e+01,
 -2.41519310e+00,-2.88903857e+00,-1.50380139e+00,-4.82029927e+01,
 -4.80071868e+01, 1.88876453e+01]

qfrc_actuator:
[-1.38074543e-02, 2.79659367e-01, 3.64085421e-02, 1.82243942e-01,
 -8.01360283e-03, 3.66507986e-01, 8.57329021e-02, 1.91147228e-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([ 0.21004509,  0.07751637, -0.19521822,  0.07751637,  0.09078396,
       -0.04735567, -0.19521822, -0.04735567,  0.19124132,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016113067255951237
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.93915803, -0.24580986, -0.23991605, -0.23816156,  0.96931807,
       -0.06084043,  0.24751014,  0.        , -0.9688853 ])
  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([ 0.08636916, -0.02796708,  0.11982079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.2314656 ,  0.00339209, -0.23144074,  0.00339209,  0.32597417,
        0.00138516, -0.23144074,  0.00138516,  0.2314859 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032872996862933905
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9507261 , -0.21047511, -0.22764031, -0.20468938,  0.97759922,
       -0.04901049,  0.23285648,  0.        , -0.97251111])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10073404, -0.08214761,  0.1125588 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.62697082, -1.01670991,  4.51388524, -1.01670991,  6.57472675,
        0.43871358,  4.51388524,  0.43871358,  4.7257869 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032479605156238156
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.41821589e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.41821589e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06747848, -0.03493839,  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:
[ 4.22886120e-03, 7.56415463e-02, 4.48465735e-02, 2.30149234e-02,
 -9.65243614e-03, 1.95227564e-01, 1.13907931e-01, 5.85788250e-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,
 -4.84350226e-04,-9.37190279e-04,-4.91909563e+00,-2.23977906e-04,
  6.37916846e-04,-2.52282661e-03]


--- Step 1775 ---
qpos:
[ 3.62321344e-03, 3.26956837e-01,-4.85193521e-02, 2.86186709e-01,
  1.21933452e-02, 2.41519695e-01,-1.05712231e-01, 2.43355240e-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,
  7.23847978e-02,-7.32547559e-02, 1.32045152e-01, 4.98674904e-01,
  3.71546522e-01, 4.70341758e-01, 6.26143077e-01]

qacc:
[-3.61945104e+01,-3.25680132e+01, 9.21011238e+00, 1.69431703e+02,
 -1.86573717e+02, 1.23303510e+01,-1.02165464e+02, 3.72224180e+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,
 -2.49279734e+00,-2.68795512e+00,-1.72907507e+00,-4.74695456e+01,
 -3.93744702e+01, 1.82212985e+01]

qfrc_actuator:
[-1.34788417e-02, 2.78611594e-01, 3.66888083e-02, 1.82561730e-01,
 -7.92989626e-03, 3.66864614e-01, 8.63543977e-02, 1.91916906e-01,
 -2.94989359e-04, 2.17940069e-01, 2.27131603e-03, 1.53927735e-01,
  9.47012626e-04,-2.24571852e-03, 0.00000000e+00,-2.07885892e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20525657,  0.08807472, -0.18539984,  0.08807472,  0.09402581,
       -0.05284049, -0.18539984, -0.05284049,  0.18015454,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.415662735641661e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.36593604e-01, -2.45225289e-01, -2.50313759e-01, -2.36910226e-01,
        9.69466120e-01, -6.33165643e-02,  2.58197531e-01, -6.93889390e-18,
       -9.66092146e-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([ 0.0858677 , -0.02800326,  0.11988899])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.22370675,  0.02129481, -0.22269091,  0.02129481,  0.25507665,
        0.00299975, -0.22269091,  0.00299975,  0.2239936 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028279737206629747
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.94830588, -0.21029717, -0.23767848, -0.20398772,  0.97763751,
       -0.05112643,  0.24311514,  0.        , -0.96999744])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10032235, -0.08214582,  0.11254648])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.59009232, -1.01476202,  4.47651712, -1.01476202,  7.39200185,
        0.63515258,  4.47651712,  0.63515258,  4.73407227,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003145683304373592
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.52935409e-13,  1.76467705e-13,  1.00000000e+00, -6.22817016e-26,
        1.00000000e+00, -1.76467705e-13, -1.00000000e+00,  0.00000000e+00,
        3.52935409e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06744787, -0.03493602,  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:
[ 5.83110393e-03, 7.63585578e-02, 4.58480322e-02, 2.30080975e-02,
 -6.02986920e-03, 1.94600964e-01, 1.13633770e-01, 5.84991715e-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,
 -3.43748898e-04,-6.74785553e-04,-4.91978135e+00,-1.69397675e-04,
  6.02718216e-04,-2.38302816e-03]


--- Step 1776 ---
qpos:
[ 3.31827344e-03, 3.31208679e-01,-4.82991891e-02, 2.89706165e-01,
  1.20135135e-02, 2.44816189e-01,-1.06272801e-01, 2.46043695e-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,
  7.17073789e-02,-7.34143593e-02, 1.32019710e-01, 5.00463688e-01,
  3.69167286e-01, 4.67285492e-01, 6.28407417e-01]

qacc:
[ 1.91512500e+02,-2.25272890e+01,-3.97037059e+02, 5.05734756e+03,
 -1.98288781e+02,-2.10891477e+00,-6.66922453e+01, 3.55025893e+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,
 -1.98098885e+00,-2.67129039e+00,-2.09890364e+00,-1.83462103e+01,
 -7.09214933e+01, 1.26758964e+01]

qfrc_actuator:
[-1.31145583e-02, 2.77664877e-01, 3.69765416e-02, 1.82399244e-01,
 -7.81414951e-03, 3.66803677e-01, 8.69328862e-02, 1.92489690e-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([ 0.21653849,  0.03976936, -0.21285515,  0.03976936,  0.19616822,
       -0.00380593, -0.21285515, -0.00380593,  0.21582739,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022891912446295354
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.45746249e-01, -2.09915697e-01, -2.47990791e-01, -2.03051064e-01,
        9.77719490e-01, -5.32434509e-02,  2.53642065e-01,  6.93889390e-18,
       -9.67298146e-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([ 0.09990721, -0.08214442,  0.11253168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.54064983,  1.01310013, -4.42618674,  1.01310013, 13.42343015,
        2.03316002, -4.42618674,  2.03316002,  5.00601535,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030005777179138715
  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([ 0.0674231 , -0.03493048,  0.06199155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.33823790e-03, 7.71208069e-02, 4.60517742e-02, 2.23732027e-02,
 -2.50128524e-03, 1.94096934e-01, 1.13636647e-01, 5.81892162e-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,
 -1.91705257e-04,-4.45045417e-04,-4.92045945e+00,-1.09049719e-04,
  5.68716405e-04,-2.26406689e-03]


--- Step 1777 ---
qpos:
[ 3.03717692e-03, 3.35827880e-01,-4.79116392e-02, 2.93262436e-01,
  1.17572019e-02, 2.48123907e-01,-1.06804936e-01, 2.48751823e-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,
  7.10225370e-02,-7.35850996e-02, 1.31987652e-01, 5.02295268e-01,
  3.66858963e-01, 4.64120121e-01, 6.30639738e-01]

qacc:
[ 3.61704579e+01, 9.37670815e+01, 2.11667259e+02,-9.75547603e+01,
 -2.01530508e+02,-2.49800064e+01, 2.95540161e+01, 2.52732662e+02,
  2.82101651e-01,-4.27966769e+01, 1.20176489e+02,-1.46436950e+02,
  2.82644562e-03,-3.45799077e-01,-7.25677659e+00, 2.44417364e+01,
 -1.85578078e+00,-2.78423760e+00,-1.65397331e+00,-1.69550367e+01,
 -6.54923227e+01, 1.52485484e+01]

qfrc_actuator:
[-1.28476488e-02, 2.76639432e-01, 3.67578186e-02, 1.82055415e-01,
 -7.64623819e-03, 3.66495601e-01, 8.74603262e-02, 1.92474755e-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([ 0.21023102,  0.05823712, -0.20200376,  0.05823712,  0.20080304,
       -0.00271806, -0.20200376, -0.00271806,  0.20944741,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016352580137276294
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.94308254, -0.2092023 , -0.25851445, -0.20175949,  0.97787238,
       -0.0553056 ,  0.2643642 ,  0.        , -0.96442292])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09948709, -0.08214246,  0.11251446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.52080827, -2.54337681,  3.73750476, -2.54337681, 19.14096942,
        9.94903853,  3.73750476,  9.94903853, 11.29114182,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002939485522257673
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.88846486e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.88846486e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06602308, -0.03535841,  0.06199171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.44313095e-03, 5.23377278e-02, 2.19879263e-02, 4.88106375e-03,
  1.36517953e-03, 1.93646948e-01, 1.13429380e-01, 5.72393796e-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,
 -7.03766992e-05, 7.91480112e-06,-4.92084215e+00,-4.27208550e-05,
  5.45451271e-04,-2.04272135e-03]


--- Step 1778 ---
qpos:
[ 2.76416128e-03, 3.40680895e-01,-4.74299048e-02, 2.96839571e-01,
  1.14256552e-02, 2.51460718e-01,-1.07298404e-01, 2.51478933e-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,
  7.03302940e-02,-7.37663492e-02, 1.31947931e-01, 5.04162906e-01,
  3.64612816e-01, 4.60851572e-01, 6.32845231e-01]

qacc:
[ 1.19166388e+01, 8.86931559e+01, 4.28319614e+01, 2.09815323e+00,
 -1.94511512e+02,-3.06435779e+01, 8.62568544e+01, 1.57848593e+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,
 -1.85024806e+00,-2.62730013e+00,-1.91596849e+00,-1.73075410e+01,
 -5.88075564e+01, 1.52469872e+01]

qfrc_actuator:
[-1.25893706e-02, 2.75749085e-01, 3.63888853e-02, 1.81966751e-01,
 -7.41483139e-03, 3.66330134e-01, 8.79548301e-02, 1.92063092e-01,
 -3.51308620e-04, 2.14961370e-01, 2.46463811e-03, 1.53747592e-01,
  8.92185271e-04,-2.28348791e-03, 0.00000000e+00,-2.08972309e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20584874,  0.07592863, -0.1913336 ,  0.07592863,  0.1939758 ,
       -0.00471165, -0.1913336 , -0.00471165,  0.20397897,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.986842896872641e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.40976418e-01, -2.04226523e-01, -2.69916484e-01, -1.96309835e-01,
        9.78923658e-01, -5.63109334e-02,  2.75727818e-01,  6.93889390e-18,
       -9.61235752e-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([ 0.09905314, -0.0820928 ,  0.11248757])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.49174872, -0.90585502,  4.39945829, -0.90585502, 12.60752833,
        1.67105112,  4.39945829,  1.67105112,  4.83582064,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002846723956409919
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.75000599e-14, -1.95000120e-13,  1.00000000e+00,  1.90125233e-26,
        1.00000000e+00,  1.95000120e-13, -1.00000000e+00,  0.00000000e+00,
        9.75000599e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06600718, -0.03535481,  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:
[ 4.95958128e-04, 3.29178658e-02, 1.31906708e-02, 2.92979825e-03,
  5.42957009e-03, 1.92804864e-01, 1.12465172e-01, 5.58324487e-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,
  5.65194871e-05, 4.39407795e-04,-4.92120039e+00, 2.89032456e-05,
  5.15814402e-04,-1.83604481e-03]


--- Step 1779 ---
qpos:
[ 2.40905491e-03, 3.45578063e-01,-4.69804854e-02, 3.00388350e-01,
  1.10320029e-02, 2.54815824e-01,-1.07773815e-01, 2.54223796e-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,
  6.96300419e-02,-7.39570698e-02, 1.31899889e-01, 5.06056520e-01,
  3.62401786e-01, 4.57485417e-01, 6.35042390e-01]

qacc:
[-1.20169426e+02, 9.20263407e+01,-1.28674321e+02,-3.31534245e+02,
 -1.57611866e+02, 8.38845302e+00,-6.71929820e+01, 3.23801521e+02,
 -7.70484952e-01, 4.22364082e+00,-3.49957776e+01, 5.63432829e+01,
 -2.94944668e-02,-3.89614669e-01, 5.25320588e+00,-1.82482244e+01,
 -2.00228124e+00,-2.36774868e+00,-2.08008301e+00,-2.48477343e+01,
 -4.32210748e+01, 1.55655955e+01]

qfrc_actuator:
[-0.01233005, 0.27522819, 0.03590057, 0.18228095,-0.00709823, 0.36642315,
  0.08842572, 0.19247137,-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([ 0.20401475,  0.1986084 , -0.04665535,  0.1986084 ,  0.19652738,
       -0.0318732 , -0.04665535, -0.0318732 ,  0.06833289,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.148343572822656e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.92637657, -0.24193078, -0.28861038, -0.23098063,  0.97029351,
       -0.07196146,  0.29744647,  0.        , -0.9547385 ])
  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([ 0.08360713, -0.02810837,  0.12042528])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.20402556,  0.09028671, -0.18296103,  0.09028671,  0.16053933,
       -0.02145937, -0.18296103, -0.02145937,  0.19343589,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.938577290310165e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.93811905, -0.20287111, -0.28067054, -0.19435886,  0.97920545,
       -0.05814913,  0.2866309 ,  0.        , -0.95804109])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09861951, -0.08208924,  0.11247019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.45119141,  0.82261066, -4.37451902,  0.82261066,  9.96529976,
        1.03690584, -4.37451902,  1.03690584,  4.64617737,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002710000378151195
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.04838168e-13, -2.04838168e-13,  1.00000000e+00,  4.19586750e-26,
        1.00000000e+00,  2.04838168e-13, -1.00000000e+00,  0.00000000e+00,
        2.04838168e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06599399, -0.03534877,  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:
[ 3.38275682e-04, 2.05342364e-02, 7.92968997e-03, 2.17998989e-03,
  9.51738142e-03, 1.91326614e-01, 1.10965236e-01, 5.52796692e-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,
  1.86465788e-04, 8.42514737e-04,-4.92155483e+00, 1.05253897e-04,
  4.86694020e-04,-1.64796313e-03]


--- Step 1780 ---
qpos:
[ 2.01367135e-03, 3.50427791e-01,-4.65908031e-02, 3.03911838e-01,
  1.08717722e-02, 2.59353151e-01,-1.07133942e-01, 2.57830342e-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,
  6.89300619e-02,-7.41588302e-02, 1.31840905e-01, 5.07913173e-01,
  3.60213450e-01, 4.54049131e-01, 6.37267499e-01]

qacc:
[-5.77648004e+01, 5.29674553e+01,-1.74918540e+02,-1.30828498e+02,
  5.85573230e+02, 1.30961338e+02,-1.75032887e+03, 1.37059360e+04,
  5.41723375e-03, 2.03100613e+01,-1.02609759e+02, 2.12051949e+02,
  1.38893270e-01,-5.01916919e-01,-1.42129286e+01, 4.80607373e+01,
  6.80233581e-02,-2.75997884e+00,-2.73561428e+00,-1.62219795e+01,
 -1.14322063e+01, 3.67075714e+01]

qfrc_actuator:
[-0.01198315, 0.27479432, 0.03539394, 0.18294875,-0.00669579, 0.36697222,
  0.08888758, 0.19414637,-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([ 0.20433011,  0.18537389, -0.08594949,  0.18537389,  0.17420611,
       -0.06497075, -0.08594949, -0.06497075,  0.06420269,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.795099692939489e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.23802161e-01, -2.40761818e-01, -2.97696682e-01, -2.29157121e-01,
        9.70584230e-01, -7.38462385e-02,  3.06719059e-01, -1.38777878e-17,
       -9.51800094e-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([ 0.08299278, -0.02813072,  0.12061172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.40396013,  0.85836866, -4.31949859,  0.85836866,  9.23129237,
        0.95928512, -4.31949859,  0.95928512,  4.5945888 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002538377554574117
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.18687528e-13, -4.37375056e-13,  1.00000000e+00,  9.56484697e-26,
        1.00000000e+00,  4.37375056e-13, -1.00000000e+00,  0.00000000e+00,
        2.18687528e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06598301, -0.03534088,  0.06199283])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.79726041e-03, 1.77173997e-02, 8.97426411e-03, 4.24829028e-03,
  1.30332379e-02, 1.90843609e-01, 1.10486296e-01, 5.60550769e-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,
  3.36974506e-04, 1.15897603e-03,-4.92198083e+00, 1.84177647e-04,
  4.57567928e-04,-1.50505264e-03]


--- Step 1781 ---
qpos:
[ 1.58007293e-03, 3.55186426e-01,-4.62599416e-02, 3.07413131e-01,
  1.05903335e-02, 2.64299867e-01,-1.06502651e-01, 2.61388003e-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,
  6.82261678e-02,-7.43729563e-02, 1.31769264e-01, 5.09770091e-01,
  3.58091757e-01, 4.50518624e-01, 6.39482383e-01]

qacc:
[-5.36145479e+01,-9.18125377e-01,-7.93450182e+01,-1.41913082e+02,
 -2.95333496e+02, 4.63562994e+02,-6.62881535e+02,-4.75568010e+02,
  3.74481115e-01,-4.80297429e+00, 1.30437438e+01,-1.91296349e+01,
  9.26134171e-02,-3.39469136e-01,-1.50254126e+01, 5.16459449e+01,
 -9.78515668e-01,-3.09139755e+00,-3.16403898e+00,-1.08244811e+01,
 -4.70644881e+01, 2.94180585e+01]

qfrc_actuator:
[-0.0115927 , 0.27391852, 0.03498769, 0.18309138,-0.00653029, 0.36642839,
  0.08823958, 0.19461195,-0.00039282, 0.21587626, 0.00259934, 0.15420751,
  0.00084504,-0.00231853, 0.        ,-0.00169683, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.20465147,  0.18747595, -0.082067  ,  0.18747595,  0.17749832,
       -0.06202936, -0.082067  , -0.06202936,  0.06295002,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.340378444519925e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.92105362, -0.23964856, -0.30696708, -0.22735435,  0.9708597 ,
       -0.07577225,  0.31618068,  0.        , -0.94869899])
  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([ 0.08238513, -0.0281579 ,  0.12079359])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.20417452, -0.01396484,  0.20369639, -0.01396484,  2.18501786,
        0.13580095,  0.20369639,  0.13580095,  0.21348465,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.748435893095907e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.32941882e-01, -2.00275693e-01, -2.99180700e-01, -1.90709435e-01,
        9.79739581e-01, -6.11577028e-02,  3.05367575e-01,  6.93889390e-18,
       -9.52234553e-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([ 0.09758668, -0.08206111,  0.11256786])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002341863670975164
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.18519178e-13, -1.77778766e-13,  1.00000000e+00,  2.10701932e-26,
        1.00000000e+00,  1.77778766e-13, -1.00000000e+00,  0.00000000e+00,
        1.18519178e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06597381, -0.03533172,  0.06199338])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.19676034e-03, 1.90395125e-02, 1.14911223e-02, 5.63980180e-03,
  1.51023941e-03, 1.31027777e-01, 5.40300957e-02, 1.34044057e-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,
  5.74485639e-04, 1.24012547e-03,-4.92221892e+00, 2.69500399e-04,
  3.75375023e-04,-1.46655067e-03]


--- Step 1782 ---
qpos:
[ 1.11942568e-03, 3.59848382e-01,-4.59756878e-02, 3.10895405e-01,
  1.01865670e-02, 2.69401769e-01,-1.05853095e-01, 2.64912088e-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,
  6.75177239e-02,-7.45984581e-02, 1.31684834e-01, 5.11623609e-01,
  3.56018053e-01, 4.46897198e-01, 6.41697221e-01]

qacc:
[-3.71672538e+01,-3.57056686e+01, 1.98292570e+01,-1.98301759e+02,
 -2.88031549e+02, 9.04397064e+01, 1.11608131e+02,-8.15162093e+02,
 -2.52518796e-02,-2.20658171e-01,-2.50891904e+01, 9.50071565e+01,
  1.57342397e-01,-4.80564140e-01,-8.75245754e+00, 3.05975534e+01,
 -1.13745224e+00,-2.84392867e+00,-3.19737226e+00,-1.62198195e+01,
 -3.77606466e+01, 2.81646146e+01]

qfrc_actuator:
[-0.01114431, 0.27282243, 0.03464688, 0.18281941,-0.00624568, 0.36529798,
  0.08763892, 0.19413666,-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([ 0.20458642,  0.19056269, -0.07444104,  0.19056269,  0.18222848,
       -0.05723443, -0.07444104, -0.05723443,  0.05807118,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.0661100847832284e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9182306 , -0.23802248, -0.31654046, -0.22502688,  0.97125965,
       -0.07757323,  0.32590714,  0.        , -0.94540178])
  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([ 0.08178634, -0.02818322,  0.12096666])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.20972425,  0.064396  , -0.19959312,  0.064396  ,  0.69841793,
        0.15767036, -0.19959312,  0.15767036,  0.26059444,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015690222729928917
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.30758955e-01, -1.99058381e-01, -3.06697779e-01, -1.89058887e-01,
        9.79987633e-01, -6.22974835e-02,  3.12960867e-01,  6.93889390e-18,
       -9.49766022e-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([ 0.09695909, -0.08203527,  0.11270595])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021298241000183848
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.60637257e-13,  2.60637257e-13,  1.00000000e+00, -6.79317800e-26,
        1.00000000e+00, -2.60637257e-13, -1.00000000e+00,  0.00000000e+00,
        2.60637257e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06596599, -0.03532181,  0.06199397])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.54982321e-03, 2.23278615e-02, 1.40294249e-02, 6.46306194e-03,
  7.88219424e-03, 1.09242667e-01, 5.37925438e-02, 1.53501802e-02,
 -2.30921454e-06,-6.32957498e-04,-1.12259066e-04, 1.77417303e-04,
 -4.49276684e-05,-3.21745692e-05, 3.09990829e-05, 1.57381892e-04,
  7.48288213e-04, 1.57505535e-03,-4.92247538e+00, 3.65764717e-04,
  3.08553922e-04,-1.31529093e-03]


--- Step 1783 ---
qpos:
[ 6.48560294e-04, 3.64413709e-01,-4.57362133e-02, 3.14361523e-01,
  9.66275214e-03, 2.74574425e-01,-1.05185175e-01, 2.68405285e-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,
  6.68045562e-02,-7.48342839e-02, 1.31587610e-01, 5.13466268e-01,
  3.53969778e-01, 4.43190145e-01, 6.43925681e-01]

qacc:
[-1.37591104e+01,-3.51487810e+01, 6.63474980e+00,-1.40821275e+02,
 -2.73905776e+02,-1.42661525e+01, 3.10458122e+02,-8.98377509e+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,
 -1.18095734e+00,-2.58101489e+00,-3.19849011e+00,-2.20795378e+01,
 -2.52117928e+01, 2.78928764e+01]

qfrc_actuator:
[-0.01067478, 0.27145866, 0.03433891, 0.18287246,-0.00585777, 0.36362203,
  0.08702549, 0.19310109,-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([ 0.20418689,  0.18717651, -0.08159191,  0.18717651,  0.17674605,
       -0.06295086, -0.08159191, -0.06295086,  0.059774  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.8458072579629238e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9152774 , -0.23611628, -0.32636847, -0.2224003 ,  0.97172481,
       -0.07930322,  0.33586512,  0.        , -0.94191009])
  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([ 0.08119625, -0.02820908,  0.1211309 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.22438029,  0.06945767, -0.2133592 ,  0.06945767,  0.96915683,
        0.24245706, -0.2133592 ,  0.24245706,  0.30331058,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002871979844711922
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.92851301, -0.1976772 , -0.3143045 , -0.18724064,  0.98026717,
       -0.06338153,  0.32063147,  0.        , -0.94720402])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09631592, -0.08201169,  0.11285386])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0001906613943773311
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.45575226e-13, -7.27876131e-14,  1.00000000e+00,  1.05960732e-26,
        1.00000000e+00,  7.27876131e-14, -1.00000000e+00,  0.00000000e+00,
        1.45575226e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06595926, -0.03531146,  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:
[ 1.13628407e-02, 2.56319432e-02, 1.59917065e-02, 7.45277130e-03,
  1.44147652e-02, 9.96161753e-02, 5.21952256e-02, 1.59722265e-02,
 -7.38337214e-06,-1.31258112e-03,-1.45043474e-04, 2.28466364e-04,
 -4.56815020e-05,-2.90362890e-06, 2.68339808e-05, 1.27755406e-04,
  9.35687723e-04, 1.86246720e-03,-4.92278942e+00, 4.64431516e-04,
  2.44864492e-04,-1.19125054e-03]


--- Step 1784 ---
qpos:
[ 3.78029542e-04, 3.69155007e-01,-4.53073924e-02, 3.17961959e-01,
  9.01438937e-03, 2.79788394e-01,-1.04500165e-01, 2.71866491e-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,
  6.60878906e-02,-7.50802516e-02, 1.31477239e-01, 5.15303029e-01,
  3.51971392e-01, 4.39401125e-01, 6.46146716e-01]

qacc:
[ 2.65841403e+02,-2.95722999e+01,-9.44631107e+01, 1.91351358e+03,
 -2.75612408e+02,-5.10049436e+01, 3.88706984e+02,-9.67797069e+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,
 -8.74468491e-01,-2.53546468e+00,-3.28677970e+00,-1.08931247e+01,
 -3.71136203e+01, 2.55550646e+01]

qfrc_actuator:
[-0.01018084, 0.2702747 , 0.03410296, 0.18333831,-0.00532572, 0.36128606,
  0.08637925, 0.19237919,-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([ 0.25003289, -0.0415519 ,  0.24655605, -0.0415519 ,  1.3070743 ,
        0.17814237,  0.24655605,  0.17814237,  0.28005509,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00041084375123916537
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9261481 , -0.19615337, -0.32213902, -0.1852662 ,  0.98057323,
       -0.06444053,  0.32852113,  0.        , -0.94449662])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09566427, -0.08199168,  0.11300635])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00016752728990374055
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.31355872e-13, -4.14194840e-13,  1.00000000e+00,  1.37245892e-25,
        1.00000000e+00,  4.14194840e-13, -1.00000000e+00,  0.00000000e+00,
        3.31355872e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06595337, -0.03530085,  0.06199524])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.23545359e-02, 2.91171334e-02, 1.79362488e-02, 8.71261849e-03,
  2.09779506e-02, 9.35491796e-02, 5.05582925e-02, 1.67742819e-02,
 -2.61411335e-05,-1.85232847e-03,-3.22504140e-04, 1.72057108e-05,
 -4.22356128e-05, 3.38278387e-06, 2.14789975e-05, 3.82496834e-05,
  1.15076754e-03, 2.07837299e-03,-4.92315833e+00, 5.62458040e-04,
  1.81450536e-04,-1.10459059e-03]


--- Step 1785 ---
qpos:
[ 1.48766595e-04, 3.74028933e-01,-4.48175900e-02, 3.21580660e-01,
  8.32198166e-03, 2.84955312e-01,-1.03846700e-01, 2.75301618e-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,
  6.53615797e-02,-7.53093535e-02, 1.31366371e-01, 5.17103196e-01,
  3.49746723e-01, 4.35696200e-01, 6.48421418e-01]

qacc:
[ 5.36371736e+01, 4.19160525e+01, 2.83962979e+01, 9.33555313e+01,
 -9.46237709e+01,-2.42348958e+01, 1.02795925e+02,-4.56279143e+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,
 -2.41133882e+00, 4.21645138e+00,-1.24299162e-01,-3.64845049e+01,
  1.12257945e+02,-3.88643028e+01]

qfrc_actuator:
[-0.00989646, 0.26905345, 0.03367625, 0.18337524,-0.00465466, 0.35850197,
  0.08568949, 0.19173469,-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([ 0.28917288, -0.02588358,  0.28801214, -0.02588358,  0.72036342,
        0.03875099,  0.28801214,  0.03875099,  0.29265542,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005236807638130946
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.92366423, -0.19442595, -0.33021651, -0.18307793,  0.9809172 ,
       -0.06545166,  0.33664056,  0.        , -0.94163323])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09500583, -0.08197541,  0.11316164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.24002224,  0.9241734 , -4.13807831,  0.9241734 , 10.24586201,
        1.34130796, -4.13807831,  1.34130796,  4.53958186,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001782215308620133
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.11472755e-13,  9.73352360e-14,  1.00000000e+00, -3.03172741e-26,
        1.00000000e+00, -9.73352360e-14, -1.00000000e+00,  0.00000000e+00,
        3.11472755e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08161825, -0.10472158,  0.06199493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.56034899e-03, 1.89315689e-02, 7.98148223e-03, 2.01336720e-03,
  2.79071611e-02, 8.85053358e-02, 4.89409709e-02, 1.77092738e-02,
 -2.30870077e-05,-1.89325423e-03,-4.83851761e-04, 3.59391197e-05,
 -3.55883506e-05, 5.15781083e-06, 8.88092989e-06,-5.46134662e-05,
  1.33442441e-03, 2.37883058e-03,-4.92340607e+00, 6.68811647e-04,
  1.25175728e-04,-9.82954322e-04]


--- Step 1786 ---
qpos:
[-6.99779630e-05, 3.78974555e-01,-4.42934721e-02, 3.25203517e-01,
  7.59626744e-03, 2.90057843e-01,-1.03213041e-01, 2.78713643e-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,
  6.46251219e-02,-7.55223855e-02, 1.31252542e-01, 5.18864261e-01,
  3.47309662e-01, 4.32078517e-01, 6.50741141e-01]

qacc:
[ 1.34080823e+01, 7.89894927e+00, 8.94331404e+01,-1.16756571e+02,
 -6.93801486e+01,-7.27955584e+01, 2.29062722e+02,-5.31511070e+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,
 -2.53671267e+00, 4.01747258e+00,-7.40124599e-01,-2.95989128e+01,
  1.07808205e+02,-3.72079319e+01]

qfrc_actuator:
[-0.00971215, 0.26716143, 0.03318771, 0.18309289,-0.00398414, 0.35557409,
  0.08501543, 0.19073519,-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([ 0.33248366, -0.27906357,  0.18074542, -0.27906357,  0.5203262 ,
        0.29002124,  0.18074542,  0.29002124,  0.78026466,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006281980696496269
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.20910176e-01, -1.93073208e-01, -3.38595902e-01, -1.81212716e-01,
        9.81184354e-01, -6.66274351e-02,  3.45088974e-01,  6.93889390e-18,
       -9.38569976e-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([ 0.0943567 , -0.08196701,  0.11331546])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.33914466, -0.62331566,  4.29414182, -0.62331566, 15.88018288,
        1.67523808,  4.29414182,  1.67523808,  4.58231365,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022756057742977231
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82955079e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.82955079e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0815477 , -0.10471552,  0.06199352])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.57276526e-04, 1.02363322e-02, 4.38042916e-03, 7.98770160e-04,
  3.07910070e-02, 8.77364318e-02, 4.97701769e-02, 1.79951854e-02,
  1.77052226e-05,-2.04288437e-03,-4.33414108e-04,-3.00730988e-05,
 -1.91346899e-05, 2.45659576e-05,-6.98036941e-06,-3.25212279e-04,
  1.64737177e-03, 1.73297360e-03,-4.92358139e+00, 6.55294041e-04,
  2.64336975e-04,-1.32979456e-03]


--- Step 1787 ---
qpos:
[-2.84125215e-04, 3.83948391e-01,-4.37505013e-02, 3.28830843e-01,
  6.85587772e-03, 2.95091481e-01,-1.02595611e-01, 2.82103415e-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,
  6.38781500e-02,-7.57201132e-02, 1.31133570e-01, 5.20584874e-01,
  3.44671677e-01, 4.28549462e-01, 6.53098907e-01]

qacc:
[ 5.76971291e+00,-6.12196226e+00, 5.65240513e+01,-2.73535425e+01,
 -2.96365281e+01,-8.67393299e+01, 2.66012518e+02,-5.54073788e+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,
 -2.62850703e+00, 3.82608673e+00,-1.28598794e+00,-2.44842470e+01,
  1.03714004e+02,-3.57674325e+01]

qfrc_actuator:
[-0.00953812, 0.26489258, 0.03266436, 0.18299856,-0.00327156, 0.35247183,
  0.08438716, 0.18963667,-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([ 0.36952463,  0.36940146,  0.00954013,  0.36940146,  0.36994012,
       -0.01608798,  0.00954013, -0.01608798,  0.99246388,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007207909334527019
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.17874925e-01, -1.92069933e-01, -3.47296362e-01, -1.79640866e-01,
        9.81381241e-01, -6.79707195e-02,  3.53885266e-01, -1.38777878e-17,
       -9.35288842e-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([ 0.09371648, -0.08196617,  0.1134664 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.42487423, -0.70766224,  4.36792011, -0.70766224, 22.83092605,
        2.9820298 ,  4.36792011,  2.9820298 ,  4.90800346,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026161731237518693
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.30461371e-14,  3.18276822e-13,  1.00000000e+00, -1.68833559e-26,
        1.00000000e+00, -3.18276822e-13, -1.00000000e+00,  0.00000000e+00,
        5.30461371e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08149186, -0.10471354,  0.06199254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.88510266e-04, 4.20755538e-03, 2.07654083e-03, 4.78478345e-04,
  3.31772527e-02, 8.76625577e-02, 5.00591823e-02, 1.80336621e-02,
  1.54935922e-05,-2.41628254e-03,-4.67855965e-04,-2.13193547e-04,
 -4.06288788e-06, 2.61012432e-05,-4.48289742e-05,-2.11212639e-04,
  1.91704928e-03, 1.10647616e-03,-4.92370122e+00, 6.66388322e-04,
  4.02597045e-04,-1.67110641e-03]


--- Step 1788 ---
qpos:
[-4.94611790e-04, 3.88928820e-01,-4.32029765e-02, 3.32468189e-01,
  6.13863475e-03, 3.00060282e-01,-1.02017155e-01, 2.85467719e-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,
  6.31204229e-02,-7.59035012e-02, 1.31007662e-01, 5.22268012e-01,
  3.41844788e-01, 4.25104049e-01, 6.55488224e-01]

qacc:
[ 4.50344292e+00, 1.55279716e+01,-8.10433448e+01, 2.31252492e+02,
  4.56376102e+01,-2.63607908e+01, 7.34983465e+01,-3.92604698e+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,
 -2.68882324e+00, 3.58489366e+00,-1.73376926e+00,-2.21597093e+01,
  9.69252370e+01,-3.44415723e+01]

qfrc_actuator:
[-0.00935081, 0.26331783, 0.03212184, 0.18333463,-0.00252129, 0.3509817 ,
  0.08375521, 0.18971206,-0.00050794, 0.21109132, 0.0027639 , 0.15535317,
  0.00078973,-0.00223031, 0.        ,-0.00202185, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.3967858 ,  0.39601799, -0.02467221,  0.39601799,  0.39629019,
       -0.00795515, -0.02467221, -0.00795515,  0.26909621,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007990150341355716
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.91455048, -0.19139486, -0.35632207, -0.17833716,  0.98151312,
       -0.06948273,  0.36303343,  0.        , -0.93177612])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09308437, -0.08197218,  0.11361358])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.48581971, -0.87862827,  4.39893065, -0.87862827, 12.70095378,
        1.64086448,  4.39893065,  1.64086448,  4.81356071,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000282728690252948
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.47255531e-13,  1.96340708e-13,  1.00000000e+00,  2.89122552e-26,
        1.00000000e+00, -1.96340708e-13, -1.00000000e+00,  0.00000000e+00,
       -1.47255531e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08144789, -0.10471486,  0.06199193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.30072826e-04, 1.04573985e-03, 5.26109446e-04, 5.73780722e-04,
  3.46652734e-02, 8.94284079e-02, 5.01665853e-02, 1.92039001e-02,
 -1.00998065e-05,-1.90279262e-03,-6.14083693e-04, 3.37477239e-04,
  3.56668475e-07, 7.65485869e-06,-4.67761316e-05,-5.91305928e-05,
  2.14899353e-03, 5.01726167e-04,-4.92378556e+00, 6.99288288e-04,
  5.39176370e-04,-2.00476132e-03]


--- Step 1789 ---
qpos:
[-7.01519631e-04, 3.93904585e-01,-4.26584021e-02, 3.36120207e-01,
  5.47640919e-03, 3.04962208e-01,-1.01498575e-01, 2.88805782e-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,
  6.23517777e-02,-7.60736492e-02, 1.30873328e-01, 5.23919575e-01,
  3.38841110e-01, 4.21732690e-01, 6.57903123e-01]

qacc:
[ 4.31816095e+00, 3.03634420e+01,-1.71806635e+02, 4.12798264e+02,
  1.05569935e+02, 2.56867119e+01,-1.10830605e+02,-1.96722836e+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,
 -2.72953366e+00, 3.31003187e+00,-2.10666876e+00,-2.19355052e+01,
  8.83635702e+01,-3.32056927e+01]

qfrc_actuator:
[-0.00915642, 0.26218761, 0.0316101 , 0.1839926 ,-0.00179813, 0.35076639,
  0.0831858 , 0.19080571,-0.00052979, 0.21093654, 0.00283133, 0.15643987,
  0.00079041,-0.00224268, 0.        ,-0.00220496, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.41359456,  0.40365249, -0.09013949,  0.40365249,  0.40124701,
       -0.05529341, -0.09013949, -0.05529341,  0.16598587,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000860092761580114
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.10926219e-01, -1.91013564e-01, -3.65687355e-01, -1.77263139e-01,
        9.81587397e-01, -7.11615136e-02,  3.72546914e-01, -1.38777878e-17,
       -9.28013360e-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([ 0.09246022, -0.0819835 ,  0.11375558])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.5174358 , -1.05183901,  4.3932745 , -1.05183901,  7.98680136,
        0.83063647,  4.3932745 ,  0.83063647,  4.71630701,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029289258193680723
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.79054675e-13,  9.47636688e-14,  1.00000000e+00, -3.59206117e-26,
        1.00000000e+00, -9.47636688e-14, -1.00000000e+00,  0.00000000e+00,
        3.79054675e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0814135 , -0.10471884,  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:
[ 2.25476714e-04,-5.90569018e-04,-2.78604831e-04, 7.13869164e-04,
  3.42262635e-02, 9.22681753e-02, 5.14747762e-02, 2.15534964e-02,
 -1.32432639e-05,-1.46156767e-03,-4.32074437e-04, 9.81732394e-04,
  1.67736800e-06,-9.55349705e-06,-2.96853946e-05,-1.92798611e-04,
  2.34931613e-03,-5.96479445e-05,-4.92387695e+00, 7.52162816e-04,
  6.72872865e-04,-2.31954880e-03]


--- Step 1790 ---
qpos:
[-9.05102274e-04, 3.98863177e-01,-4.21175392e-02, 3.39782720e-01,
  4.86968146e-03, 3.09797158e-01,-1.01020448e-01, 2.92122086e-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,
  6.15721500e-02,-7.62314961e-02, 1.30729171e-01, 5.25543946e-01,
  3.35670337e-01, 4.18427778e-01, 6.60338686e-01]

qacc:
[ 3.95922927e+00, 7.91821680e+00,-1.00091497e+02, 2.85047023e+02,
  1.03910421e+02,-1.83775958e+01, 2.60342732e+01,-2.80712632e+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,
 -2.74560405e+00, 3.07526237e+00,-2.45556799e+00,-2.16651679e+01,
  8.16084495e+01,-3.21345995e+01]

qfrc_actuator:
[-0.00897693, 0.26048062, 0.03108699, 0.1844445 ,-0.0011501 , 0.34956869,
  0.08267265, 0.19111881,-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([ 0.4220003 ,  0.39862915, -0.13848847,  0.39862915,  0.39323775,
       -0.08279095, -0.13848847, -0.08279095,  0.18369247,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009012462744245253
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.90698427, -0.19091043, -0.37541009, -0.17639715,  0.98160746,
       -0.07301259,  0.38244421,  0.        , -0.92397859])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09184451, -0.0819989 ,  0.11389069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.52041149, -1.23151164,  4.34942515, -1.23151164,  8.89343638,
        1.23819375,  4.34942515,  1.23819375,  4.87099806,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029382458743498763
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.72315402e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.72315402e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08138684, -0.10472493,  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:
[ 2.09969735e-04,-2.24031304e-03,-7.19192017e-04, 4.15624974e-04,
  3.21109189e-02, 9.42298418e-02, 5.38853697e-02, 2.31617224e-02,
  5.67135672e-06,-2.11558986e-03,-2.15902108e-04, 6.10308679e-04,
 -1.06583837e-05,-3.91471754e-05,-3.81376289e-05, 1.63116674e-04,
  2.52721739e-03,-5.65215341e-04,-4.92400559e+00, 8.22380126e-04,
  8.03132961e-04,-2.60847717e-03]


--- Step 1791 ---
qpos:
[-1.10529806e-03, 4.03802012e-01,-4.15852890e-02, 3.43446344e-01,
  4.29028477e-03, 3.14571860e-01,-1.00566212e-01, 2.95421908e-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,
  6.07831587e-02,-7.63809661e-02, 1.30581792e-01, 5.27153100e-01,
  3.32341947e-01, 4.15134629e-01, 6.62813457e-01]

qacc:
[ 3.95025418e+00,-1.48470166e-01,-4.03732180e+01, 8.27180526e+01,
  4.99770441e+01,-4.43595800e+01, 1.08999482e+02,-3.00749422e+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,
 -2.34091897e+00, 2.09421928e+00,-8.05686052e-01,-4.31835481e+01,
  6.48957515e+01,-1.96227415e+01]

qfrc_actuator:
[-0.00878979, 0.25925856, 0.03054126, 0.18446927,-0.00055189, 0.34791492,
  0.08218002, 0.19070331,-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([ 0.42527585,  0.39556851, -0.15615731,  0.39556851,  0.40370514,
       -0.05464166, -0.15615731, -0.05464166,  0.28686081,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009223806228038226
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.02414359e-01, -1.91024934e-01, -3.86209528e-01, -1.75617609e-01,
        9.81585185e-01, -7.51597018e-02,  3.93454928e-01,  1.38777878e-17,
       -9.19343907e-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([ 0.09123956, -0.08201751,  0.1140106 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.55533034,  1.35127038, -4.35029917,  1.35127038, 12.3742077 ,
        2.42866455, -4.35029917,  2.42866455,  5.30971121,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003044686370965166
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.82321410e-13,  3.64642820e-13,  1.00000000e+00,  6.64821931e-26,
        1.00000000e+00, -3.64642820e-13, -1.00000000e+00,  0.00000000e+00,
       -1.82321410e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07648263, -0.08918054,  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:
[ 2.14764178e-04,-2.77895037e-03,-1.14403039e-03,-1.00485190e-04,
  2.99217129e-02, 9.57437076e-02, 5.53470177e-02, 2.38174263e-02,
 -1.37089788e-05,-2.75317436e-03,-4.35510475e-04, 1.41286668e-04,
 -2.36635549e-05,-2.93839481e-05,-1.26227622e-07, 1.27694565e-04,
  2.68990497e-03,-1.02797725e-03,-4.92416354e+00, 9.07001431e-04,
  9.30579961e-04,-2.87701751e-03]


--- Step 1792 ---
qpos:
[-1.30149168e-03, 4.08721623e-01,-4.10639268e-02, 3.47099846e-01,
  3.74462485e-03, 3.19301024e-01,-1.00126234e-01, 2.98706767e-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,
  5.99846138e-02,-7.65226373e-02, 1.30429367e-01, 5.28747653e-01,
  3.28863008e-01, 4.11852609e-01, 6.65321328e-01]

qacc:
[ 4.57841114e+00,-1.49019984e+01, 5.54299022e+01,-1.89725430e+02,
  6.02226653e+01,-4.83851794e+01, 1.44575067e+02,-3.33778917e+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,
 -2.38838899e+00, 1.94971228e+00,-1.26122218e+00,-4.04373106e+01,
  6.13572688e+01,-1.95355695e+01]

qfrc_actuator:
[-8.56395977e-03, 2.58372405e-01, 3.00060817e-02, 1.83958907e-01,
  4.01481508e-05, 3.46327109e-01, 8.17170886e-02, 1.90173620e-01,
 -5.80346453e-04, 2.07582974e-01, 2.98194989e-03, 1.57486907e-01,
  7.76454420e-04,-2.28514833e-03, 0.00000000e+00,-1.99006957e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42630495,  0.3884985 , -0.17551303,  0.3884985 ,  0.39486971,
       -0.06958196, -0.17551303, -0.06958196,  0.27228511,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009302511519023948
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.98017404e-01, -1.92150522e-01, -3.95781404e-01, -1.75831042e-01,
        9.81365466e-01, -7.74936616e-02,  4.03296649e-01,  1.38777878e-17,
       -9.15069294e-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([ 0.09063675, -0.08204889,  0.11414323])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.57008155, -1.67567496,  4.25179477, -1.67567496,  8.83747768,
        1.68182361,  4.25179477,  1.68182361,  5.2329051 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030881188703682505
  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([ 0.07645214, -0.08918654,  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:
[ 2.55170489e-04,-2.85165927e-03,-1.31287290e-03,-6.82291022e-04,
  2.91412642e-02, 9.69905999e-02, 5.60118839e-02, 2.40952810e-02,
 -1.51826506e-05,-2.56152297e-03,-7.04900373e-04,-4.21019749e-06,
 -1.73432855e-05,-5.98969327e-08, 1.09940357e-05,-8.08048491e-05,
  2.92941019e-03,-1.40460502e-03,-4.92466116e+00, 9.94822181e-04,
  1.01926431e-03,-3.10045249e-03]


--- Step 1793 ---
qpos:
[-1.49404769e-03, 4.13614440e-01,-4.05504953e-02, 3.50736856e-01,
  3.24248365e-03, 3.23991414e-01,-9.96969268e-02, 3.01978052e-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,
  5.91763826e-02,-7.66570906e-02, 1.30270269e-01, 5.30329117e-01,
  3.25240125e-01, 4.08579533e-01, 6.67856762e-01]

qacc:
[   4.1119826 , -45.29194108, 172.07518851,-403.82631067,  75.87154293,
  -46.70357171, 145.64703395,-321.42205538,  -0.41467819,   3.67823569,
  -64.05431813, 176.92542746,  -0.62780919,   1.22469983,  -6.46676788,
   22.03219618,  -2.42157252,   1.80447184,  -1.66856312, -38.60450701,
   57.47729186, -19.47095138]

qfrc_actuator:
[-0.00837014, 0.25666552, 0.02946521, 0.18310274, 0.00059339, 0.34450423,
  0.08128964, 0.18982903,-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([ 0.42566844,  0.37479397, -0.20179966,  0.37479397,  0.37385065,
       -0.096239  , -0.20179966, -0.096239  ,  0.24692781,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009252894978934434
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.8931804 , -0.19257843, -0.40637707, -0.1752884 ,  0.98128158,
       -0.0797523 ,  0.41412891,  0.        , -0.91021824])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09004142, -0.08207289,  0.11426328])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.55591629, -1.84170954,  4.16707081, -1.84170954,  9.95727409,
        2.38722418,  4.16707081,  2.38722418,  5.6109916 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003046428302942439
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82217160e-13,  1.82217160e-13,  1.00000000e+00, -3.32030933e-26,
        1.00000000e+00, -1.82217160e-13, -1.00000000e+00,  0.00000000e+00,
        1.82217160e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07642813, -0.08919218,  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:
[ 2.32678501e-04,-3.77084610e-03,-1.37325272e-03,-1.04810821e-03,
  2.80006260e-02, 9.72689756e-02, 5.62315502e-02, 2.44823162e-02,
 -3.10786755e-05,-2.01758973e-03,-7.03332525e-04, 1.97357383e-04,
 -1.15403652e-05, 4.46559929e-05,-8.85105009e-06, 1.04633439e-04,
  3.16900638e-03,-1.76373562e-03,-4.92513835e+00, 1.08951677e-03,
  1.10907109e-03,-3.31544331e-03]


--- Step 1794 ---
qpos:
[-1.68335949e-03, 4.18473365e-01,-4.00443379e-02, 3.54356575e-01,
  2.79785452e-03, 3.28637377e-01,-9.92833519e-02, 3.05237627e-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,
  5.83583477e-02,-7.67849432e-02, 1.30103043e-01, 5.31900317e-01,
  3.21479914e-01, 4.05311105e-01, 6.70414518e-01]

qacc:
[   3.62198486, -57.9672593 , 206.15973638,-444.95238501,  97.97994456,
  -37.03378794,  93.43579776,-228.87255888,  -0.57617731,  -1.83330719,
  -64.56416366, 241.61242323,  -1.08535623,   2.12401623,  -4.94076026,
   17.23245399,  -2.45092725,   1.6501757 ,  -2.03166291, -37.75401461,
   52.81713291, -19.46452846]

qfrc_actuator:
[-0.00819676, 0.25460572, 0.02895783, 0.1822093 , 0.00108233, 0.34237423,
  0.08086786, 0.18995515,-0.00066496, 0.20652996, 0.00297925, 0.15835445,
  0.00076502,-0.0021678 , 0.        ,-0.00179968, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.42297049,  0.34931752, -0.23849803,  0.34931752,  0.3336678 ,
       -0.1307977 , -0.23849803, -0.1307977 ,  0.23139689,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009070348471606321
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.88046791e-01, -1.93143745e-01, -4.17215042e-01, -1.74812317e-01,
        9.81170471e-01, -8.21289248e-02,  4.25221768e-01, -1.38777878e-17,
       -9.05089193e-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([ 0.0894506 , -0.08209876,  0.11437964])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.51893732, -2.03625151,  4.03416339, -2.03625151, 11.25498312,
        3.40003171,  4.03416339,  3.40003171,  6.23510967,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000293363376048808
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.67669543e-13,  1.42286962e-13,  1.00000000e+00, -8.07719749e-26,
        1.00000000e+00, -1.42286962e-13, -1.00000000e+00,  0.00000000e+00,
        5.67669543e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07640941, -0.08919744,  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:
[ 2.08106323e-04,-4.66337966e-03,-1.54748057e-03,-1.13236018e-03,
  2.63044051e-02, 9.69036164e-02, 5.62783525e-02, 2.52706958e-02,
 -4.41630954e-05,-2.13034258e-03,-4.92523608e-04, 4.13900969e-04,
 -5.45429019e-06, 7.80237717e-05, 4.42381961e-06, 8.55046864e-05,
  3.41196431e-03,-2.10224884e-03,-4.92560724e+00, 1.19038587e-03,
  1.19980105e-03,-3.52008077e-03]


--- Step 1795 ---
qpos:
[-1.86890012e-03, 4.23298874e-01,-3.95494289e-02, 3.57964969e-01,
  2.42131727e-03, 3.33233122e-01,-9.88907735e-02, 3.08488025e-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,
  5.75304154e-02,-7.69068200e-02, 1.29926386e-01, 5.33464791e-01,
  3.17588788e-01, 4.02041736e-01, 6.72989688e-01]

qacc:
[ 4.12574696e+00,-3.48855929e+01, 1.03420791e+02,-2.44208669e+02,
  1.13436280e+02,-2.57574259e+01, 3.27288032e+01,-1.16888697e+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,
 -2.47434075e+00, 1.49394174e+00,-2.35793229e+00,-3.75809620e+01,
  4.77961219e+01,-1.94938631e+01]

qfrc_actuator:
[-0.00798344, 0.2530621 , 0.02843755, 0.18165592, 0.00153679, 0.34041842,
  0.08045879, 0.19034951,-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([ 0.4166564 ,  0.3123852 , -0.27571369,  0.3123852 ,  0.28208037,
       -0.15247542, -0.27571369, -0.15247542,  0.24390087,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008736952542450282
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88261028, -0.19382048, -0.42829045, -0.17437461,  0.98103701,
       -0.08461603,  0.4365691 ,  0.        , -0.89967073])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0888645 , -0.08212573,  0.1144913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.46625728, -2.26570115,  3.84890275, -2.26570115, 12.64294342,
        4.81330094,  3.84890275,  4.81330094,  7.29966259,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002761844261427032
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.02979161e-13,  3.92564558e-16,  1.00000000e+00, -2.36708248e-28,
        1.00000000e+00, -3.92564558e-16, -1.00000000e+00,  0.00000000e+00,
        6.02979161e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07639499, -0.08920229,  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:
[ 2.43301443e-04,-4.68323634e-03,-1.76677278e-03,-8.36278602e-04,
  2.38705052e-02, 9.69969204e-02, 5.65915907e-02, 2.62344458e-02,
 -1.73007010e-05,-2.49423441e-03,-4.29508355e-04, 2.44127383e-04,
  6.52476789e-06, 6.40517468e-05, 7.45611741e-06,-1.08402737e-04,
  3.66258935e-03,-2.41436128e-03,-4.92608240e+00, 1.29664410e-03,
  1.29140566e-03,-3.71115189e-03]


--- Step 1796 ---
qpos:
[-2.05103096e-03, 4.28093096e-01,-3.90674104e-02, 3.61562720e-01,
  2.04522899e-03, 3.37770477e-01,-9.85211394e-02, 3.11731187e-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,
  5.66977618e-02,-7.70414762e-02, 1.29742929e-01, 5.35108531e-01,
  3.13741009e-01, 3.98556285e-01, 6.75557789e-01]

qacc:
[   3.66599001, -26.24312514,  74.44981107,-204.43909197,   0.77302783,
  -27.38312973,  15.67373849, -59.91061466,  -0.57526346, -34.63737904,
  106.564124  ,-172.38940804,  -1.41174066,   2.76848485,   2.06174877,
   -7.04406098,  -1.18033177,  -3.19484673,  -1.70021241, -72.31527054,
  -89.27885323,  14.46848116]

qfrc_actuator:
[-0.00780126, 0.251788  , 0.02789866, 0.18114778, 0.00195473, 0.33880373,
  0.08010443, 0.19026786,-0.00073262, 0.20465499, 0.00311371, 0.15845414,
  0.00074739,-0.00203881, 0.        ,-0.00194358, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.40412993,  0.30583038, -0.26417566,  0.30583038,  0.27676486,
       -0.14744775, -0.26417566, -0.14744775,  0.2334329 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008236591854983638
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.76866323e-01, -1.94581234e-01, -4.39594808e-01, -1.73946473e-01,
        9.80886407e-01, -8.72036756e-02,  4.48160770e-01, -1.38777878e-17,
       -8.93952976e-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([ 0.08828346, -0.08215312,  0.11459724])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.49724483,  0.88772125, -4.4087597 ,  0.88772125,  8.56739105,
        0.81954009, -4.4087597 ,  0.81954009,  4.66226248,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002864582878402966
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.93784413e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.93784413e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.065161  , -0.03554337,  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:
[ 2.20979261e-04,-4.45562109e-03,-1.80519684e-03,-7.92926820e-04,
  2.08683812e-02, 9.77230540e-02, 5.72236271e-02, 2.65958580e-02,
 -4.55289312e-05,-2.37815662e-03,-5.61749094e-04,-3.76115564e-04,
  9.67678136e-06, 1.02247852e-04,-1.36262076e-05,-3.73325376e-05,
  3.92511418e-03,-2.69722677e-03,-4.92657337e+00, 1.40748417e-03,
  1.38391044e-03,-3.88695086e-03]


--- Step 1797 ---
qpos:
[-2.23094639e-03, 4.32859066e-01,-3.85993949e-02, 3.65165498e-01,
  1.67350137e-03, 3.42256717e-01,-9.81680319e-02, 3.14969322e-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,
  5.58596219e-02,-7.71883457e-02, 1.29550887e-01, 5.36816942e-01,
  3.09932363e-01, 3.94876241e-01, 6.78116698e-01]

qacc:
[ 2.34191432e+00, 1.10499206e+01,-1.09785226e+02, 2.25093038e+02,
  7.01108218e+00,-3.11569071e+01, 3.37409792e+01,-5.48725953e+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,
 -1.37157996e+00,-3.05333805e+00,-2.14598341e+00,-6.35737568e+01,
 -7.96126998e+01, 1.40199921e+01]

qfrc_actuator:
[-0.00769215, 0.25084663, 0.02739025, 0.18145172, 0.00232016, 0.33733319,
  0.07973997, 0.19009763,-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([ 0.38254937,  0.28740093, -0.25247717,  0.28740093,  0.25544878,
       -0.14468171, -0.25247717, -0.14468171,  0.21785465,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007563186372459791
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.87087248, -0.19487147, -0.45122747, -0.1730253 ,  0.98082879,
       -0.08965006,  0.46004713,  0.        , -0.8878945 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08770762, -0.0821773 ,  0.11469536])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.56674976, -1.27694496,  4.38458834, -1.27694496,  4.43303015,
       -0.03894381,  4.38458834, -0.03894381,  4.55540796,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003078384758318925
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.60651157e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.60651157e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06507152, -0.03557092,  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:
[ 1.43898115e-04,-4.00010130e-03,-1.73032441e-03, 2.85353262e-05,
  2.12111895e-02, 9.90057235e-02, 5.79444476e-02, 2.67720403e-02,
 -2.73315639e-06,-1.47949959e-03,-5.56119674e-04,-3.15130064e-04,
  3.12516562e-05, 9.96094162e-05,-1.41446642e-05, 1.26818577e-05,
  4.51286739e-03,-2.09066754e-03,-4.92775342e+00, 1.44570283e-03,
  1.34888545e-03,-3.57835896e-03]


--- Step 1798 ---
qpos:
[-2.40877597e-03, 4.37603108e-01,-3.81471736e-02, 3.68791262e-01,
  1.30916407e-03, 3.46702893e-01,-9.78224840e-02, 3.18204467e-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,
  5.50154262e-02,-7.73468917e-02, 1.29348586e-01, 5.38578371e-01,
  3.06159269e-01, 3.91018721e-01, 6.80664528e-01]

qacc:
[ 2.15839757e+00, 5.89258170e+01,-3.33197927e+02, 7.26729562e+02,
  1.16193310e+01,-3.71921422e+01, 6.74910067e+01,-7.39118655e+01,
  7.31459361e-01, 1.77170141e+01,-8.82839560e+01, 1.75186607e+02,
 -1.65858210e-01, 5.73407208e-01,-1.76415587e+00, 5.87265055e+00,
 -1.51394797e+00,-2.91909327e+00,-2.56486346e+00,-5.66617505e+01,
 -7.18755488e+01, 1.35726088e+01]

qfrc_actuator:
[-0.0075738 , 0.25046943, 0.02688865, 0.18267533, 0.00266774, 0.33573444,
  0.07937221, 0.18978616,-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([ 0.34997291,  0.26126108, -0.23285979,  0.26126108,  0.23010749,
       -0.13448508, -0.23285979, -0.13448508,  0.19908504,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006709375835015323
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.86461089, -0.19496059, -0.46307492, -0.17186291,  0.98081108,
       -0.09204765,  0.47213468,  0.        , -0.88152643])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08713568, -0.08220128,  0.11478677])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.59551655, -1.26285154,  4.41859461, -1.26285154,  4.63846112,
        0.01227372,  4.41859461,  0.01227372,  4.59902443,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031610289788780443
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.75611017e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.75611017e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06499957, -0.03558702,  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:
[ 1.36302539e-04,-3.13019847e-03,-1.59216094e-03, 9.86309547e-04,
  2.13397906e-02, 9.97986834e-02, 5.83420963e-02, 2.66967480e-02,
  5.65828090e-05,-6.19605347e-04,-4.07031540e-04, 2.12598116e-04,
  3.83175980e-05, 4.23677606e-05,-8.24614338e-06, 2.61668912e-05,
  5.08479472e-03,-1.49985177e-03,-4.92881255e+00, 1.49470004e-03,
  1.31420443e-03,-3.28761834e-03]


--- Step 1799 ---
qpos:
[-2.58420317e-03, 4.42325497e-01,-3.77058927e-02, 3.72427329e-01,
  9.54036845e-04, 3.51130832e-01,-9.74727325e-02, 3.21437819e-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,
  5.41647998e-02,-7.75166140e-02, 1.29134461e-01, 5.40383226e-01,
  3.02418608e-01, 3.86997487e-01, 6.83199751e-01]

qacc:
[ 2.46320189e+00, 2.14691603e+01,-1.53728527e+02, 3.43008900e+02,
  1.41775510e+01,-3.82928902e+01, 1.07381548e+02,-1.24433411e+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,
 -1.60768192e+00,-2.79408888e+00,-2.95594774e+00,-5.11672259e+01,
 -6.55444520e+01, 1.32279830e+01]

qfrc_actuator:
[-0.00743291, 0.24963684, 0.02643403, 0.18320584, 0.00303534, 0.33452974,
  0.07901788, 0.18915914,-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([ 0.30720844,  0.22941333, -0.20431973,  0.22941333,  0.20242779,
       -0.11764933, -0.20431973, -0.11764933,  0.17510997,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005674047271433201
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.85812924, -0.19441045, -0.47520394, -0.17007426,  0.98092027,
       -0.09418157,  0.48444706,  0.        , -0.87482058])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08656532, -0.08221978,  0.11487088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.58572115, -1.23496272,  4.41629998, -1.23496272,  4.92338124,
        0.0944224 ,  4.41629998,  0.0944224 ,  4.61212518,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031332379790896536
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.10730400e-14,  1.77168640e-13,  1.00000000e+00, -1.96179544e-27,
        1.00000000e+00, -1.77168640e-13, -1.00000000e+00,  0.00000000e+00,
        1.10730400e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06494163, -0.03559379,  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:
[ 1.57936861e-04,-3.03004254e-03,-1.31663993e-03, 3.53151605e-04,
  2.13364475e-02, 1.00434906e-01, 5.83056412e-02, 2.62040017e-02,
 -5.77213182e-06,-3.73496084e-04,-1.79029425e-04, 3.18726416e-04,
  1.55230178e-05, 4.59776744e-05,-3.81194602e-06,-3.72672318e-05,
  5.64761230e-03,-9.23938328e-04,-4.92977030e+00, 1.55247717e-03,
  1.28023897e-03,-3.01270813e-03]


--- Step 1800 ---
qpos:
[-2.75722967e-03, 4.47020365e-01,-3.72712282e-02, 3.76067861e-01,
  6.13060450e-04, 3.55562663e-01,-9.71119998e-02, 3.24670058e-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,
  5.33074840e-02,-7.76970507e-02, 1.28907061e-01, 5.42223797e-01,
  2.98707796e-01, 3.82823412e-01, 6.85720965e-01]

qacc:
[   2.44513087,  -9.40725619, -34.6301018 , 133.07463335,  21.30603995,
  -26.54185537, 104.74654189,-136.167782  ,  -0.20517111,  12.91707522,
  -73.47710281, 184.69249331,  -0.31187047,   0.5549312 ,   7.73796778,
  -26.59712563,  -1.67235998,  -2.67862239,  -3.31878625, -46.8362466 ,
  -60.52250097,  12.90160847]

qfrc_actuator:
[-0.0072974 , 0.24806019, 0.02602682, 0.18341274, 0.00339242, 0.33382195,
  0.07868061, 0.18846706,-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([ 0.26049989,  0.19348868, -0.17441996,  0.19348868,  0.17083937,
       -0.09946278, -0.17441996, -0.09946278,  0.15016319,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00044667369165847477
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.51417270e-01, -1.93490932e-01, -4.87493479e-01, -1.67914764e-01,
        9.81102064e-01, -9.61424618e-02,  4.96883553e-01, -1.38777878e-17,
       -8.67817224e-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([ 0.08599403, -0.08223567,  0.11495013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.54486991, -1.19523031,  4.38489077, -1.19523031,  5.35209864,
        0.22003381,  4.38489077,  0.22003381,  4.60484657,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000301334998854888
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.30271755e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.30271755e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0648949 , -0.03559303,  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:
[ 1.58371494e-04,-3.68673812e-03,-1.23599492e-03, 3.05420801e-05,
  2.12315956e-02, 1.00477836e-01, 5.76986669e-02, 2.55861033e-02,
 -1.62984441e-05,-9.00444089e-05,-1.78530929e-05, 3.50335110e-04,
  6.71051456e-06, 1.56575825e-05,-9.69336017e-06,-1.31655530e-04,
  6.20656830e-03,-3.61777810e-04,-4.93064273e+00, 1.61747541e-03,
  1.24689489e-03,-2.75191158e-03]


--- Step 1801 ---
qpos:
[-2.92711992e-03, 4.51682443e-01,-3.68436222e-02, 3.79715420e-01,
  2.88951932e-04, 3.60010921e-01,-9.67300731e-02, 3.27902391e-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,
  5.24433171e-02,-7.78877763e-02, 1.28665045e-01, 5.44093811e-01,
  2.95024652e-01, 3.78505059e-01, 6.88226925e-01]

qacc:
[   3.14895449, -10.19450645, -51.13038206, 194.14317968,  24.91785246,
  -35.52046217, 154.81374655,-187.0378689 ,   0.26038092, -10.55972347,
   42.16352313, -78.17777479,   0.53847433,  -1.10309617,   1.22937341,
   -4.86092953,  -1.71274458,  -2.5721901 ,  -3.65392416, -43.44417663,
  -56.51595946,  12.61372311]

qfrc_actuator:
[-0.00711281, 0.24617591, 0.02557709, 0.18374673, 0.00373457, 0.33265186,
  0.07836287, 0.18768272,-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([ 0.2280131 ,  0.1682181 , -0.15392414,  0.1682181 ,  0.1483683 ,
       -0.08704091, -0.15392414, -0.08704091,  0.13288925,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030948206058015193
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.44485777e-01, -1.92228078e-01, -4.99892127e-01, -1.65418894e-01,
        9.81350277e-01, -9.79194738e-02,  5.09392149e-01,  1.38777878e-17,
       -8.60534507e-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([ 0.08541928, -0.08224887,  0.11502605])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.48283715, -1.14333908,  4.33458241, -1.14333908,  5.98984933,
        0.39750678,  4.33458241,  0.39750678,  4.58768809,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028174407251212175
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.10827611e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.10827611e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06485713, -0.03558622,  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:
[ 2.08017761e-04,-4.35651400e-03,-1.41356645e-03, 1.27275062e-04,
  2.08639821e-02, 9.89520807e-02, 5.67725401e-02, 2.48417003e-02,
  2.04104957e-05,-2.13882195e-04, 1.89294521e-05,-1.24937880e-04,
 -9.21591139e-06,-4.49080578e-05,-2.29741278e-05,-3.06125782e-05,
  6.76566730e-03, 1.90255195e-04,-4.93144483e+00, 1.68854713e-03,
  1.21423138e-03,-2.50270138e-03]


--- Step 1802 ---
qpos:
[-3.09407917e-03, 4.56311678e-01,-3.64259681e-02, 3.83372721e-01,
 -6.33743636e-06, 3.64460661e-01,-9.63416680e-02, 3.31137301e-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,
  5.15721005e-02,-7.80889179e-02, 1.28407512e-01, 5.45988575e-01,
  2.91372607e-01, 3.74046304e-01, 6.90715457e-01]

qacc:
[ 2.89703680e+00, 2.91752132e+00,-1.07019870e+02, 2.94693450e+02,
  4.17090443e+01,-1.08521269e+01, 3.05493710e+01, 3.51867042e+00,
  2.66782570e-02,-2.54889295e+01, 9.10660014e+01,-1.53126618e+02,
 -9.86304857e-03,-2.96056780e-02,-4.77197807e+00, 1.59235887e+01,
 -1.76243265e+00,-2.60401530e+00,-3.87935556e+00,-4.02076816e+01,
 -5.61529535e+01, 1.33387518e+01]

qfrc_actuator:
[-0.00695374, 0.24462039, 0.02510494, 0.1842414 , 0.00405939, 0.330924  ,
  0.07797123, 0.1877654 ,-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([ 0.20965843,  0.14729741, -0.14919829,  0.14729741,  0.12524448,
       -0.08333847, -0.14919829, -0.08333847,  0.12738174,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000156019147252604
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.83734406, -0.19064235, -0.5123577 , -0.16261568,  0.98165956,
       -0.09950199,  0.52193013,  0.        , -0.85298824])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0848392 , -0.08225934,  0.11509967])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.41679369, -1.14887285,  4.26475763, -1.14887285,  8.93097686,
        1.216065  ,  4.26475763,  1.216065  ,  4.74438652,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002586471709388888
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.60965857e-13,  2.14621142e-13,  1.00000000e+00, -3.45466760e-26,
        1.00000000e+00, -2.14621142e-13, -1.00000000e+00,  0.00000000e+00,
        1.60965857e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06424377, -0.03428879,  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:
[ 1.95209430e-04,-4.43249132e-03,-1.59081282e-03, 2.56840379e-04,
  2.03427090e-02, 9.62414872e-02, 5.52617550e-02, 2.49037186e-02,
  7.75523902e-07,-8.92083833e-04,-6.25482099e-05,-2.50096467e-04,
 -1.83892733e-05,-5.22656767e-06,-1.64210178e-05, 7.24315178e-05,
  7.32821059e-03, 7.35647668e-04,-4.93218931e+00, 1.76482123e-03,
  1.18218203e-03,-2.26287815e-03]


--- Step 1803 ---
qpos:
[-3.25892657e-03, 4.60909374e-01,-3.60179128e-02, 3.87030866e-01,
  1.44179099e-05, 3.69497558e-01,-9.54018659e-02, 3.34765046e-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,
  5.06980894e-02,-7.83013599e-02, 1.28133200e-01, 5.47881370e-01,
  2.87758613e-01, 3.69464743e-01, 6.93193183e-01]

qacc:
[ 2.06378083e+00,-1.34771766e+01,-1.40610933e+01, 6.15005424e+01,
  4.49617632e+02,-3.64027626e+00,-4.39450247e+02, 5.69951141e+03,
 -2.47956180e-01,-3.25239862e+01, 9.56754787e+01,-1.21492299e+02,
  1.98809436e-01,-3.99852447e-01,-4.02691154e+00, 1.36648981e+01,
 -6.98639783e-01,-2.82511685e+00,-4.19462194e+00,-2.97167958e+01,
 -4.78731419e+01, 2.27374225e+01]

qfrc_actuator:
[-0.00684653, 0.24325754, 0.02469606, 0.18429436, 0.00437285, 0.32920717,
  0.07754149, 0.18895161,-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([ 4.34692715, -1.05168791,  4.21778712, -1.05168791, 28.22696691,
        5.9543899 ,  4.21778712,  5.9543899 ,  5.83162983,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023091283532633566
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.40398725e-13,  2.40398725e-13,  1.00000000e+00, -5.77915470e-26,
        1.00000000e+00, -2.40398725e-13, -1.00000000e+00,  0.00000000e+00,
        2.40398725e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06421765, -0.034275  ,  0.06199314])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.40981626e-04,-4.31151860e-03,-1.55944469e-03,-1.90934992e-04,
  1.92091804e-02, 9.42890577e-02, 5.44484390e-02, 2.59454722e-02,
 -2.27377323e-05,-1.71525760e-03,-2.08781080e-04,-1.87696324e-04,
 -1.06667767e-05,-1.56531717e-05,-2.13815493e-06, 6.55353104e-05,
  7.89615894e-03, 1.29970866e-03,-4.93288192e+00, 1.84552219e-03,
  1.14664841e-03,-2.01883384e-03]


--- Step 1804 ---
qpos:
[-3.42127793e-03, 4.65474729e-01,-3.56170428e-02, 3.90673283e-01,
  8.92903438e-05, 3.74975410e-01,-9.42696840e-02, 3.38456002e-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,
  4.98211318e-02,-7.85246749e-02, 1.27841056e-01, 5.49769877e-01,
  2.84180935e-01, 3.64764268e-01, 6.95658901e-01]

qacc:
[ 2.41094441e+00,-5.30581173e+01, 1.84184561e+02,-3.95559561e+02,
  7.49910709e+01, 1.70768307e+02,-2.52684202e+01, 4.78296347e+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,
 -7.36624424e-01,-2.71821239e+00,-4.45809244e+00,-2.84325587e+01,
 -4.60978565e+01, 2.20150686e+01]

qfrc_actuator:
[-0.00669978, 0.24170259, 0.02434653, 0.18350147, 0.004363  , 0.3270527 ,
  0.07657689, 0.18946776,-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([ 4.27749936, -0.84971471,  4.19225306, -0.84971471, 27.8301437 ,
        4.77381208,  4.19225306,  4.77381208,  5.24508845,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019857294152443583
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.39775215e-13,  1.39775215e-13,  1.00000000e+00, -1.95371108e-26,
        1.00000000e+00, -1.39775215e-13, -1.00000000e+00,  0.00000000e+00,
        1.39775215e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06419619, -0.03425781,  0.06199408])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.67639619e-04,-4.44660707e-03,-1.48585682e-03,-1.03939287e-03,
  3.31967976e-03, 6.26031594e-02, 2.58537856e-02, 6.78917314e-03,
 -4.00835791e-05,-2.28599071e-03,-3.90739570e-04,-4.34413238e-04,
 -2.30014862e-05,-6.28363775e-05, 3.03596222e-06,-3.04024341e-05,
  8.45894681e-03, 1.78689242e-03,-4.93336125e+00, 1.93017812e-03,
  1.07796189e-03,-1.80654750e-03]


--- Step 1805 ---
qpos:
[-3.58070384e-03, 4.70006511e-01,-3.52234649e-02, 3.94294332e-01,
  1.71998612e-04, 3.80719792e-01,-9.30295514e-02, 3.42163593e-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,
  4.89411066e-02,-7.87584726e-02, 1.27530122e-01, 5.51652363e-01,
  2.80638111e-01, 3.59947641e-01, 6.98111464e-01]

qacc:
[ 2.78671603e+00,-6.52227249e+01, 2.45092422e+02,-5.42359000e+02,
  1.04919609e+01, 8.63084532e+01, 1.28617357e+02,-1.90465573e+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,
 -7.66877576e-01,-2.62070068e+00,-4.69743206e+00,-2.75661619e+01,
 -4.48236030e+01, 2.13395044e+01]

qfrc_actuator:
[-0.00653054, 0.2400458 , 0.02398078, 0.18243033, 0.00425917, 0.32413868,
  0.07542983, 0.18883122,-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([ 4.21448263, -0.66088174,  4.16234299, -0.66088174, 14.02864641,
        1.55825737,  4.16234299,  1.55825737,  4.46189709,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001626857453507491
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.41217057e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.41217057e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0641784 , -0.03423805,  0.06199512])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.97578589e-04,-4.64233026e-03,-1.54874979e-03,-1.33735147e-03,
  4.92218543e-04, 3.74442209e-02, 1.50147354e-02, 2.96356936e-03,
 -5.12034992e-05,-2.58574961e-03,-5.72839840e-04,-3.58489983e-04,
 -4.95746767e-05,-1.60451429e-05,-5.86579880e-06,-9.22453604e-05,
  9.02541237e-03, 2.27708369e-03,-4.93381600e+00, 2.02033013e-03,
  1.01108021e-03,-1.59884861e-03]


--- Step 1806 ---
qpos:
[-3.73717951e-03, 4.74509320e-01,-3.48409591e-02, 3.97905566e-01,
  2.54245369e-04, 3.86619219e-01,-9.17327620e-02, 3.45876426e-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,
  4.80579184e-02,-7.90023953e-02, 1.27199524e-01, 5.53527548e-01,
  2.77128918e-01, 3.55016684e-01, 7.00549763e-01]

qacc:
[ 2.76045223e+00,-2.65489408e+01, 7.57927660e+01,-1.94438252e+02,
 -7.14710053e-01, 5.86472700e+01, 6.25301006e+01,-1.63227742e+02,
 -3.52337733e-02, 1.33569482e+01,-1.28563722e+02, 3.61380318e+02,
 -3.14134951e-01, 3.53449015e-01,-2.20471227e+00, 7.19909861e+00,
 -7.90781006e-01,-2.53124798e+00,-4.91598592e+00,-2.70398382e+01,
 -4.39617442e+01, 2.07096458e+01]

qfrc_actuator:
[-0.00636697, 0.23906992, 0.02360827, 0.18198529, 0.00414133, 0.32179663,
  0.07421628, 0.18819896,-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([ 4.162058  , -0.34152629,  4.148022  , -0.34152629, 21.35916827,
        1.41591952,  4.148022  ,  1.41591952,  4.27863736,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012414316831892147
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.47154298e-13,  2.23577149e-13,  1.00000000e+00,  9.99734829e-26,
        1.00000000e+00, -2.23577149e-13, -1.00000000e+00,  0.00000000e+00,
       -4.47154298e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06416347, -0.03421639,  0.06199626])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.00342565e-04,-4.09417724e-03,-1.61246777e-03,-7.26925146e-04,
 -2.15487779e-05, 2.15659036e-02, 8.32362311e-03, 1.47345371e-03,
 -4.57624638e-06,-2.08088252e-03,-6.20242137e-04, 5.97024795e-04,
 -4.75508099e-05,-9.20459825e-06,-1.73187719e-05, 3.00300929e-05,
  9.59765696e-03, 2.77399207e-03,-4.93425292e+00, 2.11548973e-03,
  9.45840989e-04,-1.39394385e-03]


--- Step 1807 ---
qpos:
[-3.89128119e-03, 4.78988335e-01,-3.44707503e-02, 4.01521908e-01,
  3.34772866e-04, 3.92605604e-01,-9.04126052e-02, 3.49596620e-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,
  4.71714928e-02,-7.92561119e-02, 1.26848458e-01, 5.55394497e-01,
  2.73652334e-01, 3.49972445e-01, 7.02972717e-01]

qacc:
[ 2.18677780e+00, 1.23152327e+01,-1.05267710e+02, 2.13912074e+02,
 -2.30750426e+00, 6.36167088e+01,-8.97222860e+01, 1.10711567e+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,
 -8.09332146e-01,-2.44848717e+00,-5.11697665e+00,-2.67906106e+01,
 -4.34394829e+01, 2.01228289e+01]

qfrc_actuator:
[-0.00624352, 0.23849367, 0.0232384 , 0.18230347, 0.004038  , 0.32006891,
  0.07295319, 0.18803558,-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([ 4.12297082,  0.47729768,  4.09525033,  0.47729768, 38.05207226,
       -3.95440577,  4.09525033, -3.95440577,  4.5838532 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.369095075569377e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.63287377e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.63287377e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06415073, -0.03419343,  0.06199746])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.61910789e-04,-3.37462174e-03,-1.48376341e-03, 6.92041370e-05,
 -1.02763500e-04, 1.18696447e-02, 4.14381200e-03, 1.02373651e-03,
  2.10376058e-05,-1.18092657e-03,-4.30942071e-04, 1.04248066e-03,
 -4.13344328e-05,-6.50977934e-06,-7.77105286e-06,-1.56114670e-04,
  1.01776276e-02, 3.28099193e-03,-4.93467758e+00, 2.21530238e-03,
  8.82060748e-04,-1.19026575e-03]


--- Step 1808 ---
qpos:
[-4.04325433e-03, 4.83442676e-01,-3.41097405e-02, 4.05140491e-01,
  4.13509537e-04, 3.98626244e-01,-8.90838515e-02, 3.53313662e-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,
  4.62763531e-02,-7.95058853e-02, 1.26488594e-01, 5.57260335e-01,
  2.70042745e-01, 3.44878332e-01, 7.05405395e-01]

qacc:
[ 1.94507846e+00,-2.87233874e+00,-4.33615792e+01, 1.05770148e+02,
 -2.29751833e+00, 1.56500500e+01, 2.11098801e+01,-1.08002362e+02,
  1.19245891e-02, 6.05371002e+00,-6.58232161e+01, 1.96101513e+02,
 -8.00608561e-01, 1.20616332e+00, 8.69338970e+00,-3.01207338e+01,
 -2.17852430e+00, 9.85832474e-01,-2.19964800e+00,-5.60160754e+01,
  3.44250373e+01,-1.33588358e+01]

qfrc_actuator:
[-0.00612699, 0.23741799, 0.02284028, 0.18242947, 0.00394483, 0.31738442,
  0.0716355 , 0.18749247,-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([ 4.10863506,  0.90784194, -4.00708186,  0.90784194, 15.18645082,
        2.50978297, -4.00708186,  2.50978297,  4.6772499 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.232626770520666e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.6799064e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -6.6799064e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07622355, -0.08925113,  0.0619981 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.45715726e-04,-3.41152921e-03,-1.32130162e-03,-7.29218765e-05,
 -1.10151233e-04, 4.61780398e-03, 1.57196596e-03, 8.97625397e-05,
  1.21101327e-07,-1.03176156e-03,-2.59775884e-04, 3.49189381e-04,
 -4.09359201e-05, 1.38399734e-05,-2.54746324e-05,-1.53080149e-04,
  1.07671544e-02, 3.80115881e-03,-4.93509450e+00, 2.31951591e-03,
  8.19548744e-04,-9.86445403e-04]


--- Step 1809 ---
qpos:
[-4.19297727e-03, 4.87874082e-01,-3.37583606e-02, 4.08762380e-01,
  4.90828945e-04, 4.04642564e-01,-8.77568160e-02, 3.57021598e-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,
  4.53727132e-02,-7.97520020e-02, 1.26117959e-01, 5.59122445e-01,
  2.66306210e-01, 3.39734553e-01, 7.07844282e-01]

qacc:
[ 2.02861061e+00, 2.63906681e+00,-6.32130100e+01, 1.40744305e+02,
 -1.74876816e+00,-1.76305941e+01, 8.89387864e+01,-2.27419040e+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,
 -2.12503636e+00, 9.14136990e-01,-2.69268082e+00,-5.34566280e+01,
  3.24172998e+01,-1.21397445e+01]

qfrc_actuator:
[-0.00599755, 0.23655014, 0.02246251, 0.18261853, 0.00387626, 0.31403727,
  0.07030822, 0.18676458,-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([ 4.11048779,  0.29881258,  4.09961229,  0.29881258,  8.81748427,
       -0.34308361,  4.09961229, -0.34308361,  4.13549448,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.548924546906365e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.11909417e-13,  8.47637667e-13,  1.00000000e+00,  1.79622404e-25,
        1.00000000e+00, -8.47637667e-13, -1.00000000e+00,  0.00000000e+00,
       -2.11909417e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07618976, -0.08925777,  0.06199799])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.54874412e-04,-3.19549252e-03,-1.29283748e-03,-8.44447542e-06,
 -8.90621088e-05,-6.62981195e-04,-2.71956724e-04,-5.02096732e-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,
  1.15149664e-02, 3.72301702e-03,-4.93583336e+00, 2.39207433e-03,
  8.92567236e-04,-1.10879722e-03]


--- Step 1810 ---
qpos:
[-4.34057413e-03, 4.92285110e-01,-3.34168739e-02, 4.12384394e-01,
  5.67034101e-04, 4.10631849e-01,-8.64411480e-02, 3.60723469e-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,
  4.44608009e-02,-7.99947210e-02, 1.25734766e-01, 5.60978494e-01,
  2.62447489e-01, 3.34541067e-01, 7.10286365e-01]

qacc:
[ 1.89162208e+00, 6.19857074e-01,-3.97851539e+01, 6.64025769e+01,
 -1.33365582e+00,-1.56271988e+01, 2.79739983e+01,-9.05284026e+01,
 -3.09930419e-02,-3.86591234e+01, 1.45207776e+02,-2.72766694e+02,
 -1.80926615e-01, 3.51005385e-01,-1.23429020e+01, 4.20447108e+01,
 -2.06812900e+00, 8.49456632e-01,-3.13965635e+00,-5.14884839e+01,
  3.08031541e+01,-1.10984024e+01]

qfrc_actuator:
[-0.00587911, 0.2358506 , 0.02208333, 0.18264818, 0.00382279, 0.31086773,
  0.06901758, 0.18630586,-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([ 4.10684189,  0.34017638,  4.09272896,  0.34017638, 11.32458133,
       -0.59991866,  4.09272896, -0.59991866,  4.15670548,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.9101376552350704e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.93516594e-13,  9.39253102e-13,  1.00000000e+00, -2.75686371e-25,
        1.00000000e+00, -9.39253102e-13, -1.00000000e+00,  0.00000000e+00,
        2.93516594e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0761628 , -0.08926579,  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:
[ 1.47040946e-04,-2.89671477e-03,-1.24370167e-03,-1.56483318e-04,
 -7.14862627e-05,-3.83716662e-03,-1.56367021e-03,-5.26065498e-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,
  1.22790929e-02, 3.65559709e-03,-4.93653189e+00, 2.46849391e-03,
  9.62527756e-04,-1.22616192e-03]


--- Step 1811 ---
qpos:
[-4.48567122e-03, 4.96672225e-01,-3.30821163e-02, 4.15997548e-01,
  6.41485600e-04, 4.16583092e-01,-8.51438977e-02, 3.64416042e-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,
  4.35408531e-02,-8.02342757e-02, 1.25337389e-01, 5.62826380e-01,
  2.58470256e-01, 3.29297613e-01, 7.12729033e-01]

qacc:
[ 2.20941908e+00,-2.99681295e+01, 9.29519092e+01,-2.03551486e+02,
 -2.06173469e+00,-1.68602489e+01, 2.43457501e+01,-1.22314967e+02,
  2.03578309e-01,-4.15286928e+01, 1.42609454e+02,-2.48041886e+02,
 -4.80610413e-01, 7.57483611e-01, 7.63716705e+00,-2.56023891e+01,
 -2.00886516e+00, 7.91072585e-01,-3.54581523e+00,-5.00148367e+01,
  2.95160438e+01,-1.02036116e+01]

qfrc_actuator:
[-0.00573252, 0.23456633, 0.02170741, 0.18219348, 0.00372539, 0.30809548,
  0.0677415 , 0.18576069,-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([ 4.10003617,  0.4338923 ,  4.07701288,  0.4338923 , 15.65427316,
       -1.22964892,  4.07701288, -1.22964892,  4.23090041,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.476531095019831e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.75030236e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.75030236e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07614148, -0.08927489,  0.06199861])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.73705927e-04,-3.30944570e-03,-1.17767028e-03,-6.29725223e-04,
 -1.12980048e-04,-5.47682866e-03,-2.35784002e-03,-7.87767504e-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,
  1.30622943e-02, 3.59712219e-03,-4.93719681e+00, 2.54811500e-03,
  1.02976248e-03,-1.33956242e-03]


--- Step 1812 ---
qpos:
[-4.62819202e-03, 5.01026946e-01,-3.27508532e-02, 4.19605010e-01,
  7.13659690e-04, 4.22487349e-01,-8.38682737e-02, 3.68094365e-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,
  4.26131135e-02,-8.04708771e-02, 1.24924348e-01, 5.64664188e-01,
  2.54377273e-01, 3.24003747e-01, 7.15170000e-01]

qacc:
[ 2.26702782e+00,-4.39401520e+01, 1.14371529e+02,-1.71757558e+02,
 -2.61764454e+00,-2.89118530e+01, 6.88746733e+01,-2.34037441e+02,
  1.78432533e-01,-3.55082146e+01, 8.79689909e+01,-8.67183052e+01,
 -2.97867445e-01, 5.03913334e-01, 4.57150437e+00,-1.58125245e+01,
 -1.94794658e+00, 7.38316405e-01,-3.91591177e+00,-4.89574504e+01,
  2.85022318e+01,-9.43019620e+00]

qfrc_actuator:
[-0.00558804, 0.23255234, 0.02138749, 0.18188318, 0.00360272, 0.30513962,
  0.06641475, 0.18499179,-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([ 4.09350054,  0.66472322,  4.03916944,  0.66472322, 24.61291411,
       -3.37686518,  4.03916944, -3.37686518,  4.64922882,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.387037216732002e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.16276258e-12,  2.32552517e-12,  1.00000000e+00, -2.70403365e-24,
        1.00000000e+00, -2.32552517e-12, -1.00000000e+00,  0.00000000e+00,
        1.16276258e-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([ 0.07612477, -0.08928482,  0.06199926])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.79547770e-04,-4.27417854e-03,-1.21341356e-03,-5.09088668e-04,
 -1.47460044e-04,-6.74788440e-03,-2.84939481e-03,-1.11084588e-03,
  1.33708593e-05,-2.67490751e-03,-5.16351287e-04,-1.75376987e-04,
 -3.40599911e-06, 1.19383014e-05,-1.10621724e-05,-7.97569020e-05,
  1.38671596e-02, 3.54606311e-03,-4.93783385e+00, 2.63042789e-03,
  1.09457152e-03,-1.44993762e-03]


--- Step 1813 ---
qpos:
[-4.76839995e-03, 5.05342327e-01,-3.24227165e-02, 4.23207530e-01,
  7.84062463e-04, 4.28336303e-01,-8.26157114e-02, 3.71756015e-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,
  4.16854909e-02,-8.07074525e-02, 1.24471799e-01, 5.66471820e-01,
  2.50271770e-01, 3.18691374e-01, 7.17571966e-01]

qacc:
[ 2.02406955e+00,-5.26527641e+01, 1.29172577e+02,-1.69439024e+02,
 -1.98271489e+00,-4.03143677e+01, 1.02491839e+02,-2.97000120e+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,
  2.92645096e-02, 6.49173151e-03,-9.87717399e+00, 3.69557731e-03,
 -8.20694513e-01, 1.04752019e-01]

qfrc_actuator:
[-0.00546363, 0.23020734, 0.02108289, 0.18160662, 0.00351936, 0.30188472,
  0.06506816, 0.18411508,-0.00093519, 0.19675414, 0.00383019, 0.15956714,
  0.00059779,-0.00192704, 0.        ,-0.00209356, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 1.61509894e-04,-5.14443653e-03,-1.39494800e-03,-5.12772514e-04,
 -1.16172463e-04,-7.86861556e-03,-3.19941215e-03,-1.29363843e-03,
 -1.07676098e-05,-2.74040841e-03,-5.96648362e-04,-1.58954754e-04,
 -7.62234768e-06, 2.97440264e-05,-1.75609410e-05, 1.29819992e-04,
  1.46961678e-02, 3.50110754e-03,-4.93844787e+00, 2.71503474e-03,
  1.15722259e-03,-1.55814581e-03]


--- Step 1814 ---
qpos:
[-4.90630013e-03, 5.09615296e-01,-3.20992005e-02, 4.26794156e-01,
  8.53170212e-04, 4.34123678e-01,-8.13864205e-02, 3.75399149e-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,
  4.07579893e-02,-8.09440009e-02, 1.23979743e-01, 5.68249165e-01,
  2.46153979e-01, 3.13360774e-01, 7.19934810e-01]

qacc:
[ 1.99901027e+00,-7.35610917e+01, 2.35834104e+02,-4.38995896e+02,
 -1.40676569e+00,-5.13106051e+01, 1.36176595e+02,-3.53565986e+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,
  3.02216486e-02, 6.74554046e-03,-9.87673125e+00, 3.88052331e-03,
 -8.22107819e-01, 1.08663843e-01]

qfrc_actuator:
[-0.00533429, 0.2278789 , 0.020753  , 0.18078376, 0.00346   , 0.29851301,
  0.06379078, 0.18316405,-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:
[ 1.61737205e-04,-5.64910704e-03,-1.61952410e-03,-1.09999154e-03,
 -8.63326520e-05,-8.68783844e-03,-3.40734976e-03,-1.42902907e-03,
 -3.20131503e-05,-2.45850539e-03,-6.27568094e-04,-5.31593723e-04,
 -1.58419475e-05, 4.21266059e-05, 4.00773837e-06, 5.08522026e-05,
  1.51716029e-02, 3.63014430e-03,-4.93822387e+00, 2.80418484e-03,
  1.18136507e-03,-1.53366694e-03]


--- Step 1815 ---
qpos:
[-5.04186705e-03, 5.13849548e-01,-3.17850784e-02, 4.30374434e-01,
  9.20760056e-04, 4.39849360e-01,-8.01833717e-02, 3.79032453e-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,
  3.98202023e-02,-8.11770399e-02, 1.23477460e-01, 5.70020545e-01,
  2.41881008e-01, 3.07962895e-01, 7.22308114e-01]

qacc:
[   1.98621062, -37.29590567,  82.01731401,-139.31998065,  -1.62745825,
  -27.53562732,  19.75015442, -98.89800569,   0.27343599,  -3.63964775,
  -33.51527556, 124.06562048,  -0.4642354 ,   0.88118448,  -8.1557529 ,
   28.05346348,  -2.57132958,   0.87737604,  -2.55654971, -69.21535284,
   38.96578255, -10.91388641]

qfrc_actuator:
[-0.00520292, 0.22628932, 0.02041067, 0.18049818, 0.00337977, 0.29559669,
  0.06254659, 0.18269177,-0.00094815, 0.19569438, 0.00390834, 0.15946716,
  0.00055965,-0.00186769, 0.        ,-0.00191225, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.0933013 ,  0.93166659, -3.98586413,  0.93166659, 22.65547959,
        4.33877342, -3.98586413,  4.33877342,  5.10745786,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.2934885669553817e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.23566597e-12,  1.21019028e-12,  1.00000000e+00, -5.12596176e-24,
        1.00000000e+00, -1.21019028e-12, -1.00000000e+00,  0.00000000e+00,
        4.23566597e-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([ 0.07602633, -0.08930935,  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:
[ 1.64376167e-04,-5.26008046e-03,-1.78129331e-03,-6.02044274e-04,
 -1.01324080e-04,-8.73510241e-03,-3.57038412e-03,-9.93069558e-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,
  1.56438031e-02, 3.75846289e-03,-4.93799261e+00, 2.89272947e-03,
  1.20517177e-03,-1.50883672e-03]


--- Step 1816 ---
qpos:
[-5.17583552e-03, 5.18053808e-01,-3.14838015e-02, 4.33969328e-01,
  9.86601539e-04, 4.45515936e-01,-7.90075933e-02, 3.82657812e-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,
  3.88727877e-02,-8.14068890e-02, 1.22962486e-01, 5.71782928e-01,
  2.37459397e-01, 3.02498486e-01, 7.24687508e-01]

qacc:
[ 1.33727528e+00, 2.37970319e+01,-1.89674862e+02, 4.45472334e+02,
 -1.84811514e+00,-1.79235313e+01,-1.61992482e+01,-3.49950338e+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,
 -2.40690072e+00, 7.97458694e-01,-3.17304961e+00,-6.62429289e+01,
  3.68424442e+01,-9.85719211e+00]

qfrc_actuator:
[-0.00512452, 0.22563564, 0.02010302, 0.18131288, 0.00328775, 0.2930316 ,
  0.06133461, 0.18232793,-0.00093899, 0.19604465, 0.00394328, 0.16039811,
  0.00054482,-0.00190542, 0.        ,-0.00190378, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09613985, -0.53003938,  4.06170161, -0.53003938, 16.99176358,
        1.68283865,  4.06170161,  1.68283865,  4.31574505,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.390347043108477e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.09332367e-13,  8.18664734e-13,  1.00000000e+00, -3.35105974e-25,
        1.00000000e+00, -8.18664734e-13, -1.00000000e+00,  0.00000000e+00,
        4.09332367e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07598278, -0.08931684,  0.06199891])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12921993e-04,-4.11779191e-03,-1.66893288e-03, 5.19111600e-04,
 -1.16854604e-04,-8.42215787e-03,-3.55124411e-03,-8.82523698e-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,
  1.66978647e-02, 3.65882472e-03,-4.93891755e+00, 2.97731208e-03,
  1.27421752e-03,-1.66782321e-03]


--- Step 1817 ---
qpos:
[-5.30886041e-03, 5.22233134e-01,-3.11926853e-02, 4.37576054e-01,
  1.05081910e-03, 4.51125158e-01,-7.78578439e-02, 3.86266529e-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,
  3.79163864e-02,-8.16338326e-02, 1.22432591e-01, 5.73533541e-01,
  2.32894485e-01, 2.96968028e-01, 7.27069066e-01]

qacc:
[ 7.83830521e-01, 1.77373456e+01,-1.49257110e+02, 3.56249181e+02,
 -1.68477635e+00,-3.49390494e+01, 7.93208184e+01,-2.68181881e+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,
 -2.24669180e+00, 7.26375183e-01,-3.73008397e+00,-6.38327403e+01,
  3.50788661e+01,-8.94862378e+00]

qfrc_actuator:
[-0.00507811, 0.22498218, 0.01982338, 0.18195271, 0.00320725, 0.29048631,
  0.06015346, 0.18151637,-0.00097506, 0.19652587, 0.00402123, 0.16072453,
  0.00052216,-0.00196128, 0.        ,-0.00173911, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09571504, -0.8911077 ,  3.99760038, -0.8911077 , 16.9045503 ,
        2.85522579,  3.99760038,  2.85522579,  4.73217528,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.2499116994384736e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.70808183e-12,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.70808183e-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([ 0.07594739, -0.08932561,  0.06199895])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.66509898e-05,-3.40943778e-03,-1.35509661e-03, 4.17207910e-04,
 -1.09251388e-04,-8.21595498e-03,-3.44848837e-03,-1.31369976e-03,
 -1.80519747e-05,-2.54975023e-04,-1.95668165e-04, 2.76875794e-04,
 -4.02404013e-05,-6.85854240e-05, 3.57138585e-06, 1.66254198e-04,
  1.77754360e-02, 3.57046550e-03,-4.93978763e+00, 3.06494349e-03,
  1.34033194e-03,-1.82167116e-03]


--- Step 1818 ---
qpos:
[-5.44065535e-03, 5.26386717e-01,-3.09084182e-02, 4.41192767e-01,
  1.11355474e-03, 4.56678090e-01,-7.67335453e-02, 3.89858687e-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,
  3.69516238e-02,-8.18581239e-02, 1.21885757e-01, 5.75269823e-01,
  2.28190588e-01, 2.91371765e-01, 7.29449231e-01]

qacc:
[ 1.01711045e+00, 4.02852223e+00,-9.64265983e+01, 2.73459488e+02,
 -1.50899204e+00,-3.49660544e+01, 8.09307495e+01,-2.69609516e+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,
 -2.09030104e+00, 6.63067137e-01,-4.23471769e+00,-6.19051915e+01,
  3.36212532e+01,-8.16386008e+00]

qfrc_actuator:
[-0.00499762, 0.22385648, 0.01954524, 0.1824668 , 0.00313424, 0.2879748 ,
  0.0590005 , 0.18071435,-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([ 4.09286701, -3.21441887,  2.53358869, -3.21441887, 17.2328847 ,
       16.6710252 ,  2.53358869, 16.6710252 , 25.24375793,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.074983580262202e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.01288606e-12,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.01288606e-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([ 0.07591888, -0.08933539,  0.06199932])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.75643467e-05,-3.42493185e-03,-1.17347277e-03, 3.28756656e-04,
 -1.00425433e-04,-8.06106656e-03,-3.37848855e-03,-1.30011536e-03,
 -5.61953285e-06,-2.40092860e-04,-5.39321656e-05, 5.42919935e-05,
 -4.92749904e-05,-7.55133493e-05, 1.70647722e-05, 1.40156690e-04,
  1.88794127e-02, 3.49198735e-03,-4.94060861e+00, 3.15507744e-03,
  1.40378939e-03,-1.97128336e-03]


--- Step 1819 ---
qpos:
[-5.57085968e-03, 5.30512535e-01,-3.06298564e-02, 4.44815769e-01,
  1.17518646e-03, 4.62170567e-01,-7.56320893e-02, 3.93441955e-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,
  3.59791122e-02,-8.20799888e-02, 1.21320151e-01, 5.76989389e-01,
  2.23351140e-01, 2.85709730e-01, 7.31824749e-01]

qacc:
[ 1.30349827e+00,-8.85152582e+00,-4.21044553e+01, 1.63975056e+02,
 -1.08871820e+00,-3.34017480e+01, 3.87416705e+01,-1.06738325e+02,
  1.54702231e-01,-6.18021534e+00,-5.26580189e+00, 7.10175384e+01,
  1.85121186e-01,-7.15481651e-01, 5.03736079e+00,-1.67993370e+01,
 -1.93726023e+00, 6.06613353e-01,-4.69308588e+00,-6.03955132e+01,
  3.24259550e+01,-7.48328403e+00]

qfrc_actuator:
[-0.00489735, 0.2224582 , 0.01925101, 0.1827783 , 0.00308398, 0.28495509,
  0.05787427, 0.18027968,-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([ 4.09090991,  1.07299825,  3.94768523,  1.07299825,  9.31937761,
       -1.42112058,  3.94768523, -1.42112058,  4.47717675,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.2509921763245195e-07
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.52919941e-11,  6.52919941e-11,  1.00000000e+00, -4.26304450e-21,
        1.00000000e+00, -6.52919941e-11, -1.00000000e+00,  0.00000000e+00,
        6.52919941e-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([ 0.07589614, -0.08934593,  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:
[ 1.13964300e-04,-3.67123914e-03,-1.17301551e-03, 1.30143038e-04,
 -7.59957766e-05,-8.46486518e-03,-3.30940969e-03,-9.23031096e-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,
  2.00125709e-02, 3.42213519e-03,-4.94138549e+00, 3.24728253e-03,
  1.46484215e-03,-2.11752798e-03]


--- Step 1820 ---
qpos:
[-5.69921543e-03, 5.34614710e-01,-3.03596672e-02, 4.48440026e-01,
  1.23627675e-03, 4.67597799e-01,-7.45512800e-02, 3.97016778e-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,
  3.50067678e-02,-8.23018238e-02, 1.20715009e-01, 5.78673321e-01,
  2.18497409e-01, 2.80029340e-01, 7.34152326e-01]

qacc:
[ 1.48981807e+00,-5.72112673e+00,-2.74202535e+01, 7.16965156e+01,
 -5.01403333e-01,-4.47847552e+01, 6.78428784e+01,-1.26331212e+02,
 -3.52190159e-02,-1.92683715e+01, 2.82719984e+01, 4.38153994e+01,
  3.21514866e-01,-8.93063790e-01,-5.88071135e-02, 1.46120931e-02,
  4.17859045e-02, 7.48774805e-03,-9.88412483e+00,-8.84388956e-03,
 -3.31998420e-01,-7.82894251e-01]

qfrc_actuator:
[-0.00478606, 0.22161881, 0.01894872, 0.18286142, 0.00306534, 0.28158613,
  0.05680716, 0.17985134,-0.00099801, 0.19511231, 0.00417542, 0.16118013,
  0.00050037,-0.00206535, 0.        ,-0.00169146, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 1.33333063e-04,-3.25641926e-03,-1.23733937e-03,-1.11791815e-04,
 -3.89730248e-05,-9.00651344e-03,-3.31025808e-03,-9.22683316e-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,
  2.11776253e-02, 3.35978505e-03,-4.94212262e+00, 3.34121409e-03,
  1.52372024e-03,-2.26123604e-03]


--- Step 1821 ---
qpos:
[-5.82605095e-03, 5.38696452e-01,-3.00980066e-02, 4.52060659e-01,
  1.29697372e-03, 4.72961114e-01,-7.34922365e-02, 4.00572759e-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,
  3.40345951e-02,-8.25236277e-02, 1.20070332e-01, 5.80321504e-01,
  2.13629703e-01, 2.74330962e-01, 7.36431820e-01]

qacc:
[ 1.21238240e+00,-1.03831500e+01, 1.19113632e+01,-4.35263615e+01,
 -3.54566803e-01,-5.91087970e+01, 1.59099570e+02,-3.78216028e+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,
  4.29368966e-02, 7.76275440e-03,-9.88344026e+00,-8.41375603e-03,
 -3.22978818e-01,-7.80856445e-01]

qfrc_actuator:
[-0.00470456, 0.22094421, 0.01864654, 0.18270352, 0.0030478 , 0.27858694,
  0.05578246, 0.17891509,-0.00101563, 0.19425689, 0.00423365, 0.16106276,
  0.00050444,-0.00209746, 0.        ,-0.00171006, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 1.10063494e-04,-2.88186888e-03,-1.16776056e-03,-3.42898431e-04,
 -2.91669521e-05,-8.93612633e-03,-3.37725076e-03,-1.45210764e-03,
 -1.01617571e-05,-1.81529685e-03,-2.93007307e-04,-1.87514237e-04,
 -3.44282144e-05,-5.70427702e-05,-6.05150909e-06,-2.01606068e-05,
  2.17524354e-02, 3.49666593e-03,-4.94177850e+00, 3.43301553e-03,
  1.54997661e-03,-2.22996381e-03]


--- Step 1822 ---
qpos:
[-5.95146839e-03, 5.42753252e-01,-2.98406662e-02, 4.55667169e-01,
  1.35679772e-03, 4.78264614e-01,-7.24574478e-02, 4.04106813e-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,
  3.30625987e-02,-8.27453994e-02, 1.19386125e-01, 5.81933823e-01,
  2.08748335e-01, 2.68614961e-01, 7.38663090e-01]

qacc:
[ 1.13322790e+00,-4.79053869e+01, 1.70754373e+02,-3.58403583e+02,
 -8.20569285e-01,-5.26761949e+01, 1.55632655e+02,-4.23667551e+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,
  4.40769594e-02, 8.03564551e-03,-9.88273674e+00,-7.98688877e-03,
 -3.13979421e-01,-7.78866542e-01]

qfrc_actuator:
[-0.00462359, 0.21954035, 0.01836568, 0.18197933, 0.00299548, 0.27601189,
  0.05472158, 0.17784763,-0.0010141 , 0.19351925, 0.00426566, 0.16089068,
  0.00049847,-0.00202406, 0.        ,-0.00174031, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 1.02899237e-04,-3.39609158e-03,-1.06864782e-03,-8.96253820e-04,
 -6.15909196e-05,-8.50537179e-03,-3.42336589e-03,-1.59251550e-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,
  2.23217926e-02, 3.63246253e-03,-4.94142495e+00, 3.52393367e-03,
  1.57578526e-03,-2.19831228e-03]


--- Step 1823 ---
qpos:
[-6.07502490e-03, 5.46777365e-01,-2.95852363e-02, 4.59263420e-01,
  1.41559414e-03, 4.83510534e-01,-7.14469719e-02, 4.07625550e-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,
  3.20805185e-02,-8.29641564e-02, 1.18688916e-01, 5.83534242e-01,
  2.03659453e-01, 2.62798976e-01, 7.40909788e-01]

qacc:
[ 1.47974488e+00,-5.73379230e+01, 1.75557609e+02,-3.00116480e+02,
 -9.56315100e-01,-3.74765714e+01, 8.20182381e+01,-2.50028646e+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,
 -2.52095305e+00, 7.53675017e-01,-3.25038739e+00,-9.81396533e+01,
  5.07582580e+01,-8.55056957e+00]

qfrc_actuator:
[-0.00450794, 0.2175341 , 0.01813233, 0.18144213, 0.00294068, 0.27353527,
  0.05366794, 0.17712039,-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([ 4.09711287,  0.8429425 , -4.00946153,  0.8429425 , 16.72584704,
        2.65504401, -4.00946153,  2.65504401,  4.65530489,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.691842594394368e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.50361641e-12,  2.25542462e-12,  1.00000000e+00,  3.39129348e-24,
        1.00000000e+00, -2.25542462e-12, -1.00000000e+00,  0.00000000e+00,
       -1.50361641e-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([ 0.07566938, -0.08938206,  0.06199873])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.35625593e-04,-4.28634657e-03,-1.13207673e-03,-7.37468998e-04,
 -7.23313544e-05,-8.17869760e-03,-3.33658751e-03,-1.23823472e-03,
  6.70081684e-06,-2.17193951e-03,-4.20001264e-04,-2.02070663e-04,
 -3.18055142e-05, 6.86981815e-05,-1.18226174e-05,-7.62820472e-05,
  2.28855498e-02, 3.76714007e-03,-4.94106207e+00, 3.61394535e-03,
  1.60114082e-03,-2.16628949e-03]


--- Step 1824 ---
qpos:
[-6.19655575e-03, 5.50764644e-01,-2.93334006e-02, 4.62866420e-01,
  1.47382813e-03, 4.88702644e-01,-7.04611807e-02, 4.11143703e-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,
  3.10893860e-02,-8.31949463e-02, 1.17986586e-01, 5.85173930e-01,
  1.98551504e-01, 2.56689676e-01, 7.43141428e-01]

qacc:
[   1.59407758, -25.74932923,  -1.19142506, 135.00406601,  -0.51296534,
   -4.48980036, -80.67259236, 135.75898624,   0.21214551, -24.38362863,
   64.77683254, -84.25248051,  -0.43016508,   0.56855113,  13.33157005,
  -45.8834337 ,  -2.26308055,  -3.0082087 ,  -1.28022959,-116.24816352,
  -85.21019602,   8.42175913]

qfrc_actuator:
[-0.00439024, 0.21555693, 0.01790904, 0.18178227, 0.0029204 , 0.27140569,
  0.0526639 , 0.17714976,-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([ 4.12117237,  1.34524905, -3.89542895,  1.34524905, 15.55162134,
        3.947396  , -3.89542895,  3.947396  ,  5.48436775,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.132580644482079e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.36515465e-12,  6.82577323e-13,  1.00000000e+00, -9.31823603e-25,
        1.00000000e+00, -6.82577323e-13, -1.00000000e+00,  0.00000000e+00,
        1.36515465e-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([ 0.06287589, -0.05220674,  0.06199718])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.48186068e-04,-4.75890168e-03,-1.30531622e-03, 1.05822705e-04,
 -4.07640752e-05,-7.61372680e-03,-3.19597451e-03,-4.57463198e-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,
  2.45720485e-02, 3.60829066e-03,-4.94237837e+00, 3.70851867e-03,
  1.66660024e-03,-2.41552779e-03]


--- Step 1825 ---
qpos:
[-6.31624651e-03, 5.54718196e-01,-2.90886762e-02, 4.66481040e-01,
  1.53140230e-03, 4.93845312e-01,-6.94995524e-02, 4.14666414e-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,
  3.00902052e-02,-8.34364106e-02, 1.17274945e-01, 5.86843559e-01,
  1.93421959e-01, 2.50309762e-01, 7.45350660e-01]

qacc:
[ 1.42923771e+00,-2.73498725e+00,-9.21067971e+01, 2.97612482e+02,
 -5.98556285e-01, 9.24989859e+00,-1.39409277e+02, 2.68753573e+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,
 -2.01207500e+00,-2.66860693e+00,-2.32777757e+00,-1.06970593e+02,
 -7.72219181e+01, 6.41269172e+00]

qfrc_actuator:
[-0.00428998, 0.21416478, 0.01765874, 0.18238738, 0.00288528, 0.2695036 ,
  0.05168198, 0.17742923,-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([ 4.20579884, -0.90990901, -4.1061916 , -0.90990901, 23.2969719 ,
       -4.23049676, -4.1061916 , -4.23049676,  5.14325317,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015701156470113858
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.53548169e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.53548169e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06276013, -0.05226396,  0.06199449])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.35126877e-04,-4.43697105e-03,-1.42057329e-03, 3.63809247e-04,
 -4.74836683e-05,-7.00664853e-03,-3.01325122e-03,-1.63145891e-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,
  2.67142684e-02, 4.94954089e-03,-4.94424825e+00, 3.79757870e-03,
  1.62389620e-03,-1.95677934e-03]


--- Step 1826 ---
qpos:
[-6.43406622e-03, 5.58644512e-01,-2.88529193e-02, 4.70099829e-01,
  1.58816918e-03, 4.98938380e-01,-6.85589563e-02, 4.18183915e-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,
  2.90839960e-02,-8.36872694e-02, 1.16550210e-01, 5.88534913e-01,
  1.88268638e-01, 2.43678540e-01, 7.47530832e-01]

qacc:
[ 1.43285259e+00,-3.28784155e+00,-5.22329570e+01, 1.42404578e+02,
 -7.17767480e-01,-1.73820876e+01,-1.09442645e+01,-1.11862146e+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,
 -1.75707388e+00,-2.34861026e+00,-3.27354023e+00,-9.91006539e+01,
 -7.04090410e+01, 4.70483120e+00]

qfrc_actuator:
[-0.00418305, 0.21333053, 0.01739719, 0.18262908, 0.00284157, 0.26722257,
  0.05070491, 0.17717923,-0.00105277, 0.19094899, 0.00445404, 0.16113372,
  0.00042489,-0.00197783, 0.        ,-0.00197186, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.28730798,  0.23214058, -4.28101863,  0.23214058, 15.67318618,
        0.61740549, -4.28101863,  0.61740549,  4.32078713,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020351454447131712
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.72762575e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.72762575e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06266371, -0.05230522,  0.06199278])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.38215711e-04,-3.71092118e-03,-1.37061222e-03, 1.50818864e-05,
 -5.78924505e-05,-6.99437781e-03,-2.85057900e-03,-6.55116199e-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,
  2.88392401e-02, 6.27468072e-03,-4.94592918e+00, 3.89211854e-03,
  1.59052684e-03,-1.51654959e-03]


--- Step 1827 ---
qpos:
[-6.54996101e-03, 5.62552845e-01,-2.86276739e-02, 4.73717355e-01,
  1.64402374e-03, 5.03978164e-01,-6.76371841e-02, 4.21696976e-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,
  2.80717913e-02,-8.39463123e-02, 1.15808958e-01, 5.90240706e-01,
  1.83089645e-01, 2.36812523e-01, 7.49675877e-01]

qacc:
[ 1.45197424e+00, 2.78716637e+00,-3.75064095e+01, 4.01351655e+01,
 -7.93143739e-01,-2.67740799e+01, 1.20825375e+01,-2.07562725e+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,
 -1.49889321e+00,-2.04603855e+00,-4.12920356e+00,-9.23958517e+01,
 -6.45640208e+01, 3.24123594e+00]

qfrc_actuator:
[-0.00407288, 0.21319308, 0.01715133, 0.18262002, 0.00279313, 0.26452108,
  0.04975506, 0.17695681,-0.00108363, 0.19031121, 0.00451081, 0.16151041,
  0.00039836,-0.00199322, 0.        ,-0.00198217, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.33398648,  0.82362974, -4.25500562,  0.82362974, 10.65237009,
        1.22303214, -4.25500562,  1.22303214,  4.57072545,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002253051322462854
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.46382098e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.46382098e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06258391, -0.05233302,  0.06199191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.43139745e-04,-2.61157780e-03,-1.21172145e-03,-2.11858149e-04,
 -6.56095958e-05,-7.39255413e-03,-2.81631471e-03,-6.30908348e-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,
  3.09546317e-02, 7.58288472e-03,-4.94743212e+00, 3.99022871e-03,
  1.56570475e-03,-1.09410548e-03]


--- Step 1828 ---
qpos:
[-6.66389428e-03, 5.66447871e-01,-2.84102587e-02, 4.77326403e-01,
  1.69864737e-03, 5.08964673e-01,-6.67347992e-02, 4.25205700e-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,
  2.70546287e-02,-8.42123961e-02, 1.15048099e-01, 5.91954429e-01,
  1.77883324e-01, 2.29725847e-01, 7.51780228e-01]

qacc:
[ 1.46878573e+00,-1.21401409e+01, 4.75403971e+01,-1.57067488e+02,
 -1.06435444e+00,-2.50457181e+01, 5.72587840e+00,-1.25063728e+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,
 -1.23948966e+00,-1.76022193e+00,-4.90179882e+00,-8.66874138e+01,
 -5.95424612e+01, 1.98232103e+00]

qfrc_actuator:
[-0.00396158, 0.21304929, 0.01695553, 0.18223349, 0.00272451, 0.26201691,
  0.04884548, 0.17675224,-0.00108983, 0.1896698 , 0.00456038, 0.16128871,
  0.00037413,-0.0020352 , 0.        ,-0.0019166 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.33637986,  1.15458943, -4.17984611,  1.15458943,  7.79116766,
        0.95430822, -4.17984611,  0.95430822,  4.59998626,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022635504969925613
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.35717864e-13,  4.90478576e-13,  1.00000000e+00,  3.60853850e-25,
        1.00000000e+00, -4.90478576e-13, -1.00000000e+00,  0.00000000e+00,
       -7.35717864e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06251837, -0.05234949,  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:
[ 1.46651674e-04,-1.98020999e-03,-9.25206522e-04,-5.44668156e-04,
 -8.81894948e-05,-7.40679803e-03,-2.85113371e-03,-6.26993110e-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,
  3.30667410e-02, 8.87449720e-03,-4.94876749e+00, 4.09050324e-03,
  1.54867273e-03,-6.88388396e-04]


--- Step 1829 ---
qpos:
[-6.77608673e-03, 5.70327876e-01,-2.81970555e-02, 4.80922882e-01,
  1.75204241e-03, 5.13900097e-01,-6.58517323e-02, 4.28702430e-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,
  2.60335429e-02,-8.44844429e-02, 1.14264853e-01, 5.93670243e-01,
  1.72648224e-01, 2.22430585e-01, 7.53838755e-01]

qacc:
[ 1.30079042e+00,-3.20945867e+01, 1.27382543e+02,-2.97572779e+02,
 -1.05139614e+00,-3.64438530e+01, 7.73589686e+01,-2.02405141e+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,
 -9.80798637e-01,-1.49077246e+00,-5.59695507e+00,-8.18496146e+01,
 -5.52358137e+01, 8.97381326e-01]

qfrc_actuator:
[-0.00386816, 0.21237163, 0.01677354, 0.18161044, 0.00266223, 0.25975895,
  0.04798592, 0.1761695 ,-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([ 4.30100635,  1.35482192, -4.08204767,  1.35482192,  5.97751222,
        0.55642831, -4.08204767,  0.55642831,  4.48568358,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00021018887788819968
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.32050639e-13,  2.64101278e-13,  1.00000000e+00, -3.48747425e-26,
        1.00000000e+00, -2.64101278e-13, -1.00000000e+00,  0.00000000e+00,
        1.32050639e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06246502, -0.05235646,  0.06199224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30565288e-04,-2.11583875e-03,-7.58638511e-04,-7.53145425e-04,
 -8.83828501e-05,-7.17282413e-03,-2.80670868e-03,-1.00615628e-03,
 -3.42482431e-06,-2.00447277e-03,-5.02532627e-04,-4.08710864e-04,
 -6.29838936e-05,-5.06967319e-05, 7.29033756e-07, 9.39765056e-05,
  3.51811736e-02, 1.01508861e-02,-4.94994541e+00, 4.19189609e-03,
  1.53869004e-03,-2.98054773e-04]


--- Step 1830 ---
qpos:
[-6.88652288e-03, 5.74189064e-01,-2.79873112e-02, 4.84508305e-01,
  1.80452290e-03, 5.18784563e-01,-6.49870648e-02, 4.32181546e-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,
  2.50049071e-02,-8.47525702e-02, 1.13463786e-01, 5.95340928e-01,
  1.67179163e-01, 2.15036261e-01, 7.55896629e-01]

qacc:
[ 1.30640857e+00,-3.62737100e+01, 1.29594729e+02,-2.74382951e+02,
 -7.67504638e-01,-4.90998410e+01, 1.41937045e+02,-3.52633109e+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,
 -1.88747023e+00, 9.79894358e-01,-4.45494828e+00,-1.02821856e+02,
  6.37431774e+01,-6.52295069e-01]

qfrc_actuator:
[-0.00376827, 0.21129192, 0.01654608, 0.18104825, 0.002622  , 0.25738379,
  0.04712855, 0.17529824,-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([ 4.30291153,  0.96668807, -4.19291805,  0.96668807, 13.55975196,
        2.13418843, -4.19291805,  2.13418843,  4.79495417,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00021109745090863025
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.62964574e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.62964574e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07124954, -0.09433247,  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:
[ 1.32112134e-04,-2.56695738e-03,-8.18087871e-04,-6.96150661e-04,
 -6.66530816e-05,-7.16342698e-03,-2.76263624e-03,-1.29069095e-03,
 -2.14596285e-05,-2.22248276e-03,-5.71692640e-04,-9.32134865e-05,
 -6.49454184e-05, 3.34243893e-05, 7.11633088e-06,-8.39148870e-05,
  3.73032201e-02, 1.14142658e-02,-4.95097570e+00, 4.29362408e-03,
  1.53503857e-03, 7.84605887e-05]


--- Step 1831 ---
qpos:
[-6.99492041e-03, 5.78025685e-01,-2.77803670e-02, 4.88089606e-01,
  1.85636472e-03, 5.23620304e-01,-6.41420725e-02, 4.35638930e-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,
  2.39702815e-02,-8.50172263e-02, 1.12641712e-01, 5.96961585e-01,
  1.61493278e-01, 2.07545137e-01, 7.57945778e-01]

qacc:
[ 1.50830982e+00,-3.24791229e+01, 8.21530024e+01,-1.20345999e+02,
 -5.29245579e-01,-5.02880472e+01, 1.64967529e+02,-4.38705940e+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,
 -1.49747159e+00, 8.67814112e-01,-5.25188198e+00,-9.60129866e+01,
  5.77842330e+01, 1.08977084e+00]

qfrc_actuator:
[-0.00364747, 0.20980327, 0.01631003, 0.18082788, 0.00259516, 0.25522491,
  0.04624379, 0.17422878,-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([ 4.30736534,  1.6587021 , -3.97518597,  1.6587021 ,  5.65001992,
        0.56024145, -3.97518597,  0.56024145,  4.54113395,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00021320355366691301
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.81100741e-13,  4.56150628e-13,  1.00000000e+00, -3.56299593e-25,
        1.00000000e+00, -4.56150628e-13, -1.00000000e+00,  0.00000000e+00,
        7.81100741e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07117314, -0.09434949,  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:
[ 1.53857141e-04,-3.23627210e-03,-9.23346412e-04,-3.72704870e-04,
 -4.73342791e-05,-6.94204155e-03,-2.79093769e-03,-1.49214445e-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,
  3.98090742e-02, 1.12552078e-02,-4.95205598e+00, 4.38431079e-03,
  1.56686034e-03,-2.49177807e-04]


--- Step 1832 ---
qpos:
[-7.10126602e-03, 5.81832479e-01,-2.75759660e-02, 4.91666051e-01,
  1.90751062e-03, 5.28410315e-01,-6.33178543e-02, 4.39077108e-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,
  2.29312075e-02,-8.52788144e-02, 1.11795763e-01, 5.98527710e-01,
  1.55605238e-01, 1.99959175e-01, 7.59978894e-01]

qacc:
[ 1.51143967e+00,-4.14923991e+01, 1.06257639e+02,-1.50737480e+02,
 -5.75831880e-01,-3.87447742e+01, 1.21033856e+02,-3.58168300e+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,
 -1.11210751e+00, 7.66988673e-01,-5.96859127e+00,-9.02168284e+01,
  5.26687521e+01, 2.56028101e+00]

qfrc_actuator:
[-0.00353285, 0.20802926, 0.01606955, 0.18056155, 0.00255871, 0.25332046,
  0.04535124, 0.1733001 ,-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([ 4.27386123,  1.31645317, -4.06605962,  1.31645317,  4.49929002,
        0.07298625, -4.06605962,  0.07298625,  4.29749172,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019670315941679173
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.93863520e-13,  2.82207726e-13,  1.00000000e+00, -1.39372101e-25,
        1.00000000e+00, -2.82207726e-13, -1.00000000e+00,  0.00000000e+00,
        4.93863520e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07111453, -0.09437006,  0.06199241])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.55275287e-04,-3.90212660e-03,-1.06543020e-03,-4.41646138e-04,
 -5.15322046e-05,-6.57559519e-03,-2.76228616e-03,-1.34675365e-03,
 -3.95619102e-07,-2.98008826e-03,-6.19029855e-04,-1.57968982e-04,
 -2.39175084e-05,-5.74330312e-05,-1.74851640e-05, 1.48383155e-04,
  4.23083132e-02, 1.11342017e-02,-4.95296159e+00, 4.47663575e-03,
  1.58848802e-03,-5.55282982e-04]


--- Step 1833 ---
qpos:
[-7.20561643e-03, 5.85610545e-01,-2.73768279e-02, 4.95238295e-01,
  1.95762033e-03, 5.33156902e-01,-6.25147199e-02, 4.42517978e-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,
  2.18892004e-02,-8.55376950e-02, 1.10923373e-01, 6.00035127e-01,
  1.49527576e-01, 1.92280059e-01, 7.61989323e-01]

qacc:
[ 1.45457265e+00,-3.13388717e+01, 7.09624328e+01,-1.05263933e+02,
 -8.52692125e-01, 5.36357228e+00,-1.07126601e+02, 1.98291450e+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,
 -7.33259005e-01, 6.76874944e-01,-6.61030945e+00,-8.53138428e+01,
  4.82821141e+01, 3.80849788e+00]

qfrc_actuator:
[-0.00342277, 0.20672047, 0.01584503, 0.18035879, 0.00249904, 0.25162068,
  0.04449849, 0.17349171,-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([ 4.21811523,  1.06363756, -4.0818098 ,  1.06363756,  3.68284057,
       -0.13948181, -4.0818098 , -0.13948181,  4.18176907,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001649954290180375
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.20550675e-13,  1.68220270e-13,  1.00000000e+00, -7.07451481e-26,
        1.00000000e+00, -1.68220270e-13, -1.00000000e+00,  0.00000000e+00,
        4.20550675e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07107101, -0.09439345,  0.06199353])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.51557776e-04,-3.83863115e-03,-1.20390323e-03,-4.10122177e-04,
 -7.60639054e-05,-6.15206997e-03,-2.63786401e-03,-2.07088324e-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,
  4.48061147e-02, 1.10483147e-02,-4.95370273e+00, 4.56949969e-03,
  1.60082966e-03,-8.41543229e-04]


--- Step 1834 ---
qpos:
[-7.30826793e-03, 5.89365388e-01,-2.71858293e-02, 4.98815589e-01,
  2.00616267e-03, 5.37863387e-01,-6.17314432e-02, 4.45965394e-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,
  2.08457467e-02,-8.57941886e-02, 1.10022252e-01, 6.01479940e-01,
  1.43270958e-01, 1.84509201e-01, 7.63970987e-01]

qacc:
[ 1.22268099e+00, 1.33494789e+00,-6.33039908e+01, 1.60690440e+02,
 -1.27870981e+00, 1.34694981e+01,-1.42989418e+02, 2.88152268e+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,
 -3.61664855e-01, 5.96749973e-01,-7.18293963e+00,-8.12008567e+01,
  4.45261566e+01, 4.87586188e+00]

qfrc_actuator:
[-0.00333393, 0.20607445, 0.01563382, 0.18065704, 0.00240832, 0.25009518,
  0.04369598, 0.17386195,-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([ 4.15853628,  0.87441446, -4.06556556,  0.87441446,  2.91859767,
       -0.26668375, -4.06556556, -0.26668375,  4.10117842,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001210779567739767
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.58474463e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.58474463e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0710402 , -0.09441908,  0.06199516])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.29567662e-04,-3.16600215e-03,-1.19259732e-03, 8.98254392e-05,
 -1.14531549e-04,-5.66657725e-03,-2.44640226e-03, 1.65296881e-05,
 -2.32108508e-07,-2.77284610e-03,-7.07087654e-04, 5.95972867e-05,
  6.26492792e-06, 3.13752678e-05, 2.01240000e-05,-1.52192731e-04,
  4.73074560e-02, 1.09946867e-02,-4.95428915e+00, 4.66208905e-03,
  1.60469176e-03,-1.10980591e-03]


--- Step 1835 ---
qpos:
[-7.40925947e-03, 5.93098381e-01,-2.70007666e-02, 5.02394035e-01,
  2.05298368e-03, 5.42529659e-01,-6.09645177e-02, 4.49398587e-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,
  1.98023049e-02,-8.60485791e-02, 1.09090358e-01, 6.02858476e-01,
  1.36844434e-01, 1.76647762e-01, 7.65918290e-01]

qacc:
[ 1.18890473e+00,-1.02925793e+01,-7.49180148e+00, 4.57261507e+01,
 -1.38378578e+00,-3.43765302e+01, 9.73921627e+01,-2.66023299e+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,
  2.99552384e-03, 5.25755633e-01,-7.69293028e+00,-7.77843880e+01,
  4.13137690e+01, 5.79754054e+00]

qfrc_actuator:
[-0.00324059, 0.20524624, 0.01543558, 0.18073348, 0.00231765, 0.24820897,
  0.04291309, 0.17314502,-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([ 4.11176569,  0.73220677, -4.04604626,  0.73220677,  2.47789739,
       -0.29567864, -4.04604626, -0.29567864,  4.05825718,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.758323820466039e-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([ 0.07102004, -0.09444647,  0.06199725])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.27122275e-04,-2.94941377e-03,-1.02388968e-03,-9.44654543e-05,
 -1.26201690e-04,-5.70579213e-03,-2.29569807e-03,-1.03957162e-03,
 -2.84629530e-06,-2.09951954e-03,-6.17652960e-04,-1.72642933e-04,
  3.56030988e-05,-2.30681275e-05,-1.33015893e-05,-2.98974425e-04,
  4.98171830e-02, 1.09706134e-02,-4.95472984e+00, 4.75379081e-03,
  1.60076934e-03,-1.36197864e-03]


--- Step 1836 ---
qpos:
[-7.50926258e-03, 5.96806601e-01,-2.68185590e-02, 5.05966253e-01,
  2.09829463e-03, 5.47152700e-01,-6.02121675e-02, 4.52813413e-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,
  1.87603106e-02,-8.63011178e-02, 1.08125878e-01, 6.04167243e-01,
  1.30255664e-01, 1.68696668e-01, 7.67826048e-01]

qacc:
[ 7.13613095e-01,-3.65659669e+01, 1.02739375e+02,-1.70688299e+02,
 -1.19406055e+00,-5.07721390e+01, 1.63390878e+02,-3.92122794e+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,
  3.61862086e-01, 4.62968428e-01,-8.14692097e+00,-7.49779658e+01,
  3.85665753e+01, 6.60324808e+00]

qfrc_actuator:
[-0.00319844, 0.20394383, 0.01526392, 0.18041244, 0.00224556, 0.24599824,
  0.04216414, 0.17222   ,-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([ 4.09112029,  3.97261318,  0.97755294,  3.97261318,  6.38700323,
       -9.33008788,  0.97755294, -9.33008788, 42.00705152,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.816228372646949e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.07198440e-12,  8.14396880e-12,  1.00000000e+00,  3.31621139e-23,
        1.00000000e+00, -8.14396880e-12, -1.00000000e+00,  0.00000000e+00,
       -4.07198440e-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([ 0.0710087 , -0.09447524,  0.06199972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.55509861e-05,-3.27462435e-03,-9.38390310e-04,-4.81329794e-04,
 -1.11548437e-04,-6.06273366e-03,-2.28581229e-03,-1.26515202e-03,
 -2.25292740e-05,-1.57335119e-03,-4.67061377e-04,-1.32464987e-04,
  5.13620499e-05, 2.21458045e-05,-4.32500248e-05,-6.51914956e-05,
  5.23399754e-02, 1.09736157e-02,-4.95503289e+00, 4.84413153e-03,
  1.58964165e-03,-1.59994338e-03]


--- Step 1837 ---
qpos:
[-7.60890229e-03, 6.00485181e-01,-2.66374167e-02, 5.09530614e-01,
  2.14280416e-03, 5.51730039e-01,-5.94746346e-02, 4.56220370e-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,
  1.77187521e-02,-8.65535663e-02, 1.07121753e-01, 6.05410205e-01,
  1.23653842e-01, 1.60725393e-01, 7.69646385e-01]

qacc:
[ 2.76432657e-01,-5.09508073e+01, 1.48939078e+02,-2.36934881e+02,
 -6.18087883e-01,-3.40560626e+01, 6.32969267e+01,-1.32502296e+02,
 -1.79275574e-01,-2.30040866e+01, 5.49199010e+01,-4.79847259e+01,
 -1.10529757e+00, 2.48634822e+00,-6.00739831e+00, 2.01140524e+01,
  1.08967651e-01, 2.25412554e-02,-9.91077445e+00,-3.05861880e-02,
 -1.22901371e+00,-9.31909899e-01]

qfrc_actuator:
[-0.003187  , 0.20224429, 0.01512526, 0.18000184, 0.00222059, 0.24373615,
  0.04144033, 0.1718368 ,-0.00123074, 0.18242849, 0.00474427, 0.16143319,
  0.00042202,-0.00187683, 0.        ,-0.00204909, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 2.71219611e-05,-3.84991375e-03,-9.73570809e-04,-5.88467805e-04,
 -6.04024955e-05,-6.31826491e-03,-2.33878442e-03,-7.41412492e-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,
  5.48802620e-02, 1.10014883e-02,-4.95520524e+00, 4.93273375e-03,
  1.57177405e-03,-1.82548935e-03]


--- Step 1838 ---
qpos:
[-7.70817339e-03, 6.04130957e-01,-2.64584517e-02, 5.13099567e-01,
  2.18686811e-03, 5.56263201e-01,-5.87542052e-02, 4.59627732e-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,
  1.66776378e-02,-8.68059225e-02, 1.06077996e-01, 6.06587191e-01,
  1.17039712e-01, 1.52734831e-01, 7.71379127e-01]

qacc:
[ 2.77762048e-01,-2.85286203e+01, 2.41539090e+01, 7.11071574e+01,
 -3.37824805e-01,-1.06348913e+01,-4.45128971e+01, 9.86726862e+01,
  8.18787959e-03,-3.33537166e+01, 9.54154558e+01,-1.27494184e+02,
 -4.32656248e+00, 8.74757280e+00,-3.35068053e+00, 1.23133128e+01,
  1.11022093e-01, 2.30807275e-02,-9.90840732e+00,-2.98898544e-02,
 -1.21524809e+00,-9.22935332e-01]

qfrc_actuator:
[-0.00315825, 0.20051652, 0.014988  , 0.18023398, 0.00220604, 0.24178256,
  0.04068442, 0.17188206,-0.0012318 , 0.18147297, 0.00479071, 0.16127037,
  0.00043335,-0.0015653 , 0.        ,-0.00198923, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 2.75103361e-05,-4.20899211e-03,-1.09638442e-03, 2.87073801e-05,
 -3.45153189e-05,-6.13933300e-03,-2.41071789e-03,-3.13766244e-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,
  5.58997390e-02, 1.12726892e-02,-4.95401717e+00, 5.02600270e-03,
  1.59507085e-03,-1.77109237e-03]


--- Step 1839 ---
qpos:
[-7.80671721e-03, 6.07745382e-01,-2.62837336e-02, 5.16675112e-01,
  2.23019723e-03, 5.60756646e-01,-5.80522377e-02, 4.63031237e-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,
  1.56369756e-02,-8.70581843e-02, 1.04994614e-01, 6.07698033e-01,
  1.10414014e-01, 1.44725876e-01, 7.73024105e-01]

qacc:
[ 5.20202072e-01,-1.71657224e+01,-1.89437457e+01, 1.42545199e+02,
 -5.65323320e-01,-8.93962759e+00,-2.70415921e+01, 1.43939955e+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,
  1.13027074e-01, 2.36095568e-02,-9.90599540e+00,-2.92082099e-02,
 -1.20161372e+00,-9.14060431e-01]

qfrc_actuator:
[-0.00310151, 0.19912415, 0.01483537, 0.18057617, 0.00216219, 0.2402261 ,
  0.03991745, 0.1717177 ,-0.00123762, 0.18068484, 0.0047978 , 0.16084013,
  0.00045326,-0.00107934, 0.        ,-0.0019532 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 5.57176551e-05,-4.07271299e-03,-1.17830217e-03, 1.33783607e-04,
 -5.58371052e-05,-5.63724366e-03,-2.37839473e-03,-5.09292628e-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,
  5.68944887e-02, 1.15385243e-02,-4.95280691e+00, 5.11700315e-03,
  1.61739758e-03,-1.71636786e-03]


--- Step 1840 ---
qpos:
[-7.90397418e-03, 6.11333820e-01,-2.61145144e-02, 5.20243497e-01,
  2.27271201e-03, 5.65210356e-01,-5.73659177e-02, 4.66429018e-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,
  1.45967732e-02,-8.73103496e-02, 1.03871618e-01, 6.08742572e-01,
  1.03777491e-01, 1.36699426e-01, 7.74581164e-01]

qacc:
[ 8.97765886e-01,-3.26453548e+01, 8.99347832e+01,-1.68334102e+02,
 -6.16517879e-01,-2.00428875e+01, 1.78941734e+01,-5.97533126e+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,
  1.14981680e-01, 2.41275061e-02,-9.90353975e+00,-2.85409443e-02,
 -1.18810912e+00,-9.05284243e-01]

qfrc_actuator:
[-0.00301074, 0.19822872, 0.0146942 , 0.18023495, 0.002119  , 0.23845957,
  0.03922307, 0.17144943,-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:
[ 1.00048281e-04,-3.51083111e-03,-1.14475525e-03,-5.44439606e-04,
 -6.19586944e-05,-5.56645529e-03,-2.20478708e-03,-5.95402992e-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,
  5.78640576e-02, 1.17988762e-02,-4.95157499e+00, 5.20569476e-03,
  1.63874740e-03,-1.66133681e-03]


--- Step 1841 ---
qpos:
[-7.99994608e-03, 6.14901252e-01,-2.59519863e-02, 5.23799047e-01,
  2.31416084e-03, 5.69620958e-01,-5.66924350e-02, 4.69816491e-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,
  1.35570385e-02,-8.75624163e-02, 1.02709018e-01, 6.09720659e-01,
  9.71308884e-02, 1.28656380e-01, 7.76050155e-01]

qacc:
[ 8.86379537e-01,-3.35227920e+01, 1.20680010e+02,-2.84077438e+02,
 -7.95071437e-01,-4.05286176e+01, 9.87282748e+01,-2.06955759e+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,
  1.16885018e-01, 2.46343429e-02,-9.90104150e+00,-2.78877540e-02,
 -1.17473285e+00,-8.96605825e-01]

qfrc_actuator:
[-0.00293589, 0.19760312, 0.0145096 , 0.17961905, 0.00205881, 0.2362456 ,
  0.03855905, 0.17092693,-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:
[ 1.00444933e-04,-2.94657249e-03,-1.09178973e-03,-8.09723553e-04,
 -8.10709507e-05,-5.94035695e-03,-2.14074819e-03,-8.42259675e-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,
  5.88080035e-02, 1.20536301e-02,-4.95032196e+00, 5.29203819e-03,
  1.65911386e-03,-1.60602035e-03]


--- Step 1842 ---
qpos:
[-8.09430872e-03, 6.18449007e-01,-2.57960828e-02, 5.27361018e-01,
  2.35409440e-03, 5.73992987e-01,-5.60347040e-02, 4.73187357e-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,
  1.25254540e-02,-8.78113788e-02, 1.01514950e-01, 6.10576395e-01,
  9.01333423e-02, 1.20517519e-01, 7.77526832e-01]

qacc:
[ 1.09864579e+00, 4.37069797e+00,-7.12418097e+01, 1.82631623e+02,
 -1.13513264e+00,-3.82396082e+01, 1.21181341e+02,-3.24879426e+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,
  2.03756793e+00, 7.76058958e-01,-7.86713144e+00,-1.38727867e+02,
  1.15210694e+02, 3.18966088e+01]

qfrc_actuator:
[-2.83561619e-03, 1.96949566e-01, 1.43200974e-02, 1.79983066e-01,
  1.97125264e-03, 2.34687815e-01, 3.78989536e-02, 1.70116756e-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([ 4.0918094 ,  1.46578765, -3.82025794,  1.46578765,  8.49521392,
        1.68953407, -3.82025794,  1.68953407,  4.74006358,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.4072283365348937e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.94471528e-12,  3.08180881e-12,  1.00000000e+00, -1.21568583e-23,
        1.00000000e+00, -3.08180881e-12, -1.00000000e+00,  0.00000000e+00,
        3.94471528e-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([ 0.07188968, -0.1084546 ,  0.06199933])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.26486271e-04,-2.65851184e-03,-9.83789184e-04, 1.88773543e-04,
 -1.14880226e-04,-5.48763158e-03,-2.21254301e-03,-1.14729665e-03,
 -1.00597159e-05,-2.14494083e-03,-5.08357201e-04, 1.14793248e-03,
  2.39093263e-04, 4.09401942e-04,-2.20400325e-05, 7.98934756e-05,
  5.97258958e-02, 1.23026736e-02,-4.94904838e+00, 5.37599516e-03,
  1.67849092e-03,-1.55043976e-03]


--- Step 1843 ---
qpos:
[-8.18609046e-03, 6.21976195e-01,-2.56452244e-02, 5.30949208e-01,
  2.39263282e-03, 5.78333231e-01,-5.53942044e-02, 4.76539999e-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,
  1.15014127e-02,-8.80576635e-02, 1.00288660e-01, 6.11312760e-01,
  8.28161235e-02, 1.12290555e-01, 7.78992318e-01]

qacc:
[ 1.74947903e+00, 3.61711155e+01,-2.47478814e+02, 6.41420153e+02,
 -1.04294890e+00,-2.82945648e+01, 1.04648135e+02,-3.37126444e+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,
  1.88581366e+00, 6.69443779e-01,-8.05537885e+00,-1.25797677e+02,
  1.04071268e+02, 2.76991030e+01]

qfrc_actuator:
[-2.66766028e-03, 1.96126530e-01, 1.41657600e-02, 1.81329212e-01,
  1.90365371e-03, 2.33713976e-01, 3.72670045e-02, 1.69250910e-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([ 4.10055604,  1.38891923, -3.85816838,  1.38891923,  2.10728575,
       -0.71756626, -3.85816838, -0.71756626,  3.84223617,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.601993630130169e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  6.4081573e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -6.4081573e-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([ 0.07168082, -0.10847285,  0.06199774])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.04011383e-04,-2.60462299e-03,-8.43231587e-04, 1.20668164e-03,
 -1.06121234e-04,-4.67616514e-03,-2.10977696e-03,-1.19291368e-03,
  2.02417439e-05,-1.60609158e-03,-4.45573633e-04, 1.20866069e-03,
  1.99925426e-04, 3.39136731e-04,-2.94698447e-06, 7.25064030e-05,
  6.37912601e-02, 1.14695387e-02,-4.94966717e+00, 5.42783859e-03,
  1.51670777e-03,-2.32832447e-03]


--- Step 1844 ---
qpos:
[-8.27467149e-03, 6.25480679e-01,-2.54966181e-02, 5.34549014e-01,
  2.43068984e-03, 5.82639258e-01,-5.47678197e-02, 4.79886094e-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,
  1.04844283e-02,-8.83016448e-02, 9.90295341e-02, 6.11932107e-01,
  7.52047792e-02, 1.03982133e-01, 7.80430044e-01]

qacc:
[ 2.16217750e+00,-1.83237458e+00,-7.23332599e+01, 2.58128504e+02,
 -3.49980288e-01,-1.84946939e+01, 2.52761669e+01,-8.47660239e+01,
  3.12656842e-01, 1.85234549e+00,-6.78732818e+01, 2.37991589e+02,
  1.90510653e-01, 7.15204669e-01,-2.68775181e+00, 9.23312446e+00,
  1.76419595e+00, 5.75854420e-01,-8.20888207e+00,-1.15232332e+02,
  9.50855596e+01, 2.39525270e+01]

qfrc_actuator:
[-2.47846469e-03, 1.94926527e-01, 1.40158412e-02, 1.81893071e-01,
  1.90177397e-03, 2.32122751e-01, 3.66242215e-02, 1.68945760e-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([ 4.10307743,  1.29593909, -3.89304332,  1.29593909,  1.17404905,
       -0.97503214, -3.89304332, -0.97503214,  3.77850301,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.1670949913304454e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.07432032e-12,  5.70732668e-13,  1.00000000e+00, -6.13149700e-25,
        1.00000000e+00, -5.70732668e-13, -1.00000000e+00,  0.00000000e+00,
        1.07432032e-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([ 0.07151618, -0.10850157,  0.06199739])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.54016426e-04,-2.88150413e-03,-7.76545046e-04, 4.52525665e-04,
 -3.77089408e-05,-4.81982975e-03,-1.94312530e-03,-5.96824073e-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,
  6.76981676e-02, 1.07238532e-02,-4.94997211e+00, 5.46875320e-03,
  1.36993220e-03,-3.05761519e-03]


--- Step 1845 ---
qpos:
[-8.36101944e-03, 6.28960547e-01,-2.53499102e-02, 5.38143868e-01,
  2.46884565e-03, 5.86908874e-01,-5.41549239e-02, 4.83235666e-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,
  9.47411097e-03,-8.85436412e-02, 9.77370760e-02, 6.12436132e-01,
  6.73202987e-02, 9.55978912e-02, 7.81825431e-01]

qacc:
[ 1.50666733e+00,-3.65190096e+01, 9.79169574e+01,-1.46470049e+02,
  8.18454636e-02,-4.64922699e+00,-6.15279269e+01, 1.51059124e+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,
  1.66679488e+00, 4.96215817e-01,-8.33315734e+00,-1.06625877e+02,
  8.77898162e+01, 2.06970030e+01]

qfrc_actuator:
[-2.38469323e-03, 1.93563964e-01, 1.38500460e-02, 1.81618868e-01,
  1.92121742e-03, 2.30353768e-01, 3.59787141e-02, 1.69132413e-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([ 4.09614179,  1.19510905, -3.91791933,  1.19510905,  0.79829597,
       -1.00596389, -3.91791933, -1.00596389,  3.78928592,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.390973266192976e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.63702710e-12,  8.69670645e-13,  1.00000000e+00, -1.42367441e-24,
        1.00000000e+00, -8.69670645e-13, -1.00000000e+00,  0.00000000e+00,
        1.63702710e-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([ 0.07139057, -0.10854098,  0.06199823])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.77517523e-04,-3.21364485e-03,-8.65202079e-04,-4.09440909e-04,
  6.03052174e-06,-5.01753094e-03,-1.93410316e-03,-9.25841584e-05,
  1.14634781e-05,-1.58067950e-03,-3.59159329e-04,-5.38945911e-06,
  1.22692009e-04,-2.93421978e-06, 4.74978568e-06,-2.50605225e-05,
  7.14706089e-02, 1.00531667e-02,-4.94999526e+00, 5.50231437e-03,
  1.23801619e-03,-3.74491045e-03]


--- Step 1846 ---
qpos:
[-8.44687125e-03, 6.32417533e-01,-2.52072530e-02, 5.41724885e-01,
  2.50675420e-03, 5.91141863e-01,-5.35551058e-02, 4.86582626e-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,
  8.47536552e-03,-8.87838282e-02, 9.64157224e-02, 6.12962013e-01,
  5.93493670e-02, 8.67888076e-02, 7.83085517e-01]

qacc:
[ 3.41255513e-01,-4.50479053e+01, 1.59331196e+02,-3.34432947e+02,
 -1.70179187e-01,-1.72436567e+01, 2.81514419e+00,-2.81517117e+00,
  1.07485341e-02,-1.29255640e+01, 1.92434432e+01, 9.48571810e+00,
  1.25284728e+00,-2.07330681e+00, 8.20467727e-01,-3.15891718e+00,
  2.89295766e+00, 4.52351328e-01,-7.22385180e+00,-1.86830020e+02,
 -1.01900072e+02,-3.98077765e+01]

qfrc_actuator:
[-2.40174682e-03, 1.92540922e-01, 1.36752721e-02, 1.80924760e-01,
  1.89980926e-03, 2.28618277e-01, 3.53543446e-02, 1.69003152e-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([ 4.0970811 ,  0.64809669, -4.04549678,  0.64809669,  0.88849086,
       -0.51402258, -4.04549678, -0.51402258,  4.01473365,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.682391425597481e-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([ 0.05738322, -0.05336918,  0.06199801])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.89215904e-05,-3.11024384e-03,-9.80366820e-04,-8.62710006e-04,
 -2.02814418e-05,-5.07007408e-03,-1.93435782e-03,-4.05282362e-04,
  2.16717940e-08,-1.47571130e-03,-3.40820151e-04,-4.38776854e-06,
  5.68104648e-05,-4.64733316e-05,-3.02340367e-06,-1.69364838e-05,
  7.51306715e-02, 9.44653860e-03,-4.94976351e+00, 5.53088070e-03,
  1.11984588e-03,-4.39639982e-03]


--- Step 1847 ---
qpos:
[-8.53191762e-03, 6.35856871e-01,-2.50708005e-02, 5.45289141e-01,
  2.54444951e-03, 5.95334854e-01,-5.29665279e-02, 4.89926265e-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,
  7.48728378e-03,-8.90223287e-02, 9.50645012e-02, 6.13491526e-01,
  5.12984849e-02, 7.75954325e-02, 7.84203776e-01]

qacc:
[ 5.37802577e-01,-3.77356997e+01, 1.52945995e+02,-3.72734962e+02,
 -1.39022435e-01,-2.79654742e+01, 3.61601410e+01,-4.44488347e+01,
 -2.83630232e-02,-1.87951623e+01, 3.96123946e+01,-2.12799507e+01,
  1.38532072e+00,-2.60717422e+00,-3.95015233e+00, 1.30473755e+01,
  2.66592921e+00, 4.21639093e-01,-7.46689297e+00,-1.68935227e+02,
 -9.08421115e+01,-3.69562949e+01]

qfrc_actuator:
[-0.00234243, 0.19208476, 0.01351578, 0.18011384, 0.0018897 , 0.22654486,
  0.03476539, 0.16883106,-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([ 4.11530944,  0.65023635, -4.0636147 ,  0.65023635,  0.64000843,
       -0.55609776, -4.0636147 , -0.55609776,  4.02632586,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.307128977608601e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.79842421e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.79842421e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05712286, -0.05344777,  0.06199592])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.41142828e-05,-2.52588215e-03,-9.72364240e-04,-9.88385207e-04,
 -1.78713770e-05,-5.44819436e-03,-1.91913149e-03,-4.56132296e-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,
  8.12574624e-02, 1.23642469e-02,-4.95115957e+00, 5.68386726e-03,
  1.31286166e-03,-3.67236855e-03]


--- Step 1848 ---
qpos:
[-8.61460007e-03, 6.39280450e-01,-2.49402255e-02, 5.48846988e-01,
  2.58180151e-03, 5.99483623e-01,-5.23878713e-02, 4.93263473e-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,
  6.50911461e-03,-8.92592079e-02, 9.36826078e-02, 6.14008425e-01,
  4.31735924e-02, 6.80514108e-02, 7.85174312e-01]

qacc:
[ 1.55687391e+00,-1.66820845e+01, 5.02439449e+01,-1.25218628e+02,
 -2.26074832e-01,-4.27986247e+01, 9.04142691e+01,-1.40926864e+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,
  2.47813956e+00, 4.05322202e-01,-7.66805589e+00,-1.54148400e+02,
 -8.18410708e+01,-3.42458740e+01]

qfrc_actuator:
[-0.00216679, 0.19161759, 0.01335147, 0.17982714, 0.00186869, 0.22416244,
  0.03420109, 0.16849301,-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([ 4.11615841,  0.66420055, -4.06221586,  0.66420055,  0.48390897,
       -0.59389805, -4.06221586, -0.59389805,  4.01905195,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.432472823806768e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12030987e-12,  7.46873249e-13,  1.00000000e+00, -8.36729474e-25,
        1.00000000e+00, -7.46873249e-13, -1.00000000e+00,  0.00000000e+00,
        1.12030987e-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([ 0.05691267, -0.05349142,  0.06199569])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.90190256e-04,-2.21342595e-03,-8.61152966e-04,-4.43639115e-04,
 -2.80725282e-05,-5.96510156e-03,-1.97040913e-03,-6.37171279e-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,
  8.71542244e-02, 1.51954613e-02,-4.95201038e+00, 5.81370133e-03,
  1.50657440e-03,-2.97929569e-03]


--- Step 1849 ---
qpos:
[-8.69525014e-03, 6.42685826e-01,-2.48129950e-02, 5.52399942e-01,
  2.61776176e-03, 6.03588017e-01,-5.18215534e-02, 4.96596221e-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,
  5.54023945e-03,-8.94944921e-02, 9.22693783e-02, 6.14498187e-01,
  3.49800518e-02, 5.81848209e-02, 7.85991667e-01]

qacc:
[ 1.33637190e+00,-2.39814412e+01, 6.58808318e+01,-1.18015538e+02,
 -9.73105842e-01,-3.28129940e+01, 4.89303048e+01,-6.94935730e+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,
  2.32350604e+00, 3.98739952e-01,-7.83403184e+00,-1.41924769e+02,
 -7.44644881e+01,-3.17465486e+01]

qfrc_actuator:
[-0.00206526, 0.19070517, 0.01318642, 0.17958502, 0.00177033, 0.22200539,
  0.03360149, 0.16827285,-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([ 4.09991604,  0.68639913, -4.04204995,  0.68639913,  0.38731778,
       -0.63045342, -4.04204995, -0.63045342,  3.99285584,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.4470332247845135e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24827381e-12,  1.24827381e-12,  1.00000000e+00,  1.55818751e-24,
        1.00000000e+00, -1.24827381e-12, -1.00000000e+00,  0.00000000e+00,
       -1.24827381e-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([ 0.05674818, -0.05350187,  0.06199731])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.63907257e-04,-2.43945668e-03,-7.66498580e-04,-3.71719077e-04,
 -1.09056413e-04,-6.04376068e-03,-2.12221539e-03,-5.44685597e-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,
  9.28493276e-02, 1.79411371e-02,-4.95235352e+00, 5.92451439e-03,
  1.69761393e-03,-2.31518869e-03]


--- Step 1850 ---
qpos:
[-8.77607557e-03, 6.46071033e-01,-2.46880976e-02, 5.55936200e-01,
  2.65184545e-03, 6.07649888e-01,-5.12688170e-02, 4.99928742e-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,
  4.57214689e-03,-8.97296061e-02, 9.08165296e-02, 6.14888750e-01,
  2.67818696e-02, 4.83076403e-02, 7.86677144e-01]

qacc:
[-1.02070552e-01,-5.14821974e+01, 1.94637566e+02,-4.11015243e+02,
 -1.31094276e+00,-1.92228528e+01,-9.11602204e+00, 4.90500453e+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,
  1.95648214e-01, 4.25628416e-02,-9.90478500e+00,-1.66091406e-02,
 -8.50464952e-01,-1.48477053e+00]

qfrc_actuator:
[-0.00213307, 0.18960535, 0.01302076, 0.17873161, 0.00166227, 0.22014344,
  0.03302261, 0.1682838 ,-0.00133558, 0.1751742 , 0.00513503, 0.16161166,
  0.00033699,-0.00090203, 0.        ,-0.00209287, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-1.49842308e-05,-2.72974684e-03,-7.98712501e-04,-9.86835892e-04,
 -1.46986870e-04,-5.81766847e-03,-2.13165435e-03,-3.19251167e-04,
 -4.47436132e-05,-9.05630488e-04,-3.69726174e-04,-1.13397646e-03,
 -1.35786648e-04,-3.10190043e-04,-3.06670413e-05, 1.11512261e-04,
  9.83680018e-02, 2.06058854e-02,-4.95222359e+00, 6.01947660e-03,
  1.88396790e-03,-1.67732951e-03]


--- Step 1851 ---
qpos:
[-8.85804825e-03, 6.49435598e-01,-2.45671802e-02, 5.59472051e-01,
  2.68473701e-03, 6.11670638e-01,-5.07289472e-02, 5.03261661e-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,
  3.60484612e-03,-8.99645472e-02, 8.93240825e-02, 6.15180019e-01,
  1.85803911e-02, 3.84215124e-02, 7.87230653e-01]

qacc:
[-7.33514142e-01,-1.70294439e+01, 2.32323913e+01,-9.96648458e+00,
 -8.22048478e-01,-1.81887429e+01,-1.22819391e+01, 5.96320304e+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,
  1.97947253e-01, 4.32129450e-02,-9.89961245e+00,-1.56068506e-02,
 -8.23109482e-01,-1.47670326e+00]

qfrc_actuator:
[-0.00221233, 0.1886864 , 0.01287281, 0.17873236, 0.00162042, 0.21835017,
  0.03248009, 0.16832445,-0.00134789, 0.17520087, 0.00524197, 0.16149558,
  0.00032281,-0.00117691, 0.        ,-0.00182236, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-9.42786906e-05,-2.74031626e-03,-8.63588375e-04,-1.57427710e-04,
 -9.43063013e-05,-5.61363927e-03,-2.04177227e-03,-2.75737353e-04,
 -2.22387881e-05,-6.86388636e-04,-1.88407663e-04,-1.93138251e-04,
 -1.61475402e-04,-3.87471797e-04,-2.78334950e-06, 2.72517751e-04,
  9.95109021e-02, 2.09291894e-02,-4.94963400e+00, 6.09033263e-03,
  1.89963882e-03,-1.60837553e-03]


--- Step 1852 ---
qpos:
[-8.94095612e-03, 6.52780255e-01,-2.44503575e-02, 5.63023359e-01,
  2.71695633e-03, 6.15651811e-01,-5.02017303e-02, 5.06596042e-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,
  2.63834581e-03,-9.01993129e-02, 8.77920578e-02, 6.15371918e-01,
  1.03769617e-02, 2.85280823e-02, 7.87652125e-01]

qacc:
[-5.95725920e-01, 1.39747747e+01,-1.32454927e+02, 3.66832084e+02,
 -4.55613671e-01,-1.47944789e+01,-2.47839236e+01, 8.59371551e+01,
 -2.32389896e-01, 1.37061054e+01,-9.86647287e+01, 2.80892495e+02,
  5.03061105e+00,-1.07224322e+01,-9.22664551e+00, 3.10245136e+01,
  2.00115381e-01, 4.38337318e-02,-9.89437983e+00,-1.46201382e-02,
 -7.95888122e-01,-1.46887080e+00]

qfrc_actuator:
[-0.00224416, 0.18793775, 0.01277356, 0.17953779, 0.00160063, 0.21663147,
  0.03194635, 0.16841789,-0.00137803, 0.17507917, 0.00535983, 0.16214023,
  0.0003059 ,-0.00152121, 0.        ,-0.00168123, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-7.72125781e-05,-2.55546657e-03,-7.96784128e-04, 6.62354585e-04,
 -5.40294935e-05,-5.40317817e-03,-1.97809891e-03,-2.10501985e-04,
 -3.13272094e-05,-6.37721718e-04,-7.94077398e-05, 6.01728888e-04,
 -1.95671813e-04,-4.83270188e-04, 2.74701479e-05, 1.55565790e-04,
  1.00588517e-01, 2.12377391e-02,-4.94701459e+00, 6.15714540e-03,
  1.91380435e-03,-1.53949826e-03]


--- Step 1853 ---
qpos:
[-9.02436907e-03, 6.56109411e-01,-2.43380792e-02, 5.66574726e-01,
  2.74840124e-03, 6.19593339e-01,-4.96855034e-02, 5.09925010e-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,
  1.67265410e-03,-9.04339010e-02, 8.62204768e-02, 6.15464386e-01,
  2.17292692e-03, 1.86289966e-02, 7.87941514e-01]

qacc:
[-3.19037465e-01,-7.84634763e+00,-5.78618623e-01, 1.60009641e+01,
 -5.20542884e-01,-3.20268896e+01, 5.78346230e+01,-9.67485977e+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,
  2.02151144e-01, 4.44247929e-02,-9.88909062e+00,-1.36483718e-02,
 -7.68796564e-01,-1.46127188e+00]

qfrc_actuator:
[-0.00224729, 0.18749409, 0.01265198, 0.1795499 , 0.00155852, 0.21477714,
  0.03144056, 0.16815122,-0.00141866, 0.1748179 , 0.00541219, 0.16241048,
  0.00028201,-0.0018329 , 0.        ,-0.00183053, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-4.20171109e-05,-2.10078115e-03,-7.45959940e-04,-1.04266139e-04,
 -6.22395892e-05,-5.40388370e-03,-1.89642338e-03,-5.58350051e-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,
  1.01600125e-01, 2.15313315e-02,-4.94436708e+00, 6.21987159e-03,
  1.92646387e-03,-1.47073860e-03]


--- Step 1854 ---
qpos:
[-9.10683618e-03, 6.59432414e-01,-2.42331661e-02, 5.70115887e-01,
  2.77977313e-03, 6.23493638e-01,-4.91794000e-02, 5.13241080e-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,
  7.07778608e-04,-9.06683092e-02, 8.46093609e-02, 6.15457380e-01,
 -6.03036799e-03, 8.72590305e-03, 7.88098792e-01]

qacc:
[ 5.98846898e-01,-7.03264392e+00, 4.58974587e+01,-1.80722224e+02,
 -3.38516945e-02,-5.02031286e+01, 1.42886194e+02,-2.88599577e+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,
  2.04053176e-01, 4.49857393e-02,-9.88374836e+00,-1.26909303e-02,
 -7.41830521e-01,-1.45390528e+00]

qfrc_actuator:
[-0.00214449, 0.18785832, 0.0125191 , 0.17907747, 0.00157439, 0.21269755,
  0.03091944, 0.16749726,-0.00142976, 0.17452862, 0.00546026, 0.16240474,
  0.00026459,-0.00203399, 0.        ,-0.00195444, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 7.75794447e-05,-1.05829220e-03,-6.83861134e-04,-5.85500233e-04,
 -7.32119735e-06,-5.62497396e-03,-1.91263407e-03,-9.49656212e-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,
  1.02545046e-01, 2.18097732e-02,-4.94169323e+00, 6.27847055e-03,
  1.93761770e-03,-1.40213755e-03]


--- Step 1855 ---
qpos:
[-9.18661125e-03, 6.62753665e-01,-2.41340384e-02, 5.73654174e-01,
  2.81130776e-03, 6.27350315e-01,-4.86830387e-02, 5.16543989e-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,
 -2.39935072e-04,-9.08988754e-02, 8.29744570e-02, 6.15438404e-01,
 -1.43467074e-02,-1.73704694e-03, 7.88052489e-01]

qacc:
[ 1.70113645e+00, 8.15472921e+00,-2.16943244e+01,-1.53084274e+01,
  1.28926010e-01,-5.48577489e+01, 1.55356792e+02,-3.02569462e+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,
  4.29045353e+00, 9.60486012e-01,-5.94697601e+00,-2.54567773e+02,
 -1.27076064e+02,-6.01139058e+01]

qfrc_actuator:
[-0.00194387, 0.18829583, 0.01243733, 0.17898141, 0.00158917, 0.21046475,
  0.0304104 , 0.16683359,-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([ 4.092049  ,  0.88148874, -3.99597831,  0.88148874,  0.38067772,
       -0.81870615, -3.99597831, -0.81870615,  3.91144736,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.5834062353697886e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.50580603e-12,  3.50580603e-12,  1.00000000e+00, -1.22906759e-23,
        1.00000000e+00, -3.50580603e-12, -1.00000000e+00,  0.00000000e+00,
        3.50580603e-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([ 0.05497699, -0.05383607,  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:
[ 2.22162728e-04,-4.09652714e-04,-4.29514155e-04,-1.77123750e-04,
  1.12069111e-05,-5.91854056e-03,-1.95950224e-03,-9.76154255e-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,
  1.03422646e-01, 2.20728807e-02,-4.93899481e+00, 6.33290434e-03,
  1.94726714e-03,-1.33373613e-03]


--- Step 1856 ---
qpos:
[-9.26297450e-03, 6.66068790e-01,-2.40360056e-02, 5.77195623e-01,
  2.84218237e-03, 6.31164018e-01,-4.81982444e-02, 5.19841104e-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,
 -1.15528118e-03,-9.11229731e-02, 8.13304555e-02, 6.15471956e-01,
 -2.27885497e-02,-1.30998778e-02, 7.87720348e-01]

qacc:
[ 2.15432100e+00, 8.46019715e-01,-2.36463701e+01, 7.30026774e+01,
 -4.31311420e-01,-3.55248840e+01, 6.50956657e+01,-1.06137989e+02,
 -1.79840166e-01,-4.41126004e+01, 1.53650231e+02,-2.62700854e+02,
 -1.92482561e-01,-8.59008694e-01,-1.01194485e+01, 3.44548250e+01,
  8.09189350e+00, 1.61710978e+00,-2.27439507e+00,-3.93105249e+02,
 -2.25370526e+02,-1.15005508e+02]

qfrc_actuator:
[-0.00173995, 0.18792324, 0.01236984, 0.17914342, 0.00153206, 0.20847845,
  0.02989452, 0.16656009,-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([ 4.12627315,  0.78668699, -4.05058684,  0.78668699,  1.35663631,
       -0.53790657, -4.05058684, -0.53790657,  4.02180333,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.786370945490507e-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([ 0.04064393, -0.05763559,  0.06199225])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.82357918e-04,-7.90286305e-04,-2.39524608e-04, 1.22722482e-04,
 -5.39987160e-05,-5.84430920e-03,-2.03155505e-03,-5.99103194e-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,
  1.12864117e-01, 2.68410225e-02,-4.93904778e+00, 6.39355789e-03,
  2.31713268e-03,-2.22643229e-04]


--- Step 1857 ---
qpos:
[-9.33756511e-03, 6.69370558e-01,-2.39364451e-02, 5.80731696e-01,
  2.87178947e-03, 6.34939076e-01,-4.77265955e-02, 5.23130475e-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,
 -1.83885754e-03,-9.13330263e-02, 7.99515803e-02, 6.15417711e-01,
 -2.80486236e-02,-2.21818003e-02, 7.87389537e-01]

qacc:
[ 1.12318184e+00,-3.18045621e+01, 1.02045341e+02,-1.65007737e+02,
 -8.41510498e-01,-2.91275704e+01, 5.74029370e+01,-1.29620851e+02,
 -1.65480378e-01,-4.23158775e+01, 1.27322642e+02,-1.78584755e+02,
 -5.37398141e+00, 9.28282140e+00,-6.50862364e+00, 2.37161035e+01,
  5.79424357e+01, 3.51113126e+00, 6.62815602e+01, 1.87665280e+03,
 -5.51852059e+02, 4.01419194e+01]

qfrc_actuator:
[-1.69561620e-03, 1.86821125e-01, 1.22730412e-02, 1.78834055e-01,
  1.45033914e-03, 2.06940891e-01, 2.93802653e-02, 1.66199039e-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, -1.59302463,  8.48817115, -1.59302463,  2.66970194,
       -1.11979823,  8.48817115, -1.11979823,  8.42620457,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002911395457034241
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.53342685e-15,  3.81337074e-14,  1.00000000e+00,  3.63544910e-28,
        1.00000000e+00, -3.81337074e-14, -1.00000000e+00,  0.00000000e+00,
       -9.53342685e-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([-0.05048803, -0.09433261,  0.06175631])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.46819359e-04,-1.68109640e-03,-3.13009049e-04,-3.50519483e-04,
 -1.02430834e-04,-5.35172377e-03,-2.00992340e-03,-6.77792219e-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,
  1.27855521e-01, 3.54312180e-02,-4.94013161e+00, 6.37118867e-03,
  3.10780114e-03, 1.89445741e-03]


--- Step 1858 ---
qpos:
[-9.41067830e-03, 6.72653458e-01,-2.38357326e-02, 5.84250577e-01,
  2.90017825e-03, 6.38680226e-01,-4.72680739e-02, 5.26401984e-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,
 -2.33267639e-03,-9.15602688e-02, 7.87474182e-02, 6.15355355e-01,
 -3.00548577e-02,-3.00602646e-02, 7.87102835e-01]

qacc:
[ 9.37584693e-01,-6.00715099e+01, 2.25899327e+02,-4.46565057e+02,
 -8.06140447e-01,-4.15140632e+01, 1.42281875e+02,-3.63284765e+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,
  4.74393773e+01,-4.29731876e+00, 4.36782899e+01, 1.47546045e+03,
 -9.11418339e+02,-2.44388080e+00]

qfrc_actuator:
[-1.62248937e-03, 1.85468507e-01, 1.21564663e-02, 1.77929583e-01,
  1.39022346e-03, 2.05667690e-01, 2.88731869e-02, 1.65328151e-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,  8.31119746,  2.34750369,  8.31119746,  9.42563314,
       -2.79436182,  2.34750369, -2.79436182, 18.52963577,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005527520777159595
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.13833913e-15, -3.76600696e-15,  1.00000000e+00, -1.18190070e-29,
        1.00000000e+00,  3.76600696e-15, -1.00000000e+00,  0.00000000e+00,
       -3.13833913e-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([-0.05850584, -0.08579459,  0.06156061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.22481536e-04,-2.46045961e-03,-5.37252137e-04,-9.91631231e-04,
 -9.87071788e-05,-4.80956823e-03,-1.90153532e-03,-1.16870864e-03,
  1.50716809e-05,-2.62206427e-03,-5.07776683e-04, 1.34207475e-04,
 -5.27373608e-05, 4.54539683e-04, 1.09010842e-05, 4.70464174e-07,
  6.99977651e-02, 2.82066274e-02,-4.92263903e+00, 6.27786801e-03,
  2.57236970e-03, 5.11358801e-03]


--- Step 1859 ---
qpos:
[-9.48053002e-03, 6.75914576e-01,-2.37351932e-02, 5.87748486e-01,
  2.92709301e-03, 6.42387944e-01,-4.68206234e-02, 5.29652452e-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,
 -2.68700885e-03,-9.17042784e-02, 7.77256035e-02, 6.15306987e-01,
 -3.15475001e-02,-3.47837732e-02, 7.86887639e-01]

qacc:
[ 2.04354465e+00,-6.73093857e+01, 2.57103723e+02,-5.26343447e+02,
 -9.68425977e-01,-5.23034361e+01, 1.90565315e+02,-4.57569255e+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,
  3.48715999e+01, 2.08082406e+01, 4.55868427e+01, 1.40097443e+03,
  7.67734856e+02, 5.61893294e+01]

qfrc_actuator:
[-1.39048076e-03, 1.84189470e-01, 1.20632979e-02, 1.76859542e-01,
  1.30802427e-03, 2.04191017e-01, 2.83934076e-02, 1.64288849e-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,  1.12625849,  8.56261167,  1.12625849, 42.44816263,
       -4.44733768,  8.56261167, -4.44733768,  9.2213314 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007748104888110854
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04513231, -0.11674709,  0.06140851])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.71904515e-04,-2.89046268e-03,-7.19169179e-04,-1.20731392e-03,
 -1.19555012e-04,-4.70654704e-03,-1.76626230e-03,-1.32200687e-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,
  3.65173778e-02, 2.81360606e-02,-4.91484373e+00, 6.10748313e-03,
  2.35022036e-03, 8.04345245e-03]


--- Step 1860 ---
qpos:
[-9.54890838e-03, 6.79157540e-01,-2.36391942e-02, 5.91241685e-01,
  2.95140000e-03, 6.46069300e-01,-4.63869478e-02, 5.32897170e-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,
 -2.92797152e-03,-9.17815374e-02, 7.68618322e-02, 6.15298710e-01,
 -3.25953740e-02,-3.68444967e-02, 7.86757601e-01]

qacc:
[ 9.18327605e-01,-2.02483926e+01, 5.20425764e+01,-9.99993751e+01,
 -1.71855549e+00,-7.63823445e+00,-1.26579508e+00,-5.29627279e+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,
  2.83424444e+01, 1.66876207e+01, 3.95108476e+01, 1.18661291e+03,
  6.43581094e+02, 4.46919337e+01]

qfrc_actuator:
[-0.00136731, 0.18362189, 0.01196728, 0.17665946, 0.00114231, 0.20354624,
  0.02796871, 0.1640642 ,-0.00151396, 0.16878428, 0.00564196, 0.16134046,
  0.0002085 ,-0.00165621, 0.        ,-0.00189013, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -3.80255656,  7.75418213, -3.80255656, 16.01678782,
        3.61927021,  7.75418213,  3.61927021, 10.41120971,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.009477311585698554
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.17145354e-14,  5.85726772e-15,  1.00000000e+00,  6.86151703e-29,
        1.00000000e+00, -5.85726772e-15, -1.00000000e+00,  0.00000000e+00,
       -1.17145354e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04234695, -0.11485531,  0.06129589])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.22893095e-04,-2.46268014e-03,-8.37397243e-04,-3.63821067e-04,
 -2.11067150e-04,-3.79406670e-03,-1.67812598e-03,-5.01603950e-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,
  1.42021038e-02, 9.73702275e-03,-4.90847802e+00, 6.37011163e-03,
  2.28182847e-03, 2.82670489e-03]


--- Step 1861 ---
qpos:
[-9.61631672e-03, 6.82385597e-01,-2.35482075e-02, 5.94741802e-01,
  2.97273804e-03, 6.49733781e-01,-4.59687447e-02, 5.36147656e-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,
 -3.07732287e-03,-9.18049982e-02, 7.61329440e-02, 6.15336072e-01,
 -3.32676653e-02,-3.66499384e-02, 7.86709325e-01]

qacc:
[ 6.00210123e-01, 6.97918295e+00,-7.12663099e+01, 1.79689969e+02,
 -1.95365708e+00, 3.05354472e+01,-1.53601190e+02, 2.55123738e+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,
  2.29028318e+01, 1.34495751e+01, 3.37207784e+01, 1.00497887e+03,
  5.45598198e+02, 3.70378984e+01]

qfrc_actuator:
[-0.00132694, 0.18327324, 0.011874  , 0.17704449, 0.00098146, 0.20356667,
  0.02753093, 0.164428  ,-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, -3.98355242,  7.6627728 , -3.98355242, 16.00305358,
        3.82963143,  7.6627728 ,  3.82963143, 10.62722751,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.010671113618038165
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.60100085e-15,  5.20200170e-15,  1.00000000e+00,  1.35304109e-29,
        1.00000000e+00, -5.20200170e-15, -1.00000000e+00,  0.00000000e+00,
       -2.60100085e-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([-0.04003802, -0.11344297,  0.06121699])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.10422219e-05,-1.99581200e-03,-7.33940424e-04, 2.51688532e-04,
 -2.40703147e-04,-2.56798363e-03,-1.46707813e-03, 1.42775097e-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,
  3.36932274e-03, 1.59243541e-03,-4.90575050e+00, 6.49148457e-03,
  2.23742330e-03, 5.78968727e-04]


--- Step 1862 ---
qpos:
[-9.68219967e-03, 6.85595863e-01,-2.34589702e-02, 5.98245903e-01,
  2.99190542e-03, 6.53378866e-01,-4.55598670e-02, 5.39397324e-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,
 -3.15299682e-03,-9.17851747e-02, 7.55158646e-02, 6.15412028e-01,
 -3.36228241e-02,-3.45454755e-02, 7.86730037e-01]

qacc:
[ 9.43863140e-01,-1.12141126e+01,-5.20100614e+00, 7.53596375e+01,
 -1.41293834e+00,-1.57102964e+00,-2.61780504e+01, 3.44779506e+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,
  1.84193506e+01, 1.08210625e+01, 2.79522059e+01, 8.50748171e+02,
  4.62431317e+02, 3.20019011e+01]

qfrc_actuator:
[-0.00122308, 0.1823321 , 0.01176689, 0.17723826, 0.00089595, 0.20265584,
  0.02709251, 0.16439002,-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, -4.29925571,  7.49020542, -4.29925571, 16.34673693,
        4.42562848,  7.49020542,  4.42562848, 11.17660218,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.011409859855870216
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.86519133e-15,  9.73038266e-15,  1.00000000e+00, -4.73401733e-29,
        1.00000000e+00, -9.73038266e-15, -1.00000000e+00,  0.00000000e+00,
        4.86519133e-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([-0.03848295, -0.11248396,  0.06116308])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.28066848e-04,-2.28264682e-03,-6.20215852e-04, 9.46739452e-05,
 -1.76859757e-04,-2.74592643e-03,-1.17111447e-03,-1.90549792e-04,
 -2.28015901e-06,-1.74455022e-03,-5.14304856e-04,-8.14228441e-04,
 -7.77933942e-05,-2.08465161e-04, 2.94846013e-06,-9.00551519e-05,
  2.33899706e-05,-7.73273573e-06,-4.90511107e+00, 6.53019658e-03,
  2.20119765e-03, 2.10857637e-04]


--- Step 1863 ---
qpos:
[-9.74862280e-03, 6.88786984e-01,-2.33719158e-02, 6.01756572e-01,
  3.00954448e-03, 6.57000086e-01,-4.51575083e-02, 5.42644596e-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,
 -3.54949977e-03,-9.16778641e-02, 7.49353303e-02, 6.17056785e-01,
 -3.16633130e-02,-3.10836866e-02, 7.85666699e-01]

qacc:
[-3.22449934e-01,-7.00588288e+00,-2.98132364e+01, 1.36272814e+02,
 -9.82570729e-01,-1.79623236e+01, 2.72295488e+01,-3.80910923e+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,
 -8.02072502e+01, 2.18717815e+01, 9.13625957e+00, 1.25381754e+03,
 -4.47530343e+02,-9.67845744e+02]

qfrc_actuator:
[-0.00131286, 0.18136387, 0.01165023, 0.17756598, 0.00083828, 0.20130205,
  0.02670701, 0.16425729,-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,  0.53309178,  8.61989501,  0.53309178, 40.02074873,
       -1.94094682,  8.61989501, -1.94094682,  8.75640023,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.05258418276002602
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.71725614e-01,  4.35862807e-01,  2.23870647e-01,  4.22163595e-01,
        9.00013118e-01, -1.08417185e-01, -2.48741537e-01,  1.38777878e-17,
       -9.68569898e-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([-0.04031993, -0.10427002,  0.0611282 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.63865360e-05,-2.45160470e-03,-6.78887542e-04, 2.18453525e-04,
 -1.25332421e-04,-3.23996169e-03,-1.12920625e-03,-2.89164178e-04,
 -2.02284432e-05,-1.39179694e-03,-4.69058547e-04, 2.10393230e-04,
 -9.49902244e-05,-1.23179642e-04,-1.25135162e-05,-4.34314716e-05,
  1.37813588e-03, 2.43864527e-03,-4.90573335e+00, 6.51570255e-03,
  2.16951048e-03, 1.00314894e-03]


--- Step 1864 ---
qpos:
[-9.81630452e-03, 6.91960933e-01,-2.32873533e-02, 6.05265657e-01,
  3.02588672e-03, 6.60595283e-01,-4.47616626e-02, 5.45883437e-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,
 -4.19899465e-03,-9.14997245e-02, 7.43834747e-02, 6.19907322e-01,
 -2.78525206e-02,-2.64966420e-02, 7.83732784e-01]

qacc:
[-7.58709182e-01,-1.87295638e+01, 3.87296452e+01,-4.49259885e+01,
 -8.26310225e-01,-3.18601039e+01, 9.08731937e+01,-1.84995879e+02,
 -2.69899277e-01, 1.40084731e+01,-9.20988227e+01, 2.35429298e+02,
 -5.34351801e-01, 6.43791040e-01,-1.36570508e+01, 4.64565508e+01,
 -6.32479825e+01, 1.77072385e+01, 7.16969793e+00, 1.01878710e+03,
 -3.47550228e+02,-7.53235976e+02]

qfrc_actuator:
[-0.00139308, 0.18068964, 0.01158222, 0.17749057, 0.00077979, 0.19990772,
  0.02633643, 0.16382106,-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, -2.307047  , -8.32251831, -2.307047  , 11.90969588,
       -0.90738537, -8.32251831, -0.90738537,  8.88789576,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.051871713697155285
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.71002288e-01,  4.35501144e-01,  2.27362633e-01,  4.21381332e-01,
        9.00188177e-01, -1.09995543e-01, -2.52572339e-01,  2.77555756e-17,
       -9.67578014e-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([-0.04017412, -0.10381687,  0.06110777])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07427761e-04,-2.25789616e-03,-6.66855745e-04,-1.90046403e-04,
 -1.06934937e-04,-3.55001274e-03,-1.21223661e-03,-6.12223416e-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,
  1.28013772e-02, 4.28943403e-03,-4.90620562e+00, 7.23484050e-03,
  5.60786740e-05, 1.03130467e-03]


--- Step 1865 ---
qpos:
[-9.88483008e-03, 6.95119499e-01,-2.32052650e-02, 6.08763503e-01,
  3.04123537e-03, 6.64161452e-01,-4.43716496e-02, 5.49105847e-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,
 -4.82900069e-03,-9.13703809e-02, 7.38862137e-02, 6.22328947e-01,
 -2.40969953e-02,-2.03318205e-02, 7.82120601e-01]

qacc:
[-5.04077137e-01,-3.43539264e+01, 1.24581914e+02,-2.63064941e+02,
 -6.24509636e-01,-5.22947423e+01, 1.81691986e+02,-3.85832600e+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,
  4.87220749e+00,-1.21989838e+01, 1.36486209e+01, 5.99449369e+02,
  5.00537270e+02, 2.90501795e+02]

qfrc_actuator:
[-1.41339389e-03, 1.80090981e-01, 1.15090903e-02, 1.76930277e-01,
  7.38934688e-04, 1.98305513e-01, 2.59774062e-02, 1.62978957e-01,
 -1.61451879e-03, 1.67614175e-01, 5.78114804e-03, 1.60519439e-01,
  1.94066074e-04,-1.78912447e-03, 0.00000000e+00,-1.76911284e-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, -3.42346618, -7.92884961, -3.42346618,  1.78855071,
        2.95670332, -7.92884961,  2.95670332,  7.35973786,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.014857423011585403
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.63538312e-01, -2.81769156e-01,  7.76550522e-01, -1.65493128e-01,
        9.59482226e-01,  2.28047982e-01, -8.09343311e-01, -2.77555756e-17,
       -5.87335853e-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([-0.03766449, -0.11064056,  0.06109909])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.23739586e-05,-2.08681330e-03,-6.44315274e-04,-6.75614278e-04,
 -8.25432553e-05,-3.95910170e-03,-1.28362482e-03,-1.03922903e-03,
 -3.57145753e-05,-9.08551175e-04,-9.49229502e-05,-2.22904180e-04,
 -6.54455612e-05, 2.72335532e-04, 1.52893304e-05,-1.07006522e-04,
  3.03081108e-02, 5.58493511e-03,-4.90520771e+00, 6.30212714e-03,
 -3.48616156e-03,-5.51804563e-05]


--- Step 1866 ---
qpos:
[-9.95360766e-03, 6.98262963e-01,-2.31260872e-02, 6.12256674e-01,
  3.05626984e-03, 6.67693476e-01,-4.39876385e-02, 5.52320861e-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,
 -5.44136243e-03,-9.12779190e-02, 7.34256394e-02, 6.24387857e-01,
 -2.03636110e-02,-1.28996974e-02, 7.80742419e-01]

qacc:
[-1.46300096e-01,-2.05941429e+01, 5.80852141e+01,-1.07725199e+02,
 -1.85872694e-01,-4.20123566e+01, 1.07660191e+02,-1.79711713e+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,
  4.41107691e+00,-9.22043106e+00, 9.17169404e+00, 4.86725490e+02,
  3.96497196e+02, 2.30150139e+02]

qfrc_actuator:
[-1.39766271e-03, 1.79471739e-01, 1.14161071e-02, 1.76710677e-01,
  7.44383814e-04, 1.96361198e-01, 2.55917325e-02, 1.62597047e-01,
 -1.59846906e-03, 1.66905141e-01, 5.84428736e-03, 1.60192140e-01,
  1.82829621e-04,-1.50585672e-03, 0.00000000e+00,-1.94536889e-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, -3.16218367, -8.03662686, -3.16218367,  1.49995809,
        2.80797223, -8.03662686,  2.80797223,  7.53150658,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.013918530451397243
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.54612714, -0.27306357,  0.79194787, -0.15501876,  0.96199599,
        0.22479523, -0.82323407,  0.        , -0.5677021 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03871385, -0.11044705,  0.06110317])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.20512378e-05,-2.02531533e-03,-6.42356798e-04,-3.37773902e-04,
 -2.70981104e-05,-4.55921983e-03,-1.41529085e-03,-6.05740916e-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,
  3.95500379e-02, 1.16349252e-02,-4.91029465e+00, 8.04704852e-03,
 -3.60883853e-03, 2.22476162e-03]


--- Step 1867 ---
qpos:
[-1.00221466e-02, 7.01393597e-01,-2.30505917e-02, 6.15749431e-01,
  3.07158337e-03, 6.71188210e-01,-4.36108627e-02, 5.55539071e-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,
 -5.91791447e-03,-9.12007034e-02, 7.30634626e-02, 6.26256160e-01,
 -1.58862264e-02,-4.80093292e-03, 7.79440698e-01]

qacc:
[ 1.46592628e-01,-7.58738628e+00, 4.82199843e+00, 1.14646545e+00,
  1.90914659e-01,-2.34094746e+01, 3.83798256e+00, 7.59304869e+01,
  2.38142316e-01,-5.71169439e+00,-2.43957275e+01, 1.28132714e+02,
 -2.63440463e+00, 5.50454306e+00, 2.21450626e+00,-7.71230437e+00,
  3.39524253e+01,-3.81159402e+00, 2.45993877e+01, 4.91080407e+02,
 -8.43218141e+01, 1.00265253e+02]

qfrc_actuator:
[-1.36056176e-03, 1.79094553e-01, 1.13303925e-02, 1.76711180e-01,
  7.77333268e-04, 1.94388124e-01, 2.51925723e-02, 1.62755079e-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, -0.95644646, -8.58323873, -0.95644646,  1.25966197,
        0.82199977, -8.58323873,  0.82199977,  8.54476665,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.010601576633872886
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03611252, -0.09228593,  0.06110448])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.99679361e-05,-1.73479961e-03,-6.10900878e-04,-1.07900906e-04,
  2.16833912e-05,-4.93049792e-03,-1.55129797e-03,-8.39167679e-05,
  3.33970378e-05,-1.58027425e-03,-3.27058944e-04, 2.66922059e-04,
  7.97181518e-05, 2.41414258e-04,-3.18477560e-05,-4.51815765e-05,
  4.84868983e-02, 1.84347775e-02,-4.91517968e+00, 8.94571903e-03,
 -3.48095601e-03, 4.60080361e-03]


--- Step 1868 ---
qpos:
[-1.00900999e-02, 7.04511450e-01,-2.29768271e-02, 6.19232063e-01,
  3.08802581e-03, 6.74645593e-01,-4.32420688e-02, 5.58762387e-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,
 -6.71968776e-03,-9.13393608e-02, 7.27779142e-02, 6.26739834e-01,
 -1.01560313e-02, 5.00792126e-03, 7.79146300e-01]

qacc:
[ 3.56818346e-01,-3.08556581e+01, 1.13376814e+02,-2.38161858e+02,
  7.24707740e-01,-1.79661084e+01,-2.10282183e+01, 1.27613991e+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,
 -8.13053136e+01,-5.39682336e+01, 1.91570802e+01, 1.05021866e+03,
  3.59123012e+01, 8.65627065e+02]

qfrc_actuator:
[-1.31102879e-03, 1.78546823e-01, 1.12687274e-02, 1.76202260e-01,
  8.61820625e-04, 1.92609876e-01, 2.48244598e-02, 1.63016413e-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, 5.00577845, 7.03768136, 5.00577845, 7.87072112,
       0.544588  , 7.03768136, 0.544588  , 8.24900781, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.060155866146028164
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.81832398e-01, -4.40916199e-01,  1.67225979e-01, -4.33195851e-01,
        8.97548275e-01,  8.21489440e-02, -1.86314189e-01, -1.38777878e-17,
       -9.82490215e-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([-0.02225942, -0.08189275,  0.06111554])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.98364280e-05,-1.72763181e-03,-5.16461910e-04,-6.00330423e-04,
  9.21755880e-05,-4.94797058e-03,-1.59385845e-03, 1.18889788e-05,
 -5.22114644e-06,-1.48115520e-03,-2.90774059e-04, 3.15236074e-04,
  8.57660938e-05,-2.75637501e-05,-2.23945554e-05, 1.02960459e-05,
  5.86050534e-02, 2.00264321e-02,-4.91857275e+00, 8.48961850e-03,
 -3.66687279e-03, 4.64380146e-03]


--- Step 1869 ---
qpos:
[-1.01574477e-02, 7.07613324e-01,-2.29033417e-02, 6.22708274e-01,
  3.10607381e-03, 6.78066632e-01,-4.28825671e-02, 5.62001590e-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,
 -7.37489661e-03,-9.14411485e-02, 7.26194045e-02, 6.27511332e-01,
 -4.96675878e-03, 1.19061760e-02, 7.78500548e-01]

qacc:
[ 3.69960053e-01,-3.21606541e+01, 1.00894013e+02,-1.72941654e+02,
  1.01726545e+00, 6.61855419e+00,-1.38134939e+02, 3.94420061e+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,
  3.66411117e+01, 9.21742187e+00, 3.17596595e+01,-1.30112573e+03,
 -7.00318277e+02,-2.38367493e+02]

qfrc_actuator:
[-1.27223168e-03, 1.77653312e-01, 1.12210138e-02, 1.75876882e-01,
  9.58516614e-04, 1.90999006e-01, 2.44431111e-02, 1.63833612e-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,  2.19581171, -8.35255576,  2.19581171, 22.49039032,
        3.64209889, -8.35255576,  3.64209889,  9.59383864,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.01119417426603607
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.95893220e-15,  9.91786440e-15,  1.00000000e+00,  4.91820171e-29,
        1.00000000e+00, -9.91786440e-15, -1.00000000e+00,  0.00000000e+00,
       -4.95893220e-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([ 0.02302208, -0.07247128,  0.06104997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.15947957e-05,-2.06834299e-03,-5.05502494e-04,-4.23678244e-04,
  1.32148700e-04,-4.79353324e-03,-1.61172928e-03, 5.68134330e-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,
  8.20183207e-02, 2.96602524e-02,-4.93021189e+00, 6.87608190e-03,
  2.68624080e-04, 6.16534541e-03]


--- Step 1870 ---
qpos:
[-1.02240534e-02, 7.10697000e-01,-2.28311629e-02, 6.26190721e-01,
  3.12535064e-03, 6.81455336e-01,-4.25338104e-02, 5.65257004e-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,
 -7.91519453e-03,-9.15165510e-02, 7.25707536e-02, 6.28540349e-01,
 -2.06737792e-04, 1.63958642e-02, 7.77604117e-01]

qacc:
[ 4.48228055e-01,-8.83256842e+00,-2.03263233e+01, 1.19858211e+02,
  7.73075737e-01, 1.64198617e+01,-1.65342897e+02, 4.22295189e+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,
  2.87277329e+01, 6.59631597e+00, 2.74647354e+01,-1.07011361e+03,
 -5.89530754e+02,-1.87427539e+02]

qfrc_actuator:
[-1.22237761e-03, 1.76702665e-01, 1.11454062e-02, 1.76194555e-01,
  1.00835167e-03, 1.89751033e-01, 2.40405713e-02, 1.64669714e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004283610270422039
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04791933, -0.05636229,  0.04978582])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -1.60035772, -8.48679162, -1.60035772, 24.07341264,
       -2.91097057, -8.48679162, -2.91097057,  9.18528653,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0124283610270422
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.46649008e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.46649008e-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([ 0.02059387, -0.073714  ,  0.06099034])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.34621296e-05,-2.30537126e-03,-5.94668775e-04, 2.11018879e-04,
  1.01302071e-04,-4.32467332e-03,-1.58454684e-03, 6.04458906e-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,
  4.81745855e-02, 1.03588185e-02,-4.91903521e+00, 6.47549458e-03,
 -2.03963319e-04, 8.15834913e-04]


--- Step 1871 ---
qpos:
[-1.02891733e-02, 7.13763032e-01,-2.27610360e-02, 6.29672574e-01,
  3.14621728e-03, 6.84816763e-01,-4.21953937e-02, 5.68514333e-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,
 -8.36594956e-03,-9.15731743e-02, 7.26138687e-02, 6.29775142e-01,
  4.15219581e-03, 1.89008734e-02, 7.76536404e-01]

qacc:
[ 8.86106211e-01,-1.87094215e+01, 3.47380031e+01,-2.70302440e+01,
  9.91824416e-01,-4.17035558e+00,-3.98025413e+01, 9.27603776e+01,
  2.82534964e-01,-2.75189000e+01, 7.24030805e+01,-7.83447870e+01,
  2.02049325e+00,-5.13936480e+00, 1.66858743e+01,-5.70824179e+01,
  2.23857209e+01, 4.69478733e+00, 2.29414873e+01,-8.96284914e+02,
 -4.69451994e+02,-1.37326830e+02]

qfrc_actuator:
[-1.11301034e-03, 1.75886119e-01, 1.10542015e-02, 1.76160113e-01,
  1.10081519e-03, 1.88802336e-01, 2.36659918e-02, 1.64782619e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012311786283875914
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04717515, -0.056621  ,  0.04938441])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006261200226784086
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05940405, -0.11225601,  0.04968694])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.32077595,  0.37521042, -4.30445373,  0.37521042,  0.05323436,
       -0.37199286, -4.30445373, -0.37199286,  4.28835009,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00021940012801134612
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04539254, -0.11573295,  0.0498903 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -2.35827372,  8.30814792, -2.35827372, 19.34592436,
        3.03991646,  8.30814792,  3.03991646,  9.4992461 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.013231178628387588
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.19548045e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.19548045e-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([ 0.01903605, -0.07446206,  0.06095642])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.28036036e-04,-2.29621474e-03,-6.47546318e-04,-1.39047662e-04,
  1.32028874e-04,-3.75568347e-03,-1.45622792e-03,-9.86094425e-05,
  4.03717103e-05,-1.79662037e-03,-2.97664940e-04,-1.46309595e-04,
 -1.78200728e-04,-2.99171169e-04, 1.68374438e-05,-2.73115561e-04,
  2.71517591e-02, 6.81083898e-04,-4.91159911e+00, 5.58969225e-03,
 -1.40996433e-04,-1.88220609e-03]


--- Step 1872 ---
qpos:
[-1.03525075e-02, 7.16812452e-01,-2.26929994e-02, 6.33143310e-01,
  3.16826545e-03, 6.88154627e-01,-4.18657549e-02, 5.71765327e-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,
 -8.74742287e-03,-9.16165168e-02, 7.27305510e-02, 6.31182666e-01,
  8.18641065e-03, 1.97481099e-02, 7.75339563e-01]

qacc:
[ 1.06034969e+00,-3.67020576e+01, 1.29009166e+02,-2.62339231e+02,
  7.34751645e-01,-1.86140674e+01, 4.25803156e+01,-1.07863058e+02,
  2.42378692e-01,-5.33715454e+01, 1.97956517e+02,-3.79544617e+02,
  1.00308243e+00,-3.03256830e+00, 3.55799115e+00,-1.30616068e+01,
  1.73204295e+01, 3.32020839e+00, 1.83917786e+01,-7.45054050e+02,
 -3.97834673e+02,-1.07353149e+02]

qfrc_actuator:
[-1.00448075e-03, 1.75156760e-01, 1.09726591e-02, 1.75599189e-01,
  1.14699277e-03, 1.88005577e-01, 2.33653393e-02, 1.64487171e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016782215068863252
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04660525, -0.05682784,  0.04916089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001279385002840007
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05864952, -0.11250496,  0.04936031])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.54958074,  0.44005448, -7.53674475,  0.44005448,  0.04260425,
       -0.43831638, -7.53674475, -0.43831638,  7.52398838,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007394449848863727
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04463093, -0.1159349 ,  0.04963028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -1.81942861,  8.4425385 , -1.81942861, 30.82997771,
        4.78288566,  8.4425385 ,  4.78288566,  9.66711037,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.013678221506886322
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.11672061e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.11672061e-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([ 0.01811757, -0.07485141,  0.06094119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.54491259e-04,-2.22703752e-03,-6.53312235e-04,-6.74066744e-04,
  9.83238682e-05,-3.28686942e-03,-1.27394958e-03,-4.95203236e-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,
  1.42196783e-02,-2.91137601e-03,-4.90698316e+00, 4.57018547e-03,
  2.34229001e-04,-2.82070840e-03]


--- Step 1873 ---
qpos:
[-1.04147612e-02, 7.19846329e-01,-2.26281674e-02, 6.36610582e-01,
  3.18994789e-03, 6.91470338e-01,-4.15434246e-02, 5.75004033e-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,
 -9.07566254e-03,-9.16505025e-02, 7.29034647e-02, 6.32726547e-01,
  1.19431173e-02, 1.92147286e-02, 7.74044748e-01]

qacc:
[ 6.39663678e-01,-1.80980387e+01, 4.48658097e+01,-7.71238271e+01,
 -2.19453168e-01,-3.16259858e+01, 1.08438874e+02,-2.57520876e+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,
  1.33084114e+01, 2.33917341e+00, 1.40578835e+01,-6.22396198e+02,
 -3.29877525e+02,-8.08702203e+01]

qfrc_actuator:
[-9.68358681e-04, 1.74556750e-01, 1.08800205e-02, 1.75443242e-01,
  1.07640798e-03, 1.87111897e-01, 2.30761116e-02, 1.63883185e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018334484266825796
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04617887, -0.05699154,  0.04908328])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017282043544361442
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05801114, -0.11271542,  0.0491359 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  0.20361948, -8.63396294,  0.20361948,  0.02391832,
       -0.20311202, -8.63396294, -0.20311202,  8.63157353,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010986699129238026
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04398375, -0.1160937 ,  0.04945067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -1.21844064,  8.54998124, -1.21844064, 26.10234953,
        2.48904254,  8.54998124,  2.48904254,  8.99107208,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.013833448426682576
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.00961569e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.00961569e-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([ 0.01768499, -0.07497155,  0.06094009])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.35345812e-05,-2.07975479e-03,-6.68131353e-04,-2.77829566e-04,
 -3.16176466e-05,-3.09985066e-03,-1.15800625e-03,-7.87745375e-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,
  6.66079966e-03,-3.04650449e-03,-4.90435008e+00, 3.52164508e-03,
  7.23102188e-04,-2.79883498e-03]


--- Step 1874 ---
qpos:
[-1.04765244e-02, 7.22867546e-01,-2.25668953e-02, 6.40077635e-01,
  3.21067194e-03, 6.94765074e-01,-4.12286630e-02, 5.78229754e-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,
 -9.35205160e-03,-9.16662550e-02, 7.31291889e-02, 6.34047174e-01,
  1.41884789e-02, 1.84007876e-02, 7.72945198e-01]

qacc:
[ 2.89992539e-01,-7.33953351e+00, 3.72661586e+00, 4.54692977e+00,
 -5.82268729e-01,-3.06358058e+01, 1.09228252e+02,-2.68659529e+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,
  1.29626521e+01, 4.55831283e+00, 1.32026021e+01,-5.87262204e+02,
  4.99479905e+02, 1.35336176e+02]

qfrc_actuator:
[-9.57937493e-04, 1.74235202e-01, 1.08181800e-02, 1.75456064e-01,
  1.00785092e-03, 1.86239092e-01, 2.27602754e-02, 1.63244584e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020735767841266114
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05683202, -0.1134944 ,  0.04896321])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017514506378580041
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04586955, -0.05712029,  0.04912427])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  1.21933452, -8.54985381,  1.21933452, 36.37327047,
        3.95568962, -8.54985381,  3.95568962,  9.20050298,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.014073576784126608
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.97217637e-15,  7.88870549e-15,  1.00000000e+00, -1.55579186e-29,
        1.00000000e+00, -7.88870549e-15, -1.00000000e+00,  0.00000000e+00,
        1.97217637e-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([ 0.02246422, -0.10153073,  0.06093841])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.23839542e-05,-1.70644310e-03,-5.96014198e-04,-9.53868559e-05,
 -8.17526286e-05,-2.96151287e-03,-1.14179619e-03,-8.17208787e-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,
  2.56002662e-03,-1.16646249e-03,-4.90306510e+00, 2.55024551e-03,
  1.24734301e-03,-2.20056279e-03]


--- Step 1875 ---
qpos:
[-1.05378130e-02, 7.25878279e-01,-2.25077852e-02, 6.43531271e-01,
  3.23064213e-03, 6.98039705e-01,-4.09213726e-02, 5.81443228e-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,
 -9.58921649e-03,-9.16668910e-02, 7.33929625e-02, 6.35191112e-01,
  1.51722566e-02, 1.73625673e-02, 7.72010748e-01]

qacc:
[ 2.81506574e-01,-3.26439940e+01, 1.32203592e+02,-3.00322827e+02,
 -4.55379310e-01,-2.84053269e+01, 1.00660798e+02,-2.50401288e+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,
  9.80604210e+00, 3.77914148e+00, 9.51235638e+00,-4.86895796e+02,
  4.19263789e+02, 1.10610915e+02]

qfrc_actuator:
[-9.27273860e-04, 1.73924294e-01, 1.07764554e-02, 1.74787173e-01,
  9.76754742e-04, 1.85404247e-01, 2.24494102e-02, 1.62644083e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002095529174165972
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05641725, -0.11364223,  0.04895224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015199699037925507
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04565559, -0.05723145,  0.04924002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  0.07759502,  8.63601505,  0.07759502, 46.63305021,
       -0.34140211,  8.63601505, -0.34140211,  8.63943115,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.014095529174165969
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.96910490e-15,  7.87641961e-15,  1.00000000e+00, -1.55094965e-29,
        1.00000000e+00, -7.87641961e-15, -1.00000000e+00,  0.00000000e+00,
        1.96910490e-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([ 0.02238798, -0.1017024 ,  0.06094659])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.11833588e-05,-1.46579368e-03,-4.85684996e-04,-7.56857303e-04,
 -6.46378385e-05,-2.84318407e-03,-1.10718933e-03,-7.73581741e-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,
  1.00204872e-03, 5.79155737e-04,-4.90346444e+00, 4.01283559e-03,
  1.88311058e-03,-7.05091653e-04]


--- Step 1876 ---
qpos:
[-1.05982938e-02, 7.28879112e-01,-2.24500432e-02, 6.46966754e-01,
  3.24937297e-03, 7.01292427e-01,-4.06196887e-02, 5.84640716e-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,
 -9.79686291e-03,-9.16549923e-02, 7.36812590e-02, 6.36192639e-01,
  1.51095350e-02, 1.61443534e-02, 7.71213322e-01]

qacc:
[ 4.75086004e-01,-4.27575320e+01, 1.81209256e+02,-4.11839078e+02,
 -7.44864820e-01,-4.26581037e+01, 1.57761845e+02,-3.57242083e+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,
  7.37961724e+00, 3.13365113e+00, 6.13071494e+00,-4.01951440e+02,
  3.49065279e+02, 9.07695875e+01]

qfrc_actuator:
[-8.66892372e-04, 1.73551646e-01, 1.07468265e-02, 1.73882313e-01,
  8.97303377e-04, 1.84297903e-01, 2.21622103e-02, 1.61840116e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019055533650849943
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05610878, -0.11377095,  0.04904722])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00117079658296948
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0455176 , -0.05732977,  0.0494146 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  1.35160414,  8.52994391,  1.35160414, 48.07217202,
       -6.24876347,  8.52994391, -6.24876347,  9.6265055 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.013905553365084991
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  3.9920131e-15,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -3.9920131e-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([ 0.02267058, -0.10195997,  0.06096371])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.05672608e-05,-1.39557436e-03,-4.33108937e-04,-9.94303148e-04,
 -1.06163522e-04,-3.03890012e-03,-1.05336409e-03,-9.70177721e-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,
  8.00440094e-04, 1.34762775e-03,-4.90417722e+00, 5.00590729e-03,
  2.29555152e-03,-3.10844818e-05]


--- Step 1877 ---
qpos:
[-1.06582329e-02, 7.31869507e-01,-2.23937610e-02, 6.50391593e-01,
  3.26592144e-03, 7.04519927e-01,-4.03222997e-02, 5.87819085e-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,
 -9.98237571e-03,-9.16327079e-02, 7.39819842e-02, 6.37077458e-01,
  1.41865347e-02, 1.47814653e-02, 7.70527457e-01]

qacc:
[ 3.18629162e-01,-2.93604302e+01, 1.12660580e+02,-2.43477123e+02,
 -1.30811379e+00,-5.62795119e+01, 2.08057919e+02,-4.47293192e+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,
  5.53340569e+00, 2.59644767e+00, 3.10719706e+00,-3.29457939e+02,
  2.87493916e+02, 7.46396495e+01]

qfrc_actuator:
[-8.42461081e-04, 1.73110058e-01, 1.07067732e-02, 1.73360801e-01,
  7.54120668e-04, 1.82896484e-01, 2.18903333e-02, 1.60869447e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001547179831132714
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05588544, -0.11388542,  0.04922641])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007314213169796191
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04543943, -0.05741831,  0.04963429])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   3.21895773,   8.01405565,   3.21895773,
        43.78457714, -14.11777239,   8.01405565, -14.11777239,
        14.30696471,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.01354717983113271
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.09761677e-15,  6.14642515e-15,  1.00000000e+00,  2.51856948e-29,
        1.00000000e+00, -6.14642515e-15, -1.00000000e+00,  0.00000000e+00,
       -4.09761677e-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([ 0.02323677, -0.10228723,  0.06098789])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.73181823e-05,-1.42306594e-03,-4.30486155e-04,-6.11554977e-04,
 -1.87019692e-04,-3.43860481e-03,-1.07708844e-03,-1.14641589e-03,
 -2.70292498e-05,-1.74572643e-03,-3.33558404e-04,-8.09201429e-04,
 -8.78195117e-05,-5.77465831e-05,-3.10426420e-05,-8.12671370e-05,
  1.36943564e-03, 1.50708661e-03,-4.90504128e+00, 5.67762659e-03,
  2.55895612e-03, 1.35494834e-04]


--- Step 1878 ---
qpos:
[-1.07175859e-02, 7.34849716e-01,-2.23404602e-02, 6.53823241e-01,
  3.27988693e-03, 7.07725369e-01,-4.00333214e-02, 5.90989556e-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,
 -1.01513101e-02,-9.16018375e-02, 7.42845627e-02, 6.37865224e-01,
  1.25645880e-02, 1.33023643e-02, 7.69930604e-01]

qacc:
[ 3.39395366e-01, 7.27487920e+00,-6.19901535e+01, 1.60217810e+02,
 -1.55013035e+00,-2.04657468e+01, 5.61179428e+01,-1.43547181e+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,
  4.14461087e+00, 2.14649326e+00, 4.63318874e-01,-2.67384022e+02,
  2.33609280e+02, 6.14033981e+01]

qfrc_actuator:
[-8.04151655e-04, 1.72755874e-01, 1.06255989e-02, 1.73725897e-01,
  6.09643181e-04, 1.82075709e-01, 2.15753232e-02, 1.60500638e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010580748862842049
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05572936, -0.11398879,  0.04947096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002255509943214079
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04540775, -0.05749905,  0.04988722])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.49848294,   6.6598395 ,   5.49848294,
        29.9856159 , -17.62632557,   6.6598395 , -17.62632557,
        23.18897417,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.013058074886284202
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.25109763e-15,  8.50219526e-15,  1.00000000e+00,  3.61436622e-29,
        1.00000000e+00, -8.50219526e-15, -1.00000000e+00,  0.00000000e+00,
       -4.25109763e-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([ 0.02402855, -0.10267131,  0.06101768])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.13645019e-05,-1.33534601e-03,-4.64026672e-04, 2.82507537e-04,
 -2.21775114e-04,-3.09107503e-03,-1.20914270e-03,-5.63931006e-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,
  2.32990166e-03, 1.31051656e-03,-4.90593424e+00, 6.12873451e-03,
  2.72240504e-03, 9.59817786e-06]


--- Step 1879 ---
qpos:
[-1.07758407e-02, 7.37819039e-01,-2.22896263e-02, 6.57269834e-01,
  3.29131734e-03, 7.10914080e-01,-3.97545106e-02, 5.94165903e-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,
 -1.03077933e-02,-9.15638974e-02, 7.45799383e-02, 6.38571276e-01,
  1.03829337e-02, 1.17301469e-02, 7.69403226e-01]

qacc:
[ 6.32448159e-01, 1.99039862e+01,-1.29514783e+02, 3.34637438e+02,
 -1.52041923e+00, 1.63991339e+01,-1.03362498e+02, 1.99679485e+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,
  3.11278945e+00, 1.76742618e+00,-1.80073536e+00,-2.14305085e+02,
  1.86750386e+02, 5.04766678e+01]

qfrc_actuator:
[-7.22271174e-04, 1.72298280e-01, 1.05396102e-02, 1.74485495e-01,
  4.83415027e-04, 1.81770018e-01, 2.12757723e-02, 1.60844424e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047072050815871735
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0556256 , -0.11408304,  0.04976464])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.57192333,   4.15364346,   7.57192333,
        14.5396997 , -10.76154188,   4.15364346, -10.76154188,
        28.25421741,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.012470720508158714
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.67697803e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.67697803e-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([ 0.0249997 , -0.10310152,  0.0610519 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.68023468e-05,-1.36249580e-03,-4.25775331e-04, 6.98479642e-04,
 -2.18157673e-04,-2.38535796e-03,-1.11936889e-03, 1.70176785e-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,
  3.43844434e-03, 9.29684386e-04,-4.90677176e+00, 6.42851338e-03,
  2.81881949e-03,-2.63626840e-04]


--- Step 1880 ---
qpos:
[-1.08326902e-02, 7.40774966e-01,-2.22401479e-02, 6.60735460e-01,
  3.30037276e-03, 7.14085531e-01,-3.94825589e-02, 5.97347299e-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,
 -1.04548524e-02,-9.15201693e-02, 7.48605116e-02, 6.39207835e-01,
  7.76081321e-03, 1.00836246e-02, 7.68928758e-01]

qacc:
[ 8.07805435e-01, 2.10687074e+01,-1.49453371e+02, 4.09816357e+02,
 -1.41504354e+00, 5.19161075e+00,-6.35133729e+01, 1.48478284e+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,
  2.35602695e+00, 1.44698388e+00,-3.70056120e+00,-1.69170026e+02,
  1.46406218e+02, 4.14300882e+01]

qfrc_actuator:
[-6.32747347e-04, 1.71570385e-01, 1.04514110e-02, 1.75435428e-01,
  3.69121745e-04, 1.81049015e-01, 2.09906179e-02, 1.61108079e-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,  8.59365278,  0.85785123,  8.59365278,  8.77197336,
       -1.35849066,  0.85785123, -1.35849066, 22.24524675,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.011812944642595483
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.69917983e-15,  7.04876975e-15,  1.00000000e+00,  3.31234367e-29,
        1.00000000e+00, -7.04876975e-15, -1.00000000e+00,  0.00000000e+00,
       -4.69917983e-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([ 0.02611236, -0.10356869,  0.06108957])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.24204762e-04,-1.62397532e-03,-4.15076945e-04, 8.98162820e-04,
 -2.05027264e-04,-2.35986072e-03,-9.26768267e-04, 1.35502691e-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,
  4.54330576e-03, 4.78101672e-04,-4.90750230e+00, 6.62491651e-03,
  2.87050767e-03,-5.89118366e-04]


--- Step 1881 ---
qpos:
[-1.08877600e-02, 7.43717439e-01,-2.21923883e-02, 6.64218973e-01,
  3.30762356e-03, 7.17238627e-01,-3.92165872e-02, 6.00526761e-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,
 -1.05946797e-02,-9.14717368e-02, 7.51200339e-02, 6.39784810e-01,
  4.79920075e-03, 8.37812628e-03, 7.68493442e-01]

qacc:
[ 1.01876390e+00, 1.98503629e+01,-1.41847859e+02, 3.86652189e+02,
 -1.06845514e+00,-1.13502253e+01, 1.27019247e+01,-2.20359104e+01,
  7.95010767e-02,-2.09286498e+01, 5.61848809e+01,-6.08821673e+01,
 -2.58484120e-02, 4.19936525e-01,-1.24517169e+01, 4.27517348e+01,
  1.80794531e+00, 1.17610870e+00,-5.26275924e+00,-1.31144086e+02,
  1.12126320e+02, 3.39380822e+01]

qfrc_actuator:
[-5.21631088e-04, 1.70953462e-01, 1.03795134e-02, 1.76329723e-01,
  2.98348606e-04, 1.80121552e-01, 2.06793547e-02, 1.61002584e-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,  8.43030109, -1.87531343,  8.43030109,  8.86941715,
        1.04767091, -1.87531343,  1.04767091, 13.34607298,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.011108364595283214
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.99723886e-15,  7.49585829e-15,  1.00000000e+00,  3.74585943e-29,
        1.00000000e+00, -7.49585829e-15, -1.00000000e+00,  0.00000000e+00,
       -4.99723886e-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([ 0.02733476, -0.10406477,  0.06112988])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.57833441e-04,-1.64820959e-03,-4.43318896e-04, 8.37813006e-04,
 -1.56429472e-04,-2.51347387e-03,-9.25324971e-04,-2.26902819e-04,
  1.11983658e-05,-1.25725832e-03,-1.79188927e-04,-1.05000589e-04,
  3.74012320e-05, 4.78124742e-05, 8.45829829e-06, 2.09841366e-04,
  5.55564532e-03, 2.72355548e-05,-4.90810056e+00, 6.75119482e-03,
  2.89266861e-03,-9.07924112e-04]


--- Step 1882 ---
qpos:
[-1.09405543e-02, 7.46647029e-01,-2.21459718e-02, 6.67702188e-01,
  3.31443146e-03, 7.20373214e-01,-3.89558203e-02, 6.03700479e-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,
 -1.07288457e-02,-9.14195122e-02, 7.53534729e-02, 6.40310360e-01,
  1.58237643e-03, 6.62611022e-03, 7.68086084e-01]

qacc:
[ 1.30000536e+00,-1.38341046e+01, 2.55181719e+01,-1.80418264e+01,
 -2.57206561e-01,-2.05978148e+01, 5.57061652e+01,-1.16685092e+02,
  3.48634203e-01,-3.98925617e+01, 1.44138961e+02,-2.68270196e+02,
 -4.24228553e-01, 1.15852379e+00,-1.05186313e+01, 3.66109205e+01,
  1.41531534e+00, 9.48036580e-01,-6.52084020e+00,-9.95090144e+01,
  8.34665131e+01, 2.77458946e+01]

qfrc_actuator:
[-3.80743322e-04, 1.70337528e-01, 1.03005496e-02, 1.76296536e-01,
  3.25077705e-04, 1.79273491e-01, 2.04430541e-02, 1.60716067e-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,  7.90029232, -3.48886201,  7.90029232,  8.59630934,
       -0.09070024, -3.48886201, -0.09070024,  8.43097907,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.010376784472156841
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.3495523e-15,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        5.3495523e-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([ 0.02863978, -0.10458253,  0.06117211])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.02480813e-04,-1.66799208e-03,-4.60224669e-04,-9.25200198e-05,
 -3.89996444e-05,-2.53238943e-03,-8.92614674e-04,-4.21059006e-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,
  6.42990679e-03,-3.81566250e-04,-4.90856074e+00, 6.83036010e-03,
  2.89567011e-03,-1.18684348e-03]


--- Step 1883 ---
qpos:
[-1.09910672e-02, 7.49560862e-01,-2.20988517e-02, 6.71174619e-01,
  3.32182458e-03, 7.23487631e-01,-3.86994027e-02, 6.06868219e-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,
 -1.08584675e-02,-9.13642575e-02, 7.55568646e-02, 6.40791266e-01,
 -1.82054290e-03, 4.83764588e-03, 7.67697751e-01]

qacc:
[ 1.30355534e+00,-4.24363781e+01, 1.47194868e+02,-2.72787409e+02,
  3.51505723e-01,-2.55243273e+01, 7.02068526e+01,-1.32760033e+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,
  1.13607173e+00, 7.57516983e-01,-7.51181362e+00,-7.36052502e+01,
  5.99626477e+01, 2.26483124e+01]

qfrc_actuator:
[-2.58705691e-04, 1.69407451e-01, 1.02709159e-02, 1.75735643e-01,
  3.91915637e-04, 1.78249783e-01, 2.02178424e-02, 1.60414286e-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, -0.10008985, -8.63578363, -0.10008985, 85.42220799,
       -0.88995789, -8.63578363, -0.88995789,  8.64667836,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.009634570570957145
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.76166325e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.76166325e-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([ 0.030004  , -0.1051155 ,  0.06121564])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.03430957e-04,-2.03055352e-03,-4.46648669e-04,-6.41238617e-04,
  5.01041325e-05,-2.71844232e-03,-8.87274865e-04,-4.39801476e-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,
  7.14982622e-03,-7.28048794e-04,-4.90889036e+00, 6.87826440e-03,
  2.88656666e-03,-1.41054177e-03]


--- Step 1884 ---
qpos:
[-1.10404220e-02, 7.52455336e-01,-2.20507146e-02, 6.74638156e-01,
  3.32988778e-03, 7.26577480e-01,-3.84462331e-02, 6.10028073e-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,
 -1.09843389e-02,-9.13066019e-02, 7.57271623e-02, 6.41233190e-01,
 -5.35406843e-03, 3.02080385e-03, 7.67321448e-01]

qacc:
[ 6.65868395e-01,-4.45500743e+01, 1.42602189e+02,-2.40130038e+02,
  4.03336698e-01,-3.77628848e+01, 1.09938491e+02,-1.94211492e+02,
  8.57384800e-03,-1.40164908e+00,-3.09104529e+01, 1.09384486e+02,
 -7.87949110e-01, 1.88680611e+00, 6.56403346e+00,-2.26836402e+01,
  9.37588022e-01, 6.00220974e-01,-8.27347715e+00,-5.28034112e+01,
  4.11245183e+01, 1.84759319e+01]

qfrc_actuator:
[-2.37657287e-04, 1.68261411e-01, 1.02516181e-02, 1.75277042e-01,
  4.28710014e-04, 1.76792451e-01, 1.99650053e-02, 1.59999360e-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, -0.3009424 , -8.63111873, -0.3009424 , 35.47438876,
       -0.93576509, -8.63111873, -0.93576509,  8.66899109,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.008895016022039126
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24814056e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.24814056e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03140701, -0.10565779,  0.06125994])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.03159301e-04,-2.46511548e-03,-5.24964354e-04,-5.63242961e-04,
  5.75004180e-05,-3.25429176e-03,-9.51965818e-04,-5.59913481e-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,
  7.71820378e-03,-1.00615085e-03,-4.90910495e+00, 6.90576007e-03,
  2.87013076e-03,-1.57551691e-03]


--- Step 1885 ---
qpos:
[-1.10897807e-02, 7.55329053e-01,-2.20029258e-02, 6.78099479e-01,
  3.33885248e-03, 7.29640635e-01,-3.81975363e-02, 6.13181404e-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,
 -1.11170578e-02,-9.12521397e-02, 7.58739052e-02, 6.41662997e-01,
 -8.90609887e-03, 9.66844044e-04, 7.66934381e-01]

qacc:
[ 7.38901388e-03,-3.04132778e+01, 7.34011911e+01,-8.34059186e+01,
  5.36922309e-01,-3.47401686e+01, 9.17096144e+01,-1.55438226e+02,
 -1.66542219e-01, 1.00089084e+01,-9.79723322e+01, 2.96917030e+02,
 -2.00043300e-01, 8.06967823e-01,-3.83457865e+00, 1.25811915e+01,
 -1.71187820e+00,-7.98342267e-01,-5.88872225e+00,-9.69225349e+01,
 -6.88772314e+01, 5.35411899e-01]

qfrc_actuator:
[-2.76991660e-04, 1.67190975e-01, 1.02201744e-02, 1.75166283e-01,
  4.82664572e-04, 1.75353701e-01, 1.96962314e-02, 1.59662868e-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, -1.62015037,  8.4830354 , -1.62015037, 34.27629776,
        4.89689678,  8.4830354 ,  4.89689678,  9.57160777,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.008184602049346859
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.78238855e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.78238855e-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([ 0.02644008, -0.06930374,  0.06130363])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.01789045e-06,-2.64324339e-03,-6.30782456e-04,-2.31715999e-04,
  7.77967603e-05,-3.55072287e-03,-1.08730189e-03,-5.06002025e-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,
  8.14939096e-03,-1.21878289e-03,-4.90922392e+00, 6.92022718e-03,
  2.84956261e-03,-1.68555446e-03]


--- Step 1886 ---
qpos:
[-1.11390604e-02, 7.58183114e-01,-2.19564953e-02, 6.81554881e-01,
  3.34953577e-03, 7.32675877e-01,-3.79542966e-02, 6.16328048e-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,
 -1.12555080e-02,-9.12001882e-02, 7.59937422e-02, 6.42078944e-01,
 -1.24726713e-02,-1.27834517e-03, 7.66535992e-01]

qacc:
[ 5.28441389e-02,-3.29956315e+01, 9.44946933e+01,-1.53257212e+02,
  1.01073978e+00,-3.39609107e+01, 8.73888563e+01,-1.52038075e+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,
 -1.43282746e+00,-6.27695855e-01,-6.72647013e+00,-7.80525158e+01,
 -5.57189674e+01, 8.22946265e-01]

qfrc_actuator:
[-2.63093943e-04, 1.66317065e-01, 1.01824016e-02, 1.74870547e-01,
  5.99673694e-04, 1.73920299e-01, 1.94026668e-02, 1.59321971e-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([ 8.63636364,  4.39582328,  7.4339434 ,  4.39582328, 14.53173742,
       -3.48603963,  7.4339434 , -3.48603963, 10.69772103,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007624280550083518
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.28083796e-15,  7.28083796e-15,  1.00000000e+00,  5.30106014e-29,
        1.00000000e+00, -7.28083796e-15, -1.00000000e+00,  0.00000000e+00,
       -7.28083796e-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([ 0.02746019, -0.06871858,  0.06133994])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.45394703e-06,-2.55388815e-03,-6.74255563e-04,-4.19084693e-04,
  1.49524542e-04,-3.73456483e-03,-1.18576705e-03,-5.24462255e-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,
  9.13119097e-03,-9.85681024e-04,-4.90932944e+00, 6.87976932e-03,
  2.86812748e-03,-1.57504470e-03]


--- Step 1887 ---
qpos:
[-1.11884615e-02, 7.61019015e-01,-2.19123230e-02, 6.85010086e-01,
  3.36229520e-03, 7.35683853e-01,-3.77177344e-02, 6.19478167e-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,
 -1.14009104e-02,-9.11541297e-02, 7.60951945e-02, 6.42492574e-01,
 -1.60403867e-02,-3.79216623e-03, 7.66114624e-01]

qacc:
[-6.16666457e-02,-1.80936367e+01, 3.05965719e+01,-1.72387793e+01,
  1.21232825e+00,-1.13375283e+01,-1.93940933e+01, 9.07671927e+01,
 -1.62797778e-01, 7.95302968e+00,-5.88638302e+01, 1.55702644e+02,
 -1.29241894e+00, 2.79243882e+00,-1.22491687e+01, 4.19482016e+01,
 -1.73803500e+00,-1.47321920e+00,-4.59619306e+00,-1.03354815e+02,
 -8.56617050e+01,-8.16348791e+00]

qfrc_actuator:
[-2.70595974e-04, 1.65603778e-01, 1.01419807e-02, 1.74876728e-01,
  7.17832585e-04, 1.72715036e-01, 1.91325064e-02, 1.59513781e-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([  8.63636364,  -8.39224884,  -2.03885662,  -8.39224884,
        11.56930301, -12.07243157,  -2.03885662, -12.07243157,
        58.32835698,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.007117170675664669
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.79960939e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.79960939e-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([ 0.0187676 , -0.07000536,  0.06137359])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.15515816e-05,-2.35832116e-03,-6.69657820e-04,-1.19071579e-04,
  1.81353280e-04,-3.62816836e-03,-1.21119977e-03,-1.88170457e-06,
 -2.69478205e-05,-8.43573869e-04,-2.65660659e-04, 3.07045993e-04,
  2.94407391e-05, 1.31203362e-04,-8.58385016e-06, 2.01698899e-04,
  9.96966353e-03,-7.63368156e-04,-4.90939981e+00, 6.85005099e-03,
  2.88062247e-03,-1.46703294e-03]


--- Step 1888 ---
qpos:
[-1.12387988e-02, 7.63835940e-01,-2.18694603e-02, 6.88480589e-01,
  3.37667284e-03, 7.38667137e-01,-3.74891361e-02, 6.22644806e-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,
 -1.15258417e-02,-9.11325449e-02, 7.62459247e-02, 6.42853337e-01,
 -1.88046886e-02,-6.30526645e-03, 7.65732470e-01]

qacc:
[-5.17634903e-01, 6.57628448e+00,-9.75504714e+01, 3.10173410e+02,
  9.39544661e-01, 1.92098457e+01,-1.58240673e+02, 4.01885958e+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,
  5.11777169e+00,-6.11845035e+00, 1.23194980e+01, 2.58022466e+02,
 -3.07937770e+02, 3.13314536e+01]

qfrc_actuator:
[-3.44027177e-04, 1.64780199e-01, 1.01369194e-02, 1.75664295e-01,
  7.82378474e-04, 1.71799195e-01, 1.88620391e-02, 1.60372782e-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([  8.63636364,  -8.48438503,  -1.61306775,  -8.48438503,
        11.24309497, -13.71083899,  -1.61306775, -13.71083899,
        80.75239022,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.007024079819426682
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.87872302e-16,  1.97574460e-15,  1.00000000e+00,  1.95178337e-30,
        1.00000000e+00, -1.97574460e-15, -1.00000000e+00,  0.00000000e+00,
       -9.87872302e-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([-0.03144753, -0.07895532,  0.06138228])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.53661354e-05,-2.34694779e-03,-5.84317775e-04, 6.76267969e-04,
  1.41614620e-04,-3.26337141e-03,-1.17534856e-03, 6.79897902e-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,
  1.11514889e-02,-3.33394700e-04,-4.90953290e+00, 6.81035134e-03,
  2.91850839e-03,-1.28632181e-03]


--- Step 1889 ---
qpos:
[-1.12891000e-02, 7.66641523e-01,-2.18312473e-02, 6.91959788e-01,
  3.39190525e-03, 7.41625173e-01,-3.72661203e-02, 6.25823869e-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,
 -1.18197257e-02,-9.11728862e-02, 7.63942549e-02, 6.42748527e-01,
 -2.07754885e-02,-7.66894814e-03, 7.65757075e-01]

qacc:
[ 2.01232781e-02, 1.36401641e+01,-8.95320094e+01, 2.09812112e+02,
  4.98817092e-01, 4.55879932e+00,-9.68898954e+01, 2.85767382e+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,
 -4.22381908e+01,-1.54815008e+01,-5.99998476e-01, 6.92034455e+02,
  6.03560227e+01, 3.17301578e+02]

qfrc_actuator:
[-2.96378626e-04, 1.64732898e-01, 1.00820181e-02, 1.76124160e-01,
  7.96631385e-04, 1.70621523e-01, 1.86130978e-02, 1.60996321e-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([ 8.63636364, -1.14594721,  8.55999894, -1.14594721, 39.66196734,
        4.1534706 ,  8.55999894,  4.1534706 ,  9.19239852,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.02450524169098336
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.85521524, -0.42760762,  0.2928457 , -0.4045475 ,  0.90396445,
        0.13852653, -0.3239571 ,  0.        , -0.94607177])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05025518, -0.09082987,  0.06137745])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.89351671e-06,-1.51700062e-03,-5.95685017e-04, 3.69152730e-04,
  7.45952028e-05,-3.28760422e-03,-1.05303916e-03, 4.74044959e-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,
  8.78281693e-03, 7.81101432e-04,-4.90813861e+00, 6.57373532e-03,
  2.73539790e-03,-3.61833644e-04]


--- Step 1890 ---
qpos:
[-1.13385323e-02, 7.69445989e-01,-2.17993152e-02, 6.95433289e-01,
  3.40772826e-03, 7.44556553e-01,-3.70463394e-02, 6.29003570e-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,
 -1.22447572e-02,-9.12623574e-02, 7.65375374e-02, 6.42280712e-01,
 -2.20639304e-02,-8.08903977e-03, 7.66109155e-01]

qacc:
[ 4.78382962e-01, 5.25113140e+00,-3.51902809e+00,-6.93839672e+01,
  3.49010837e-01,-2.50563334e+01, 3.68821771e+01,-4.29782661e+00,
 -4.77895969e-02,-3.90058036e+00,-9.60431672e+00, 6.78724271e+01,
  3.33777554e-01,-5.31150655e-01,-9.34675673e-01, 2.52468426e+00,
 -3.27868465e+01,-1.22825001e+01,-1.26193279e+00, 5.78058431e+02,
  3.71915394e+01, 2.51414322e+02]

qfrc_actuator:
[-2.12185518e-04, 1.65399859e-01, 1.00188293e-02, 1.75873062e-01,
  8.16329937e-04, 1.69261681e-01, 1.84311340e-02, 1.61014501e-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([ 8.63636364,  1.79596885, -8.44756017,  1.79596885,  8.16778642,
       -0.09962049, -8.44756017, -0.09962049,  8.61518411,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.02435164792593283
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.85330772, -0.42665386,  0.29972058, -0.40254422,  0.904415  ,
        0.14139188, -0.33139718,  0.        , -0.94349134])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0503873 , -0.09088454,  0.06137432])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.89332901e-05,-3.54104130e-04,-4.48220948e-04,-3.18759546e-04,
  5.13816272e-05,-3.46530528e-03,-9.82499752e-04,-1.32316745e-04,
 -8.64342561e-06,-7.53656783e-04,-1.06780612e-04, 1.70772200e-04,
  1.43746026e-05,-1.03334643e-05,-2.53333081e-05, 4.63573180e-06,
  3.27562688e-03,-3.51711344e-04,-4.90593928e+00, 6.39080736e-03,
  2.13083860e-03,-2.41682226e-04]


--- Step 1891 ---
qpos:
[-1.13872694e-02, 7.72248331e-01,-2.17683399e-02, 6.98897897e-01,
  3.42426465e-03, 7.47460145e-01,-3.68294762e-02, 6.32174678e-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,
 -1.25954718e-02,-9.13395718e-02, 7.67179764e-02, 6.41910478e-01,
 -2.26917738e-02,-8.20053417e-03, 7.66399878e-01]

qacc:
[ 3.86290272e-01,-1.64096336e+01, 7.63630942e+01,-1.87637669e+02,
  4.19645403e-01,-4.41334847e+01, 1.27434040e+02,-2.16693282e+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,
  1.85791959e+01, 3.06422227e+00, 9.28912406e+00, 3.31182981e+02,
 -1.52870824e+02,-5.63508191e+01]

qfrc_actuator:
[-1.77923252e-04, 1.65424530e-01, 1.00251696e-02, 1.75437084e-01,
  8.56970773e-04, 1.67821796e-01, 1.82537370e-02, 1.60569767e-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([ 8.63636364,  1.39627063, -8.52274634,  1.39627063,  1.48906129,
       -1.1709334 , -8.52274634, -1.1709334 ,  8.44453111,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007297440634531721
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.60693427e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -7.60693427e-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([-0.05088923, -0.09103589,  0.06137828])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.33029972e-05,-3.44894945e-04,-1.49730054e-04,-4.71997275e-04,
  6.23857623e-05,-3.65202308e-03,-1.02454515e-03,-6.12134309e-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,
  8.87160950e-04,-3.22810599e-04,-4.90490423e+00, 6.17835340e-03,
  1.99556704e-03,-3.10930340e-05]


--- Step 1892 ---
qpos:
[-1.14353284e-02, 7.75045535e-01,-2.17363838e-02, 7.02353623e-01,
  3.44110588e-03, 7.50335497e-01,-3.66167048e-02, 6.35336565e-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,
 -1.30564056e-02,-9.14563992e-02, 7.68784457e-02, 6.41247585e-01,
 -2.28397271e-02,-7.59318995e-03, 7.66956469e-01]

qacc:
[ 3.78598935e-01,-2.56239072e+01, 1.02037429e+02,-2.09708160e+02,
  1.84309725e-01,-4.26684120e+01, 1.23493375e+02,-2.20498767e+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,
 -2.75547945e+01,-9.90325543e+00,-4.99243596e+00, 4.27251856e+02,
  4.26047041e+01, 2.03667007e+02]

qfrc_actuator:
[-1.38288227e-04, 1.65065280e-01, 1.00349103e-02, 1.74984416e-01,
  8.56560056e-04, 1.66416690e-01, 1.80445515e-02, 1.60104797e-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([ 8.63636364, -0.81963914, -8.59738149, -0.81963914, 54.69768308,
       -4.39129753, -8.59738149, -4.39129753,  9.05501196,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.02358345070296271
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.51976959e-01, -4.25988480e-01,  3.04415960e-01, -4.01150549e-01,
        9.04728587e-01,  1.43333253e-01, -3.36472136e-01, -1.38777878e-17,
       -9.41693422e-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([-0.05156209, -0.09116335,  0.06138999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.17913176e-05,-6.68901804e-04,-1.13888109e-04,-4.82082420e-04,
  2.61746665e-05,-3.74677837e-03,-1.11400794e-03,-6.50535463e-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,
  2.27748404e-04,-4.65580076e-05,-4.90489479e+00, 6.31151373e-03,
  2.10994321e-03, 1.79987389e-04]


--- Step 1893 ---
qpos:
[-1.14824907e-02, 7.77835064e-01,-2.17037797e-02, 7.05794215e-01,
  3.45799905e-03, 7.53184438e-01,-3.64096471e-02, 6.38484341e-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,
 -1.35995624e-02,-9.16032555e-02, 7.70183551e-02, 6.40360697e-01,
 -2.25774500e-02,-6.40706418e-03, 7.67715693e-01]

qacc:
[ 4.99613404e-01,-3.94349335e+01, 1.61305701e+02,-3.45512727e+02,
  3.79814460e-02,-4.47017354e+01, 1.48120018e+02,-3.11427727e+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,
 -2.05557386e+01,-7.50723043e+00,-5.13995271e+00, 3.51691319e+02,
  2.50923096e+01, 1.55918533e+02]

qfrc_actuator:
[-7.79377777e-05, 1.64515047e-01, 9.99187868e-03, 1.74205732e-01,
  8.49394231e-04, 1.65239299e-01, 1.78008814e-02, 1.59400967e-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([ 8.63636364,  2.2199842 , -8.34616361,  2.2199842 ,  6.30828637,
       -0.61924196, -8.34616361, -0.61924196,  8.47165235,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.023020075406143366
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.52239747e-01, -4.26119874e-01,  3.03495085e-01, -4.01425508e-01,
        9.04666708e-01,  1.42953516e-01, -3.35477234e-01,  2.77555756e-17,
       -9.42048314e-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([-0.05248072, -0.09137066,  0.06140551])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.18873555e-05,-1.03275966e-03,-2.27507095e-04,-8.18619293e-04,
  3.73399378e-06,-3.59012823e-03,-1.17886130e-03,-8.96263664e-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,
  4.52593914e-04, 4.97254564e-04,-4.90485715e+00, 6.16273664e-03,
  2.25640474e-03, 3.10577850e-04]


--- Step 1894 ---
qpos:
[-1.15285269e-02, 7.80611859e-01,-2.16694876e-02, 7.09215384e-01,
  3.47479038e-03, 7.56009585e-01,-3.62089969e-02, 6.41613035e-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,
 -1.42017139e-02,-9.17721772e-02, 7.71370600e-02, 6.39306206e-01,
 -2.19656912e-02,-4.76011965e-03, 7.68623721e-01]

qacc:
[ 6.27687030e-01,-5.67056074e+01, 2.22319248e+02,-4.55228258e+02,
 -5.07289905e-02,-4.83620322e+01, 1.79729486e+02,-4.10811057e+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,
 -1.47486799e+01,-5.51637093e+00,-5.30112560e+00, 2.87371158e+02,
  1.11772205e+01, 1.16062327e+02]

qfrc_actuator:
[-5.64803566e-06, 1.63570775e-01, 9.95262922e-03, 1.73205740e-01,
  8.38306303e-04, 1.64279014e-01, 1.75575320e-02, 1.58455882e-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([ 8.63636364,  2.21477984, -8.34754617,  2.21477984,  4.73801564,
       -1.03431384, -8.34754617, -1.03431384,  8.36193839,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.022313571126925127
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.52697982e-01, -4.26348991e-01,  3.01881913e-01, -4.01905264e-01,
        9.04558753e-01,  1.42287108e-01, -3.33733892e-01, -2.77555756e-17,
       -9.42667327e-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([-0.05358968, -0.09164049,  0.06142403])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.02969537e-04,-1.66368853e-03,-3.20635761e-04,-1.06364286e-03,
 -9.92625050e-06,-3.30704856e-03,-1.16198747e-03,-1.13866135e-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,
  1.45035886e-03, 1.28806496e-03,-4.90512194e+00, 6.02568952e-03,
  2.51025131e-03, 4.51820620e-04]


--- Step 1895 ---
qpos:
[-1.15734551e-02, 7.83371253e-01,-2.16347193e-02, 7.12633029e-01,
  3.49119050e-03, 7.58812492e-01,-3.60139101e-02, 6.44725453e-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,
 -1.48436793e-02,-9.19565988e-02, 7.72338994e-02, 6.38130417e-01,
 -2.10567001e-02,-2.75098908e-03, 7.69635380e-01]

qacc:
[ 6.14982721e-01,-3.05991097e+01, 8.29429287e+01,-1.11388432e+02,
 -2.14311720e-01,-4.35280758e+01, 1.57466504e+02,-3.52385260e+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,
 -9.95346370e+00,-3.87494406e+00,-5.46639741e+00, 2.33118646e+02,
  1.17248438e-01, 8.30134001e+01]

qfrc_actuator:
[ 5.54646688e-05, 1.62469218e-01, 9.89659724e-03, 1.73024194e-01,
  8.07245493e-04, 1.63403680e-01, 1.73706119e-02, 1.57660703e-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([ 8.63636364,  2.19175575, -8.35362099,  2.19175575,  3.43879647,
       -1.36369578, -8.35362099, -1.36369578,  8.27856813,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.021501297669765333
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.85333585, -0.42666792,  0.29962044, -0.40257372,  0.90440836,
        0.14135034, -0.33128889,  0.        , -0.94352937])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05484323, -0.09195851,  0.06144488])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01397571e-04,-2.19869101e-03,-4.82393954e-04,-2.75710759e-04,
 -3.58375064e-05,-3.06914474e-03,-1.05369681e-03,-9.82547281e-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,
  2.77891168e-03, 2.11662606e-03,-4.90555102e+00, 5.91927832e-03,
  2.79490993e-03, 5.76699995e-04]


--- Step 1896 ---
qpos:
[-1.16169773e-02, 7.86115176e-01,-2.16027004e-02, 7.16059504e-01,
  3.50713988e-03, 7.61598268e-01,-3.58261690e-02, 6.47836749e-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,
 -1.53912603e-02,-9.21306520e-02, 7.73862150e-02, 6.37232150e-01,
 -1.93502329e-02,-1.19298075e-03, 7.70428019e-01]

qacc:
[ 7.70894950e-01, 3.18745834e+00,-6.09150398e+01, 1.84905232e+02,
 -2.52355770e-01,-4.55979456e+00,-1.06425155e+01, 1.07907263e+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,
  2.35960861e+01, 2.59209600e+00, 1.38690749e+01, 8.34676753e+01,
 -4.48133236e+02,-1.82523764e+02]

qfrc_actuator:
[ 1.44943989e-04, 1.61886640e-01, 9.83103241e-03, 1.73485359e-01,
  7.82283675e-04, 1.63048851e-01, 1.72015158e-02, 1.57652647e-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([ 8.63636364,  0.92350306, -8.58684569,  0.92350306,  0.83356253,
       -0.83918018, -8.58684569, -0.83918018,  8.546111  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006211119798634389
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.93738215e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.93738215e-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([-0.03615198, -0.07946209,  0.06146154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.29142075e-04,-1.98014364e-03,-5.92572982e-04, 3.60270445e-04,
 -4.11203958e-05,-2.38734142e-03,-9.69373038e-04,-1.79505329e-04,
 -2.73446585e-05,-8.65670008e-04,-2.72756354e-04, 4.00695777e-05,
 -1.15948140e-05, 2.50852094e-05, 2.63324704e-06, 3.51230787e-05,
  4.16632865e-03, 2.86686820e-03,-4.90605420e+00, 5.84960519e-03,
  3.06566261e-03, 6.72284819e-04]


--- Step 1897 ---
qpos:
[-1.16595509e-02, 7.88846268e-01,-2.15728355e-02, 7.19485211e-01,
  3.52265507e-03, 7.64372741e-01,-3.56467858e-02, 6.50956232e-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,
 -1.58620142e-02,-9.22970519e-02, 7.75763077e-02, 6.36558879e-01,
 -1.69855276e-02, 2.79490196e-06, 7.71041040e-01]

qacc:
[ 5.20433940e-01,-1.24033895e+01, 2.20664703e+01,-2.06860645e+01,
 -2.46588378e-01, 2.26708984e+01,-1.20160488e+02, 2.37086699e+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,
  1.92067819e+01, 1.91331882e+00, 9.44423920e+00, 7.22581491e+01,
 -3.67104163e+02,-1.47797911e+02]

qfrc_actuator:
[ 0.00017969, 0.16147846, 0.00979829, 0.17345133, 0.0007612 , 0.16302786,
  0.01699386, 0.15810822,-0.00186388, 0.1537226 , 0.00689561, 0.1620719 ,
  0.        ,-0.00209616, 0.        ,-0.00151083, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  0.8384997 , -8.59556252,  0.8384997 ,  0.69793796,
       -0.77439581, -8.59556252, -0.77439581,  8.56082109,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0059254369219637545
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.36827984e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.36827984e-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([-0.03713665, -0.07951598,  0.06148319])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.72641157e-05,-1.68252981e-03,-5.08209116e-04,-1.16575031e-04,
 -3.95438777e-05,-1.62571609e-03,-8.33931196e-04, 3.29445387e-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,
  4.12521439e-03, 1.16935707e-03,-4.90685930e+00, 6.62246483e-03,
  2.93362874e-03, 3.45617618e-05]


--- Step 1898 ---
qpos:
[-1.17017364e-02, 7.91561965e-01,-2.15425286e-02, 7.22905009e-01,
  3.53796860e-03, 7.67137480e-01,-3.54730059e-02, 6.54078243e-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,
 -1.62676592e-02,-9.24580850e-02, 7.77913559e-02, 6.36110810e-01,
 -1.43992729e-02, 4.64107859e-04, 7.71463209e-01]

qacc:
[ 2.18318395e-01,-3.21824148e+01, 9.79385392e+01,-1.57587907e+02,
 -1.13516843e-01, 7.01563629e+00,-4.78051917e+01, 8.91686096e+01,
  1.41697049e-01,-2.05227151e+01, 7.75546899e+01,-1.50778059e+02,
  9.16569999e-01,-2.00303943e+00, 1.12236150e+01,-3.88165818e+01,
  1.62772279e+01, 1.34169509e+00, 6.23891551e+00,-2.10723350e+02,
 -3.17555968e+02,-1.53802597e+02]

qfrc_actuator:
[ 0.0001815 , 0.16062813, 0.00978574, 0.173144  , 0.00076035, 0.16278214,
  0.01680253, 0.15824728,-0.00183782, 0.15345006, 0.00693066, 0.16176142,
  0.        ,-0.00217279, 0.        ,-0.00169815, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  0.68679529, -8.60901209,  0.68679529,  0.90030392,
       -0.61715436, -8.60901209, -0.61715436,  8.58712933,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0055693003567449245
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.96734736e-15,  7.47551052e-15,  1.00000000e+00,  7.45110101e-29,
        1.00000000e+00, -7.47551052e-15, -1.00000000e+00,  0.00000000e+00,
       -9.96734736e-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([-0.01516629, -0.07492363,  0.06151059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.54632176e-05,-1.95891299e-03,-4.33331311e-04,-3.86842753e-04,
 -1.85640823e-05,-1.37929893e-03,-6.31129211e-04, 5.64786949e-05,
  2.35975327e-05,-6.73940248e-04,-1.13289898e-04,-3.34789175e-04,
 -2.09318286e-05,-9.63883444e-05,-1.09817108e-05,-1.92017213e-04,
  4.09102905e-03,-6.08547366e-05,-4.90745385e+00, 6.97905658e-03,
  2.81163754e-03,-5.76851787e-04]


--- Step 1899 ---
qpos:
[-1.17436177e-02, 7.94263474e-01,-2.15131159e-02, 7.26314817e-01,
  3.55331653e-03, 7.69893995e-01,-3.53040586e-02, 6.57202910e-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,
 -1.66343271e-02,-9.26134246e-02, 7.80049746e-02, 6.35814153e-01,
 -1.19542810e-02, 8.99749546e-05, 7.71749603e-01]

qacc:
[ 1.71230824e-01,-3.43476842e+01, 1.18184022e+02,-2.29967770e+02,
  1.85600193e-02, 7.12645232e+00,-4.59237523e+01, 8.75325675e+01,
  1.68968322e-01,-2.06073629e+01, 6.86679931e+01,-1.16138305e+02,
  8.30302774e-01,-1.82434363e+00, 3.47502241e+00,-1.27662605e+01,
  9.74425743e+00, 1.42339003e+00,-3.57401274e-01,-3.66066167e+02,
 -2.10286282e+02,-1.07635641e+02]

qfrc_actuator:
[ 0.00019922, 0.16001729, 0.00976582, 0.17264263, 0.00077159, 0.16258206,
  0.01663934, 0.15839408,-0.0018259 , 0.15297827, 0.00694675, 0.16154484,
  0.        ,-0.00223182, 0.        ,-0.00175635, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  1.22222764, -8.54944071,  1.22222764,  0.68225672,
       -1.13711875, -8.54944071, -1.13711875,  8.47380119,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005457056622855158
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0165257 , -0.06861478,  0.06152253])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.77817983e-05,-1.86706394e-03,-4.95447415e-04,-5.93918751e-04,
  2.82043148e-06,-1.16524160e-03,-5.37736954e-04, 7.41645568e-05,
  2.82033783e-05,-9.44589547e-04,-1.62715340e-04,-2.53947988e-04,
 -3.49930067e-05,-8.85233451e-05,-3.00408347e-05,-7.11970055e-05,
  2.50630799e-03,-7.96577235e-04,-4.90728822e+00, 7.04004142e-03,
  2.55595854e-03,-8.82007529e-04]


--- Step 1900 ---
qpos:
[-1.17857042e-02, 7.96955095e-01,-2.14864345e-02, 7.29706909e-01,
  3.56868604e-03, 7.72643048e-01,-3.51392541e-02, 6.60326941e-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,
 -1.69691555e-02,-9.27641981e-02, 7.82102267e-02, 6.35642988e-01,
 -9.62452016e-03,-9.75717077e-04, 7.71922540e-01]

qacc:
[-1.06581413e-01,-3.76859207e+01, 1.57282157e+02,-3.69271624e+02,
  1.18953178e-02, 3.10659749e-01,-1.19258046e+01, 9.86492384e+00,
  2.67098899e-02,-9.97092057e-02,-3.10885074e+01, 1.15066826e+02,
  3.40962628e-01,-9.48444903e-01, 5.20067739e+00,-1.84094523e+01,
  7.95988217e+00, 1.14149297e+00,-2.09163304e+00,-3.02733149e+02,
 -1.74714489e+02,-8.86320971e+01]

qfrc_actuator:
[ 0.00017316, 0.15982138, 0.00972489, 0.171765  , 0.00077218, 0.16234073,
  0.01647674, 0.15836687,-0.00184035, 0.15256884, 0.00695093, 0.16184675,
  0.        ,-0.00226219, 0.        ,-0.00184448, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  1.19813888, -8.55284982,  1.19813888,  0.61081624,
       -1.12427093, -8.55284982, -1.12427093,  8.47886845,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0052697468976484335
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.05339312e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.05339312e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01643515, -0.06842516,  0.06153942])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.94056738e-05,-1.42028118e-03,-5.11617491e-04,-9.73197888e-04,
  1.69291241e-06,-1.06727581e-03,-4.82039762e-04,-8.84306357e-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,
  8.35565692e-04,-4.55867847e-04,-4.90688768e+00, 6.94615944e-03,
  2.35955677e-03,-6.97119374e-04]


--- Step 1901 ---
qpos:
[-1.18281237e-02, 7.99637537e-01,-2.14613957e-02, 7.33079189e-01,
  3.58380671e-03, 7.75383282e-01,-3.49770648e-02, 6.63444990e-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,
 -1.72820214e-02,-9.29114823e-02, 7.83973966e-02, 6.35558534e-01,
 -7.42791158e-03,-2.60280188e-03, 7.72012566e-01]

qacc:
[-1.74431853e-01,-4.34916304e+01, 1.83285809e+02,-4.20983499e+02,
 -1.35881097e-01,-1.52656887e+01, 5.38960808e+01,-1.24092386e+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,
  5.49063916e+00, 8.72349194e-01,-4.52055932e+00,-2.58617959e+02,
 -1.26590131e+02,-6.24543032e+01]

qfrc_actuator:
[ 1.56737721e-04, 1.59502997e-01, 9.69130084e-03, 1.70779844e-01,
  7.48616490e-04, 1.61881911e-01, 1.63335012e-02, 1.58059960e-01,
 -1.88825174e-03, 1.52378288e-01, 7.03745511e-03, 1.62149564e-01,
  0.00000000e+00,-2.23983604e-03, 0.00000000e+00,-1.93182273e-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,  1.32405728, -8.53426325,  1.32405728,  0.49333272,
       -1.26335913, -8.53426325, -1.26335913,  8.44035845,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0050234070339750525
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.52524918e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.52524918e-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([ 0.02739497, -0.06590607,  0.06156017])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.13459704e-05,-1.31069298e-03,-4.28522507e-04,-1.07361941e-03,
 -2.29384807e-05,-1.22458557e-03,-4.41298736e-04,-3.66071275e-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,
  1.31327183e-05, 3.65238540e-04,-4.90672913e+00, 6.79386259e-03,
  2.25765397e-03,-4.00482482e-04]


--- Step 1902 ---
qpos:
[-1.18708691e-02, 8.02308002e-01,-2.14364549e-02, 7.36436739e-01,
  3.59859742e-03, 7.78112240e-01,-3.48169353e-02, 6.66555318e-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,
 -1.75669848e-02,-9.30540462e-02, 7.85729192e-02, 6.35312755e-01,
 -5.98096399e-03,-4.31449599e-03, 7.72219734e-01]

qacc:
[-1.68566357e-01,-4.21523969e+01, 1.60264411e+02,-3.31443610e+02,
 -1.78714424e-01,-2.31312254e+01, 8.11968659e+01,-1.71471899e+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,
  6.97560517e+00, 1.18009013e+00,-2.91183216e+00,-2.71333407e+02,
  2.61842524e+02, 1.00158878e+02]

qfrc_actuator:
[ 1.46296337e-04, 1.58830334e-01, 9.66211548e-03, 1.70041152e-01,
  7.28580098e-04, 1.61208167e-01, 1.61842498e-02, 1.57661835e-01,
 -1.93800480e-03, 1.52143706e-01, 7.11959363e-03, 1.62042292e-01,
  0.00000000e+00,-2.20415960e-03, 0.00000000e+00,-1.85820858e-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,  1.47018705, -8.5103071 ,  1.47018705,  1.32905468,
       -1.26236467, -8.5103071 , -1.26236467,  8.41828547,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004998441363114295
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.11056922e-14,  1.11056922e-14,  1.00000000e+00,  1.23336399e-28,
        1.00000000e+00, -1.11056922e-14, -1.00000000e+00,  0.00000000e+00,
       -1.11056922e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02497494, -0.11210668,  0.06156548])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.08321943e-05,-1.59038152e-03,-3.95262309e-04,-8.22714401e-04,
 -3.04645485e-05,-1.52866119e-03,-4.82801951e-04,-4.67531857e-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,
 -2.61961455e-04, 1.41006671e-03,-4.90670537e+00, 6.64716697e-03,
  2.21494190e-03,-4.15878476e-05]


--- Step 1903 ---
qpos:
[-1.19137077e-02, 8.04964412e-01,-2.14109191e-02, 7.39776735e-01,
  3.61324170e-03, 7.80826449e-01,-3.46585957e-02, 6.69661515e-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,
 -1.78286162e-02,-9.31926655e-02, 7.87322651e-02, 6.34931963e-01,
 -5.16236286e-03,-6.09802572e-03, 7.72526742e-01]

qacc:
[-4.15798264e-02,-5.18582750e+01, 1.96546142e+02,-3.99911069e+02,
 -7.55653792e-02,-2.19548387e+01, 6.07889484e+01,-1.01132391e+02,
 -4.18393040e-01,-2.32644581e+01, 7.76731875e+01,-1.29777081e+02,
  1.80846891e-01,-3.03726705e-01,-6.01750361e+00, 2.03610732e+01,
  5.83301688e+00, 9.86119682e-01,-4.04417112e+00,-2.27523197e+02,
  2.19202234e+02, 8.49854869e+01]

qfrc_actuator:
[ 1.57325253e-04, 1.58040337e-01, 9.65243932e-03, 1.69151387e-01,
  7.28592582e-04, 1.60304940e-01, 1.60318831e-02, 1.57443897e-01,
 -1.98845605e-03, 1.51671847e-01, 7.16271896e-03, 1.61801075e-01,
  0.00000000e+00,-2.21416441e-03, 0.00000000e+00,-1.76136372e-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,  1.46880493, -8.51054575,  1.46880493,  1.42060305,
       -1.24534255, -8.51054575, -1.24534255,  8.42143438,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004936509701635672
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.12450202e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.12450202e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02489997, -0.11224052,  0.06157303])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.16219545e-06,-1.84678632e-03,-4.19415461e-04,-9.76840708e-04,
 -1.38667069e-05,-1.93885965e-03,-5.54975908e-04,-3.01793890e-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,
  1.90998330e-04, 1.73983653e-03,-4.90642034e+00, 6.84573760e-03,
  2.16803409e-03, 3.37485529e-04]


--- Step 1904 ---
qpos:
[-1.19562072e-02, 8.07607209e-01,-2.13855359e-02, 7.43089042e-01,
  3.62775821e-03, 7.83523691e-01,-3.45018067e-02, 6.72762875e-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,
 -1.80706870e-02,-9.33280005e-02, 7.88716905e-02, 6.34437351e-01,
 -4.87272472e-03,-7.94291094e-03, 7.72918116e-01]

qacc:
[ 1.90465193e-01,-6.75468732e+01, 2.76365650e+02,-6.04543567e+02,
 -6.39120957e-02,-2.67847857e+01, 7.52641635e+01,-1.22546389e+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,
  4.89012930e+00, 8.21085367e-01,-4.98009881e+00,-1.91663798e+02,
  1.84276102e+02, 7.22021267e+01]

qfrc_actuator:
[ 0.00019889, 0.15738209, 0.00963606, 0.16775363, 0.00072283, 0.15936077,
  0.01591371, 0.15719155,-0.00200343, 0.15132812, 0.0072349 , 0.16178467,
  0.        ,-0.00219794, 0.        ,-0.00190019, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  1.45923773, -8.51219138,  1.45923773,  1.58613475,
       -1.20861474, -8.51219138, -1.20861474,  8.42917184,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0048162367144157225
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.15258353e-14,  1.15258353e-14,  1.00000000e+00,  1.32844880e-28,
        1.00000000e+00, -1.15258353e-14, -1.00000000e+00,  0.00000000e+00,
       -1.15258353e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02496812, -0.1124124 ,  0.06158421])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.14013642e-05,-1.86713348e-03,-4.84733806e-04,-1.49770526e-03,
 -1.22566929e-05,-2.21565343e-03,-6.06155661e-04,-3.49730749e-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,
  8.11815736e-04, 1.85224537e-03,-4.90621166e+00, 6.92419103e-03,
  2.08670701e-03, 5.16555232e-04]


--- Step 1905 ---
qpos:
[-1.19979778e-02, 8.10240389e-01,-2.13633188e-02, 7.46376527e-01,
  3.64192264e-03, 7.86208523e-01,-3.43504041e-02, 6.75864399e-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,
 -1.82962912e-02,-9.34606118e-02, 7.89881200e-02, 6.33846065e-01,
 -5.03075432e-03,-9.84051820e-03, 7.73380257e-01]

qacc:
[ 3.93875857e-01,-4.88758024e+01, 2.12779575e+02,-5.09812440e+02,
 -1.92306042e-01,-1.37131839e+00,-1.69734003e+01, 2.94159397e+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,
  4.11665993e+00, 6.80945763e-01,-5.74899558e+00,-1.62338110e+02,
  1.55724551e+02, 6.14588339e+01]

qfrc_actuator:
[ 0.00025837, 0.15719862, 0.00958067, 0.1665298 , 0.00069589, 0.15907475,
  0.01576326, 0.15722271,-0.00199713, 0.1512066 , 0.00725342, 0.16207833,
  0.        ,-0.00213073, 0.        ,-0.00207025, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  1.43878438, -8.5156724 ,  1.43878438,  1.92742553,
       -1.13352357, -8.5156724 , -1.13352357,  8.44484664,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004653041484469281
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.19300787e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.19300787e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02514491, -0.11260976,  0.06159796])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.82382716e-05,-1.43457652e-03,-5.51654183e-04,-1.33774171e-03,
 -3.27592102e-05,-1.72280528e-03,-7.01300840e-04,-7.87511540e-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,
  1.50583418e-03, 1.83280374e-03,-4.90605471e+00, 6.92744369e-03,
  1.98783877e-03, 5.70550323e-04]


--- Step 1906 ---
qpos:
[-1.20383526e-02, 8.12866616e-01,-2.13435385e-02, 7.49643105e-01,
  3.65569122e-03, 7.88887095e-01,-3.42068818e-02, 6.78974396e-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,
 -1.85079517e-02,-9.35909750e-02, 7.90790420e-02, 6.33172010e-01,
 -5.57015282e-03,-1.17837188e-02, 7.73901365e-01]

qacc:
[ 7.47010899e-01,-4.02600968e+01, 1.77849672e+02,-4.28399698e+02,
 -2.21080719e-01, 2.84344633e+01,-1.30647112e+02, 2.43846907e+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,
  3.48595002e+00, 5.61990652e-01,-6.37688639e+00,-1.38413314e+02,
  1.32466506e+02, 5.24558248e+01]

qfrc_actuator:
[ 0.00036359, 0.15715946, 0.00957595, 0.16550731, 0.00067427, 0.15927462,
  0.01556241, 0.1576872 ,-0.001996  , 0.15098892, 0.00722357, 0.16233917,
  0.        ,-0.0020871 , 0.        ,-0.00193771, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  1.40427135, -8.52143174,  1.40427135,  2.86465925,
       -0.95113584, -8.52143174, -0.95113584,  8.47962321,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0044594923038434875
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24478634e-14,  6.22393172e-15,  1.00000000e+00,  7.74746522e-29,
        1.00000000e+00, -6.22393172e-15, -1.00000000e+00,  0.00000000e+00,
       -1.24478634e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02540319, -0.11282288,  0.06161348])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.31294762e-04,-1.05695820e-03,-4.16981004e-04,-1.11978127e-03,
 -3.66815869e-05,-9.71111230e-04,-6.54748510e-04, 3.75541671e-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,
  2.21629640e-03, 1.73658123e-03,-4.90593227e+00, 6.88520884e-03,
  1.88204315e-03, 5.48377587e-04]


--- Step 1907 ---
qpos:
[-1.20771162e-02, 8.15485203e-01,-2.13241242e-02, 7.52882990e-01,
  3.66908229e-03, 7.91559906e-01,-3.40677670e-02, 6.82087198e-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,
 -1.88605042e-02,-9.37885629e-02, 7.91423448e-02, 6.32732320e-01,
 -5.87259002e-03,-1.25862645e-02, 7.74246027e-01]

qacc:
[ 8.62404209e-01,-5.72091714e+01, 2.48165405e+02,-5.67254661e+02,
 -2.07397933e-01, 9.44869407e+00,-4.95884067e+01, 8.99351639e+01,
  2.23726482e-01, 1.49401210e+00,-3.13071000e+01, 1.03581510e+02,
 -3.80042216e-01, 9.07882725e-01,-3.86031294e+00, 1.32109656e+01,
 -3.52230260e+01,-1.68061565e+01,-6.90479059e+00, 5.16009573e+02,
  2.71295577e+02,-1.44767563e+02]

qfrc_actuator:
[ 0.00045979, 0.1568175 , 0.00956667, 0.16416781, 0.00065603, 0.15916124,
  0.01540697, 0.15783523,-0.00196254, 0.1506447 , 0.00720068, 0.16259624,
  0.        ,-0.00205784, 0.        ,-0.00187648, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  3.01298995, -8.09374255,  3.01298995, 37.65454218,
       10.80235502, -8.09374255, 10.80235502, 12.65766613,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.023492583485544352
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.87879423, -0.43939712,  0.18614745, -0.42985939,  0.89829292,
        0.09105343, -0.20722356,  0.        , -0.97829362])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04687813, -0.11552438,  0.06162113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.51912196e-04,-1.11466349e-03,-3.23070607e-04,-1.41452638e-03,
 -3.50339563e-05,-8.39389952e-04,-4.37748084e-04, 9.78420498e-05,
  3.94762052e-05,-8.55375462e-04,-2.09456580e-04, 2.26707512e-04,
  2.28688308e-05, 4.97486274e-05,-2.81703483e-06, 6.34737741e-05,
  2.91095208e-03, 1.59842593e-03,-4.90583248e+00, 6.81681507e-03,
  1.77572869e-03, 4.81578789e-04]


--- Step 1908 ---
qpos:
[-1.21147964e-02, 8.18096952e-01,-2.13055802e-02, 7.56088798e-01,
  3.68232053e-03, 7.94224928e-01,-3.39311174e-02, 6.85199026e-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,
 -1.91595244e-02,-9.39434740e-02, 7.92359528e-02, 6.32301287e-01,
 -6.19254450e-03,-1.28013438e-02, 7.74592061e-01]

qacc:
[ 5.80935010e-01,-6.80624948e+01, 3.04664516e+02,-7.13872498e+02,
 -8.18278175e-02,-5.28603752e+00, 7.32941294e+00,-1.32196482e+01,
  2.29604628e-01, 6.26132012e+00,-6.25384079e+01, 1.96411129e+02,
 -2.67313638e-02, 2.08321775e-01,-1.20557960e+00, 4.18759513e+00,
  1.33830631e+01, 1.06692100e+01, 7.57629968e+00, 2.21914014e+02,
  1.92686319e+02,-1.08214398e+00]

qfrc_actuator:
[ 0.00049654, 0.15654586, 0.0095358 , 0.16245697, 0.00065771, 0.15871989,
  0.0152607 , 0.1577779 ,-0.00194561, 0.15026344, 0.00723499, 0.1630975 ,
  0.        ,-0.00205507, 0.        ,-0.00185782, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  5.37098707, -6.76308175,  5.37098707,  4.05080579,
       -3.64167887, -6.76308175, -3.64167887,  5.74427822,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004385377802425906
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.53164739e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.53164739e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04718395, -0.11574187,  0.06162135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.02305588e-04,-1.06748415e-03,-3.54184365e-04,-1.79124995e-03,
 -1.43908380e-05,-1.06021338e-03,-3.85062298e-04,-1.01655543e-04,
  4.05713057e-05,-9.49750127e-04,-1.72341028e-04, 4.67505331e-04,
  2.39175938e-05, 2.14756067e-05, 2.64869382e-06, 2.11015646e-05,
  6.70580689e-04, 2.85104258e-04,-4.90512724e+00, 6.49180825e-03,
  2.10611030e-03, 8.35326888e-05]


--- Step 1909 ---
qpos:
[-1.21514537e-02, 8.20699362e-01,-2.12861988e-02, 7.59260014e-01,
  3.69563717e-03, 7.96877048e-01,-3.37960073e-02, 6.88320262e-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,
 -1.94136574e-02,-9.40624071e-02, 7.93487638e-02, 6.31878366e-01,
 -6.52742924e-03,-1.25219093e-02, 7.74938917e-01]

qacc:
[ 5.49872153e-01,-7.68880437e+01, 3.30841752e+02,-7.42290583e+02,
  4.57495510e-02, 4.13438658e+00,-6.25706317e+01, 1.94364287e+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,
  1.12218243e+01, 8.99448936e+00, 4.80076025e+00, 1.86833454e+02,
  1.62172711e+02,-1.25524301e+00]

qfrc_actuator:
[ 0.00055077, 0.15599914, 0.00954589, 0.16071893, 0.00067126, 0.15783757,
  0.01510201, 0.15823912,-0.00195651, 0.14950884, 0.00726739, 0.16311711,
  0.        ,-0.00206803, 0.        ,-0.00182889, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  5.38841191, -6.74920692,  5.38841191,  4.00889009,
       -3.69446868, -6.74920692, -3.69446868,  5.68678463,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0043166886381256
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.44671183e-14,  9.64474552e-15,  1.00000000e+00, -1.39531674e-28,
        1.00000000e+00, -9.64474552e-15, -1.00000000e+00,  0.00000000e+00,
        1.44671183e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04756057, -0.11601822,  0.06162769])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.67055092e-05,-1.33536419e-03,-3.19086821e-04,-1.82595778e-03,
  6.85076562e-06,-1.62029823e-03,-4.41762885e-04, 4.06414151e-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,
  2.58447583e-04, 5.90870749e-05,-4.90493828e+00, 6.36386689e-03,
  2.17906454e-03, 4.50223432e-06]


--- Step 1910 ---
qpos:
[-1.21868218e-02, 8.23287256e-01,-2.12658529e-02, 7.62404550e-01,
  3.70844756e-03, 7.99511733e-01,-3.36615898e-02, 6.91451812e-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,
 -1.96300554e-02,-9.41508899e-02, 7.94716013e-02, 6.31462645e-01,
 -6.87501584e-03,-1.18227526e-02, 7.75285679e-01]

qacc:
[ 6.90157031e-01,-6.97522434e+01, 2.77505649e+02,-5.87207781e+02,
 -2.68609379e-01,-2.50140656e+00,-5.04215091e+01, 1.97871537e+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,
  9.43373916e+00, 7.61255905e+00, 2.50660380e+00, 1.58639423e+02,
  1.37573668e+02,-1.37006590e+00]

qfrc_actuator:
[ 0.00063286, 0.15499079, 0.00949043, 0.15936926, 0.00062077, 0.15671663,
  0.01497143, 0.15873518,-0.001984  , 0.14853672, 0.00729667, 0.1624445 ,
  0.        ,-0.00210795, 0.        ,-0.00193613, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  5.41017568, -6.73177361,  5.41017568,  3.97485384,
       -3.74635102, -6.73177361, -3.74635102,  5.62550523,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0041861449594174024
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.65213707e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.65213707e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04798712, -0.11633714,  0.06163867])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.22046491e-04,-1.93933762e-03,-4.34734715e-04,-1.44633505e-03,
 -4.75670691e-05,-2.16243139e-03,-5.16244741e-04, 4.30346487e-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,
  1.21886192e-04, 1.40117574e-04,-4.90487965e+00, 6.25983405e-03,
  2.23438227e-03, 2.55084154e-05]


--- Step 1911 ---
qpos:
[-1.22213530e-02, 8.25856030e-01,-2.12446571e-02, 7.65526535e-01,
  3.72045842e-03, 8.02127879e-01,-3.35283376e-02, 6.94575769e-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,
 -1.99719758e-02,-9.43054554e-02, 7.95442686e-02, 6.31230253e-01,
 -7.03694547e-03,-1.03791448e-02, 7.75494115e-01]

qacc:
[ 4.51534116e-01,-6.80317662e+01, 2.53123914e+02,-5.07909739e+02,
 -4.24584257e-01,-3.48132833e+01, 1.06939324e+02,-1.86803929e+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,
 -3.13805990e+01,-1.65206497e+01,-1.25425231e+01, 3.47011520e+02,
  1.64637296e+02,-1.13278211e+02]

qfrc_actuator:
[ 0.00065998, 0.15376765, 0.00943069, 0.15822303, 0.00056789, 0.15565751,
  0.01483973, 0.15832433,-0.0020212 , 0.14777911, 0.00737589, 0.16163615,
  0.        ,-0.00212803, 0.        ,-0.0019097 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.02225447543901417
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.87979229, -0.43989614,  0.18015802, -0.43095353,  0.89804865,
        0.0882478 , -0.20061053,  0.        , -0.97967107])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04844771, -0.11668615,  0.0616531 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.90927040e-05,-2.49855844e-03,-5.60674282e-04,-1.25871765e-03,
 -7.50037746e-05,-2.41553657e-03,-6.33912118e-04,-4.97741399e-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,
  1.56499452e-04, 4.03720161e-04,-4.90490261e+00, 6.17420003e-03,
  2.27644183e-03, 1.06921187e-04]


--- Step 1912 ---
qpos:
[-1.22554204e-02, 8.28403080e-01,-2.12218104e-02, 7.68622457e-01,
  3.73209662e-03, 8.04724076e-01,-3.33962498e-02, 6.97680641e-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,
 -2.04097536e-02,-9.45100145e-02, 7.95726624e-02, 6.31140392e-01,
 -7.05476644e-03,-8.31712214e-03, 7.75591943e-01]

qacc:
[ 2.56582897e-01,-7.99292638e+01, 2.97185670e+02,-5.90951411e+02,
 -1.91854206e-01,-5.72718518e+01, 2.12208941e+02,-4.36501759e+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,
 -2.39643352e+01,-1.24984182e+01,-1.10684058e+01, 2.85199258e+02,
  1.40432492e+02,-8.87479021e+01]

qfrc_actuator:
[ 0.00067181, 0.1525503 , 0.00945686, 0.15690363, 0.00056735, 0.15455478,
  0.01472586, 0.15734763,-0.00201064, 0.1471919 , 0.00736061, 0.16073694,
  0.        ,-0.00206516, 0.        ,-0.00205321, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364e+00,  3.47094732e-01, -8.62938596e+00,  3.47094732e-01,
        8.73833260e+00,  4.10143784e-03, -8.62938596e+00,  4.10143784e-03,
        8.63652861e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.021803374685286744
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.80634545e-01, -4.40317273e-01,  1.74938551e-01, -4.31878320e-01,
        8.97842246e-01,  8.57928730e-02, -1.94843306e-01, -1.38777878e-17,
       -9.80834383e-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([-0.04907761, -0.11711401,  0.06166817])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.35997003e-05,-2.82103678e-03,-5.94659906e-04,-1.45065187e-03,
 -3.53881238e-05,-2.65698072e-03,-7.10146550e-04,-1.09625863e-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,
  6.91325878e-04, 1.17774231e-03,-4.90525661e+00, 6.21450145e-03,
  2.30011304e-03, 3.80545203e-04]


--- Step 1913 ---
qpos:
[-1.22887378e-02, 8.30927601e-01,-2.11975795e-02, 7.71685829e-01,
  3.74351339e-03, 8.07297394e-01,-3.32655448e-02, 7.00771366e-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,
 -2.08186544e-02,-9.46980209e-02, 7.95941382e-02, 6.30768484e-01,
 -7.90035592e-03,-6.44832654e-03, 7.75904068e-01]

qacc:
[ 4.06987424e-01,-9.18863591e+01, 3.51967895e+02,-7.22459773e+02,
 -1.09608361e-01,-5.16590282e+01, 1.74327862e+02,-3.32863269e+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,
  7.21921897e+00, 4.13818184e+00,-1.72946782e+00,-3.36255670e+02,
  2.58099994e+02, 1.79763616e+02]

qfrc_actuator:
[ 0.00072776, 0.15138219, 0.00949794, 0.15526206, 0.0005626 , 0.15327495,
  0.0146054 , 0.15663177,-0.0019894 , 0.14633862, 0.00732593, 0.15989807,
  0.        ,-0.00202462, 0.        ,-0.00210046, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  4.3890006 , -7.43797355,  4.3890006 ,  2.5796483 ,
       -3.57394753, -7.43797355, -3.57394753,  6.52744812,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0036885239757305788
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.50496924e-14,  1.50496924e-14,  1.00000000e+00,  2.26493241e-28,
        1.00000000e+00, -1.50496924e-14, -1.00000000e+00,  0.00000000e+00,
       -1.50496924e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02514208, -0.11444496,  0.06167767])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.10077564e-05,-2.96347544e-03,-6.53591779e-04,-1.78889640e-03,
 -2.14183157e-05,-3.00481007e-03,-7.92914784e-04,-8.59195878e-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,
  1.68914796e-03, 2.18178146e-03,-4.90573895e+00, 6.30607215e-03,
  2.25017576e-03, 7.19635770e-04]


--- Step 1914 ---
qpos:
[-1.23210851e-02, 8.33435191e-01,-2.11757511e-02, 7.74712935e-01,
  3.75475116e-03, 8.09845370e-01,-3.31376928e-02, 7.03870886e-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,
 -2.12037769e-02,-9.48723055e-02, 7.96030421e-02, 6.30161696e-01,
 -9.43352542e-03,-4.73933240e-03, 7.76392158e-01]

qacc:
[ 5.16960516e-01,-8.08679874e+01, 3.33711617e+02,-7.55030203e+02,
 -8.89918661e-02,-9.78570433e+00,-3.45975931e+01, 1.68336764e+02,
 -4.37911382e-02,-2.55197654e+01, 6.57659469e+01,-8.26999360e+01,
  4.28991966e-01,-5.11905526e-01,-1.67881863e+01, 5.67954507e+01,
  5.94460855e+00, 3.43045418e+00,-3.14299048e+00,-2.79207852e+02,
  2.14897251e+02, 1.48204208e+02]

qfrc_actuator:
[ 0.00079196, 0.15089222, 0.00949432, 0.15346185, 0.00055531, 0.15197077,
  0.01446392, 0.15708702,-0.00201529, 0.14567046, 0.00738581, 0.15979364,
  0.        ,-0.00203321, 0.        ,-0.00182425, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  4.40841032, -7.42648607,  4.40841032,  2.56528405,
       -3.60383224, -7.42648607, -3.60383224,  6.49710543,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003628470165073429
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.52987757e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.52987757e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02485619, -0.11471906,  0.06168233])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.23705918e-05,-2.38707263e-03,-7.43743827e-04,-1.96144365e-03,
 -1.75693322e-05,-3.22952433e-03,-8.85412201e-04, 3.02207671e-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,
  4.82384735e-04, 2.13662289e-03,-4.90533914e+00, 5.88449783e-03,
  2.31723480e-03, 6.08103973e-04]


--- Step 1915 ---
qpos:
[-1.23524970e-02, 8.35933657e-01,-2.11583478e-02, 7.77703200e-01,
  3.76581304e-03, 8.12367661e-01,-3.30130673e-02, 7.06986306e-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,
 -2.15693248e-02,-9.50352626e-02, 7.95946766e-02, 6.29358375e-01,
 -1.15392039e-02,-3.16327352e-03, 7.77023086e-01]

qacc:
[ 4.93488805e-01,-6.60979373e+01, 2.98568796e+02,-7.34081555e+02,
 -8.80002928e-02, 3.49437024e+00,-9.93930155e+01, 3.22715347e+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,
  4.89363087e+00, 2.83188063e+00,-4.31736332e+00,-2.32580328e+02,
  1.79221559e+02, 1.22029053e+02]

qfrc_actuator:
[ 0.00084284, 0.15102556, 0.00948485, 0.15165422, 0.00054655, 0.15075236,
  0.0143296 , 0.15789034,-0.00205145, 0.14549265, 0.00741352, 0.16019338,
  0.        ,-0.00203536, 0.        ,-0.00173253, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  4.41604419, -7.42194925,  4.41604419,  2.54105499,
       -3.62669582, -7.42194925, -3.62669582,  6.47848726,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0034972962871358815
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.17451807e-14,  3.17451807e-14,  1.00000000e+00,  1.00775650e-27,
        1.00000000e+00, -3.17451807e-14, -1.00000000e+00,  0.00000000e+00,
       -3.17451807e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02476459, -0.11502729,  0.06169212])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.94353304e-05,-1.46682000e-03,-6.50268195e-04,-1.95560378e-03,
 -1.73224070e-05,-3.24370957e-03,-8.96569992e-04, 6.64771710e-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,
 -7.80814244e-05, 1.90806194e-03,-4.90495577e+00, 5.37216474e-03,
  2.27445235e-03, 3.53028285e-04]


--- Step 1916 ---
qpos:
[-1.23832590e-02, 8.38423229e-01,-2.11425011e-02, 7.80658691e-01,
  3.77669095e-03, 8.14866505e-01,-3.28917030e-02, 7.10107567e-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,
 -2.19013030e-02,-9.51847064e-02, 7.95814965e-02, 6.28643108e-01,
 -1.37060169e-02,-2.51228225e-03, 7.77569081e-01]

qacc:
[ 3.45515328e-01,-6.98438863e+01, 3.05746764e+02,-7.14310218e+02,
 -9.20679075e-02,-1.14907543e+01,-1.72632414e+01, 1.11436231e+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,
  8.39242197e+00, 3.37830019e+00,-1.20364092e+00,-3.78263855e+02,
 -2.66719466e+02,-6.61774717e+01]

qfrc_actuator:
[ 0.00086762, 0.15075075, 0.00947487, 0.14992821, 0.00053697, 0.14975567,
  0.01421885, 0.15818179,-0.00205795, 0.145167  , 0.00740658, 0.16042521,
  0.        ,-0.00201589, 0.        ,-0.0018746 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  3.22264818, -8.01257234,  3.22264818,  1.89072809,
       -2.71308754, -8.01257234, -2.71308754,  7.54516268,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0033665831357010054
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.26721961e-14,  2.06110873e-14,  1.00000000e+00, -4.67298613e-28,
        1.00000000e+00, -2.06110873e-14, -1.00000000e+00,  0.00000000e+00,
        2.26721961e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01447033, -0.06766422,  0.06170178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.22072028e-05,-1.34443976e-03,-4.55995882e-04,-1.83944075e-03,
 -1.80474863e-05,-3.01787247e-03,-8.65051542e-04, 1.60212343e-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,
 -2.41924675e-04, 1.58522810e-03,-4.90460441e+00, 4.83648219e-03,
  2.17039996e-03, 3.10373993e-05]


--- Step 1917 ---
qpos:
[-1.24138531e-02, 8.40901885e-01,-2.11274856e-02, 7.83582056e-01,
  3.78756410e-03, 8.17347452e-01,-3.27752762e-02, 7.13227201e-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,
 -2.22050785e-02,-9.53228866e-02, 7.95579718e-02, 6.28003751e-01,
 -1.59249261e-02,-2.63492216e-03, 7.78042892e-01]

qacc:
[ 9.50010927e-02,-6.96898159e+01, 2.94802672e+02,-6.68589933e+02,
  9.06088939e-04,-1.30173277e+01, 1.79643872e+01,-2.34719790e+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,
  7.05068456e+00, 2.81590951e+00,-2.58613349e+00,-3.16721546e+02,
 -2.22324969e+02,-5.74380443e+01]

qfrc_actuator:
[ 0.0008589 , 0.15014571, 0.00941021, 0.14831711, 0.00054474, 0.14925509,
  0.01410581, 0.15811655,-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,  3.20368023, -8.02017518,  3.20368023,  1.86534107,
       -2.70470291, -8.02017518, -2.70470291,  7.55596289,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0033931622933915453
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.000000e+00,  1.635971e-14,  1.000000e+00,  0.000000e+00,
        1.000000e+00, -1.635971e-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([ 0.01409088, -0.06785118,  0.0616996 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.58362284e-05,-1.56327542e-03,-4.59574083e-04,-1.71162740e-03,
 -1.02591122e-06,-2.40735387e-03,-8.33944588e-04,-1.98052558e-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,
  2.49490443e-04,-9.46189958e-05,-4.90460593e+00, 5.30081576e-03,
  1.99327004e-03,-4.29127489e-04]


--- Step 1918 ---
qpos:
[-1.24447148e-02, 8.43368531e-01,-2.11131108e-02, 7.86473139e-01,
  3.79843680e-03, 8.19815986e-01,-3.26645415e-02, 7.16335712e-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,
 -2.24490966e-02,-9.54525614e-02, 7.95627614e-02, 6.27576551e-01,
 -1.74275965e-02,-3.09702514e-03, 7.78353622e-01]

qacc:
[-1.30627586e-01,-7.18919407e+01, 3.00350452e+02,-6.74059852e+02,
  1.46161144e-03,-2.07418859e+01, 7.92383288e+01,-2.09022589e+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,
  1.49393473e+01, 2.12637086e+00, 7.07855440e+00, 9.43167482e+01,
 -3.83646838e+02,-1.37388088e+02]

qfrc_actuator:
[ 0.00083029, 0.14952562, 0.00936591, 0.14669746, 0.00054505, 0.14903826,
  0.01395887, 0.15757614,-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,  -7.3701214 ,  -4.50200926,  -7.3701214 ,
        29.72551944, -34.52450439,  -4.50200926, -34.52450439,
        65.15552517,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003539988766066565
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04752711, -0.08154837,  0.06168834])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.61807726e-05,-1.69541117e-03,-4.78838754e-04,-1.72473167e-03,
 -4.56619941e-07,-1.79016141e-03,-7.52759643e-04,-6.57986218e-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,
  1.24468977e-03,-8.30084461e-04,-4.90482583e+00, 5.63801573e-03,
  1.87888862e-03,-6.13204298e-04]


--- Step 1919 ---
qpos:
[-1.24759880e-02, 8.45823575e-01,-2.10987955e-02, 7.89333986e-01,
  3.80907724e-03, 8.22273767e-01,-3.25582933e-02, 7.19437109e-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,
 -2.26439763e-02,-9.55767330e-02, 7.95878809e-02, 6.27316007e-01,
 -1.83008623e-02,-3.82828361e-03, 7.78540333e-01]

qacc:
[-2.04867705e-01,-6.92349914e+01, 2.86710515e+02,-6.35340387e+02,
 -1.21560787e-01,-1.46578643e+01, 5.05353623e+01,-1.31073466e+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,
  1.22846092e+01, 1.37579058e+00, 5.08249801e+00, 9.40110550e+01,
 -3.28068941e+02,-1.07094581e+02]

qfrc_actuator:
[ 0.00080788, 0.14906175, 0.00940498, 0.14519219, 0.00052314, 0.14874482,
  0.01382983, 0.15724009,-0.00208915, 0.14414885, 0.00758915, 0.15866724,
  0.        ,-0.00200911, 0.        ,-0.00207044, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.72010151,  6.47048805, -5.72010151,  5.68493482,
       -2.60914977,  6.47048805, -2.60914977,  6.3297986 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00364221322476857
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14307870e-14,  7.62052464e-15,  1.00000000e+00, -8.71085936e-29,
        1.00000000e+00, -7.62052464e-15, -1.00000000e+00,  0.00000000e+00,
        1.14307870e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04761664, -0.08178362,  0.06168088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.01110610e-05,-1.61616150e-03,-4.24076165e-04,-1.61554388e-03,
 -2.23325351e-05,-1.52338194e-03,-6.15865091e-04,-4.38877145e-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,
  1.05228698e-03,-4.30362987e-04,-4.90500695e+00, 6.13115962e-03,
  1.99800227e-03,-1.67642791e-04]


--- Step 1920 ---
qpos:
[-1.25078825e-02, 8.48265145e-01,-2.10839758e-02, 7.92171959e-01,
  3.81923967e-03, 8.24720332e-01,-3.24547289e-02, 7.22538924e-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,
 -2.27982591e-02,-9.56977790e-02, 7.96265223e-02, 6.27185900e-01,
 -1.86169576e-02,-4.77383263e-03, 7.78632433e-01]

qacc:
[-3.12955034e-01,-6.00228073e+01, 2.34288381e+02,-4.92784502e+02,
 -2.50559822e-01,-6.70414315e+00, 2.44184125e+00, 1.21978628e+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,
  1.01492027e+01, 7.81395607e-01, 3.38044537e+00, 9.23565789e+01,
 -2.82988470e+02,-8.34777911e+01]

qfrc_actuator:
[ 0.00077169, 0.14835871, 0.00942273, 0.14405046, 0.00048812, 0.1483022 ,
  0.0137481 , 0.15727564,-0.00210879, 0.1436809 , 0.00758909, 0.1583765 ,
  0.        ,-0.00197149, 0.        ,-0.00194205, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.7341688 ,  6.45802485, -5.7341688 ,  5.53251872,
       -2.75594646,  6.45802485, -2.75594646,  6.18932099,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003685091753776751
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.53185469e-15,  4.51911282e-14,  1.00000000e+00,  3.40373011e-28,
        1.00000000e+00, -4.51911282e-14, -1.00000000e+00,  0.00000000e+00,
       -7.53185469e-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([-0.04773662, -0.08194507,  0.06167812])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.05691393e-05,-1.79597917e-03,-4.19464628e-04,-1.24504954e-03,
 -4.56814620e-05,-1.48818037e-03,-4.91625127e-04,-4.85361427e-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,
  8.34518051e-04,-2.08519194e-05,-4.90511230e+00, 6.36191078e-03,
  2.07855455e-03, 1.32756647e-04]


--- Step 1921 ---
qpos:
[-1.25402131e-02, 8.50688610e-01,-2.10678584e-02, 7.94990136e-01,
  3.82929032e-03, 8.27155952e-01,-3.23531934e-02, 7.25639730e-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,
 -2.29188136e-02,-9.58175631e-02, 7.96728840e-02, 6.27157336e-01,
 -1.84362023e-02,-5.89071089e-03, 7.78652093e-01]

qacc:
[-2.15068295e-01,-6.27385261e+01, 2.27741931e+02,-4.44458727e+02,
 -5.62347564e-02,-1.06711684e+01, 2.00665086e+01,-2.32136730e+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,
  8.43208990e+00, 3.15460336e-01, 1.93008777e+00, 8.98798699e+01,
 -2.46242974e+02,-6.50301302e+01]

qfrc_actuator:
[ 0.0007631 , 0.14719912, 0.00939164, 0.14304283, 0.00049884, 0.14784585,
  0.013677  , 0.15722767,-0.00210514, 0.1429316 , 0.00759929, 0.15812782,
  0.        ,-0.00196445, 0.        ,-0.00174119, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.75249742,  6.44170399, -5.75249742,  5.37763296,
       -2.91007471,  6.44170399, -2.91007471,  6.03764173,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0036796827664963214
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.50858524e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.50858524e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04788092, -0.08204819,  0.0616791 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.28430810e-05,-2.33792986e-03,-4.91573937e-04,-1.10847180e-03,
 -1.09636763e-05,-1.44266150e-03,-4.46552440e-04,-1.18216642e-04,
 -5.39219482e-06,-1.46437775e-03,-2.60984250e-04,-3.02213687e-04,
  1.06799213e-05, 1.81775997e-05, 8.67977562e-06, 2.06589236e-04,
  6.10417823e-04, 3.50577763e-04,-4.90518749e+00, 6.43835471e-03,
  2.13161664e-03, 3.17340435e-04]


--- Step 1922 ---
qpos:
[-1.25721723e-02, 8.53091845e-01,-2.10509267e-02, 7.97783200e-01,
  3.83968666e-03, 8.29583418e-01,-3.22550576e-02, 7.28736321e-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,
 -2.30889040e-02,-9.59504486e-02, 7.96990405e-02, 6.27030857e-01,
 -1.78048778e-02,-6.56529318e-03, 7.78763242e-01]

qacc:
[ 2.02352100e-01,-7.37042584e+01, 2.73623643e+02,-5.50950647e+02,
  1.83100382e-01,-9.00743683e+00, 2.79008831e+01,-7.39749350e+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,
 -1.23839735e+01,-3.27534092e+00,-5.05129295e+00, 3.12853198e+02,
 -3.78554941e+01, 6.95600952e+01]

qfrc_actuator:
[ 0.0008244 , 0.14604192, 0.00936576, 0.14176668, 0.00053682, 0.14765176,
  0.0135772 , 0.15702432,-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, -3.46206696,  7.91207111, -3.46206696, 33.44687302,
       10.85627817,  7.91207111, 10.85627817, 13.38672059,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.010760591451635071
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.40808186e-01, -4.20404093e-01,  3.41030779e-01, -3.89578745e-01,
        9.07336982e-01,  1.58012666e-01, -3.75859009e-01,  2.77555756e-17,
       -9.26676861e-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([-0.07043027, -0.09754232,  0.06168051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.55182247e-05,-2.64523062e-03,-5.97872463e-04,-1.39421938e-03,
  3.26392366e-05,-1.14799877e-03,-4.62745739e-04,-2.71895650e-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,
  3.93148009e-04, 6.64341731e-04,-4.90525804e+00, 6.42707648e-03,
  2.16560096e-03, 4.10117596e-04]


--- Step 1923 ---
qpos:
[-1.26034950e-02, 8.55477959e-01,-2.10357401e-02, 8.00549100e-01,
  3.85025189e-03, 8.32007445e-01,-3.21622473e-02, 7.31836363e-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,
 -2.32950506e-02,-9.60933553e-02, 7.97046698e-02, 6.26829189e-01,
 -1.67781152e-02,-6.86620885e-03, 7.78945773e-01]

qacc:
[ 3.35520433e-01,-6.63022608e+01, 2.59000253e+02,-5.64291885e+02,
  8.58992630e-02, 1.60869362e+01,-6.88616700e+01, 1.12701806e+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,
 -9.01404857e+00,-2.50528441e+00,-5.13179458e+00, 2.69039877e+02,
 -3.77084184e+01, 5.36849475e+01]

qfrc_actuator:
[ 0.00087374, 0.14539259, 0.00934297, 0.14041365, 0.00053749, 0.14788291,
  0.01346234, 0.15722844,-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,  0.88351664, -8.59105204,  0.88351664,  3.19883892,
       -0.55920318, -8.59105204, -0.55920318,  8.57885435,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.010557382779387477
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.39595369e-01, -4.19797685e-01,  3.44745587e-01, -3.88335517e-01,
        9.07617708e-01,  1.59454138e-01, -3.79835678e-01, -2.77555756e-17,
       -9.25053976e-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([-0.07067701, -0.09766341,  0.06168309])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.14454491e-05,-2.33806404e-03,-6.76777615e-04,-1.49083093e-03,
  1.59720547e-05,-5.67261681e-04,-4.25306753e-04, 1.42275911e-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,
  3.13111965e-05, 2.77701352e-04,-4.90526113e+00, 6.50450238e-03,
  2.17491762e-03, 2.34252201e-04]


--- Step 1924 ---
qpos:
[-1.26341313e-02, 8.57851324e-01,-2.10235674e-02, 8.03284845e-01,
  3.86048388e-03, 8.34429474e-01,-3.20735039e-02, 7.34947973e-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,
 -2.35261136e-02,-9.62436846e-02, 7.96893893e-02, 6.26571123e-01,
 -1.54026388e-02,-6.85137550e-03, 7.79181908e-01]

qacc:
[ 3.58590951e-01,-6.24196102e+01, 2.60419223e+02,-6.05092303e+02,
 -1.78069407e-01, 2.90243596e+01,-1.31521204e+02, 2.74703123e+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,
 -6.22912418e+00,-1.85565255e+00,-5.22747610e+00, 2.31978676e+02,
 -3.74976049e+01, 4.02174938e+01]

qfrc_actuator:
[ 0.0009155 , 0.14508847, 0.00930652, 0.13892008, 0.00049806, 0.14803045,
  0.0133595 , 0.15783083,-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,  1.061651  , -8.57086192,  1.061651  ,  2.56897444,
       -0.75155216, -8.57086192, -0.75155216,  8.54327077,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.010280921973779285
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.8388299 , -0.41941495,  0.34706698, -0.3875522 ,  0.90779463,
        0.16035023, -0.38231883,  0.        , -0.92403047])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07105861, -0.09780956,  0.06168842])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.65561602e-05,-1.84059826e-03,-6.41215335e-04,-1.62546279e-03,
 -3.19250228e-05,-3.05271010e-04,-2.79279203e-04, 5.71364111e-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,
  1.23568132e-04, 1.76404541e-05,-4.90541865e+00, 6.57353386e-03,
  2.22045296e-03, 5.47384738e-05]


--- Step 1925 ---
qpos:
[-1.26637425e-02, 8.60214983e-01,-2.10136841e-02, 8.05983134e-01,
  3.87027058e-03, 8.36847727e-01,-3.19855827e-02, 7.38062250e-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,
 -2.38356923e-02,-9.64350523e-02, 7.96484266e-02, 6.26442144e-01,
 -1.39209576e-02,-6.03796791e-03, 7.79320210e-01]

qacc:
[ 5.31816143e-01,-7.33901624e+01, 3.19429040e+02,-7.51505014e+02,
 -2.32499217e-01, 2.02012636e+00,-2.02350331e+01, 5.62943963e+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,
 -1.96288873e+01,-1.02596252e+01,-6.42052730e+00, 3.45048936e+02,
  2.10001064e+02,-7.51543841e+01]

qfrc_actuator:
[ 0.0009879 , 0.14486969, 0.00928159, 0.13705425, 0.00047051, 0.1478082 ,
  0.01330025, 0.15795258,-0.00208882, 0.14255841, 0.00771027, 0.15747467,
  0.        ,-0.00200081, 0.        ,-0.0017547 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,  -1.46550385,  -8.51111481,  -1.46550385,
        75.48413042, -11.5103205 ,  -8.51111481, -11.5103205 ,
        10.61829189,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.017888431306447333
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.76967805e-01, -4.38483902e-01,  1.96619778e-01, -4.27861979e-01,
        8.98739043e-01,  9.59284100e-02, -2.18772934e-01, -1.38777878e-17,
       -9.75775796e-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([-0.05263539, -0.12002163,  0.06169196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.98598459e-05,-1.47601703e-03,-5.30554779e-04,-1.98282333e-03,
 -4.27467814e-05,-4.84429500e-04,-1.52299005e-04, 1.14008321e-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,
  4.95682483e-04,-1.65951784e-04,-4.90566712e+00, 6.63339117e-03,
  2.28318693e-03,-1.27261920e-04]


--- Step 1926 ---
qpos:
[-1.26925265e-02, 8.62571450e-01,-2.10051544e-02, 8.08639495e-01,
  3.88000625e-03, 8.39260177e-01,-3.18974624e-02, 7.41173584e-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,
 -2.42036887e-02,-9.66560865e-02, 7.95835365e-02, 6.26412472e-01,
 -1.23589753e-02,-4.55282186e-03, 7.79380486e-01]

qacc:
[ 4.30019728e-01,-8.05626117e+01, 3.57906965e+02,-8.43263860e+02,
 -2.41026385e-02,-1.34022836e+01, 4.29227888e+01,-7.36454103e+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,
 -1.46044602e+01,-7.41659146e+00,-5.98186416e+00, 2.87357813e+02,
  1.79955427e+02,-5.87025753e+01]

qfrc_actuator:
[ 0.00102481, 0.14475742, 0.00929955, 0.13496668, 0.00048584, 0.14741993,
  0.01326552, 0.15779022,-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,  0.86241825, -8.59319566,  0.86241825,  4.31938628,
       -0.43325443, -8.59319566, -0.43325443,  8.59288196,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.01746879192989878
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.76715128e-01, -4.38357564e-01,  1.98023309e-01, -4.27586138e-01,
        8.98800671e-01,  9.65787165e-02, -2.20319494e-01, -1.38777878e-17,
       -9.75427763e-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([-0.05306258, -0.12026706,  0.06169567])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.07341781e-05,-1.15674890e-03,-4.13165556e-04,-2.19682950e-03,
 -5.06793261e-06,-7.40695801e-04,-1.62997253e-04,-1.82301421e-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,
  1.49006699e-03,-1.85839896e-04,-4.90567694e+00, 6.47613031e-03,
  2.28284963e-03,-1.67986188e-04]


--- Step 1927 ---
qpos:
[-1.27209785e-02, 8.64920239e-01,-2.09969848e-02, 8.11251894e-01,
  3.88958938e-03, 8.41663908e-01,-3.18095771e-02, 7.44279464e-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,
 -2.46134531e-02,-9.68973794e-02, 7.94960100e-02, 6.26456467e-01,
 -1.07378251e-02,-2.50252849e-03, 7.79378426e-01]

qacc:
[ 1.77722201e-01,-8.74832896e+01, 3.84583009e+02,-8.91666079e+02,
 -7.59474788e-02,-2.05167686e+01, 6.84538526e+01,-1.27360397e+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,
 -1.04419700e+01,-5.06469602e+00,-5.65908081e+00, 2.39078131e+02,
  1.54503539e+02,-4.48734254e+01]

qfrc_actuator:
[ 0.00102247, 0.14440863, 0.00928998, 0.13276551, 0.00047342, 0.14679355,
  0.01317382, 0.15749744,-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,  0.85827951, -8.59361002,  0.85827951,  3.19104001,
       -0.54384708, -8.59361002, -0.54384708,  8.58204737,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.016948990436304368
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.76624799e-01, -4.38312399e-01,  1.98522550e-01, -4.27487557e-01,
        8.98822697e-01,  9.68098555e-02, -2.20869534e-01,  1.38777878e-17,
       -9.75303362e-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([-0.05361562, -0.12058651,  0.06170182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.23272817e-05,-1.19949062e-03,-3.70015365e-04,-2.30084621e-03,
 -1.49192419e-05,-1.13358913e-03,-2.81669060e-04,-3.28397899e-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,
  2.85359373e-03, 2.59819530e-04,-4.90591478e+00, 6.40456597e-03,
  2.23447088e-03,-5.60194567e-05]


--- Step 1928 ---
qpos:
[-1.27493950e-02, 8.67257825e-01,-2.09885303e-02, 8.13820333e-01,
  3.89880062e-03, 8.44054305e-01,-3.17220683e-02, 7.47377499e-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,
 -2.49775227e-02,-9.71177395e-02, 7.94170331e-02, 6.26608184e-01,
 -9.17185605e-03,-1.73410282e-03, 7.79278547e-01]

qacc:
[ 2.79269206e-02,-9.38266370e+01, 3.99377147e+02,-9.01753956e+02,
 -1.88098028e-01,-3.04429255e+01, 1.00156824e+02,-1.83960604e+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,
  1.14236889e+01, 5.23318510e+00, 2.13738381e+00,-5.16359443e+02,
 -3.79353882e+02,-7.94313747e+01]

qfrc_actuator:
[ 0.0010145 , 0.14365501, 0.00922793, 0.13055049, 0.00044447, 0.14581651,
  0.01303052, 0.15707684,-0.00213495, 0.14139239, 0.00777936, 0.15517595,
  0.        ,-0.00204078, 0.        ,-0.00190434, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  3.60509682, -7.84793309,  3.60509682,  2.3901629 ,
       -2.8693107 , -7.84793309, -2.8693107 ,  7.31829138,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0035572316871831933
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.90128871e-15,  7.80257741e-15,  1.00000000e+00, -3.04401071e-29,
        1.00000000e+00, -7.80257741e-15, -1.00000000e+00,  0.00000000e+00,
        3.90128871e-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([ 0.01086472, -0.06950752,  0.06168613])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.15538977e-06,-1.62243983e-03,-4.28908710e-04,-2.31701367e-03,
 -3.62024344e-05,-1.73108604e-03,-4.30114249e-04,-4.76728922e-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,
  4.35289087e-03, 9.67009625e-04,-4.90628873e+00, 6.38341370e-03,
  2.16471008e-03, 1.44350484e-04]


--- Step 1929 ---
qpos:
[-1.27777720e-02, 8.69579444e-01,-2.09787115e-02, 8.16343710e-01,
  3.90780371e-03, 8.46426916e-01,-3.16348080e-02, 7.50462043e-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,
 -2.53074311e-02,-9.73179980e-02, 7.93373588e-02, 6.26427962e-01,
 -8.59478015e-03,-1.19415720e-03, 7.79431018e-01]

qacc:
[ 3.23867897e-02,-1.04940275e+02, 4.30609980e+02,-9.39667661e+02,
 -1.00480815e-01,-4.66595902e+01, 1.61668406e+02,-3.10002021e+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,
  8.54029896e+00, 5.02542315e+00,-1.74337269e-01,-4.00152885e+02,
  3.12282982e+02, 2.08209299e+02]

qfrc_actuator:
[ 0.00102106, 0.14257632, 0.00918714, 0.12827374, 0.00044139, 0.14461943,
  0.01289201, 0.15637109,-0.002124  , 0.14080577, 0.00776081, 0.15384172,
  0.        ,-0.00203718, 0.        ,-0.00184166, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  4.47185483, -7.38845662,  4.47185483,  3.86986702,
       -2.88491657, -7.38845662, -2.88491657,  6.89027122,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003806415848765801
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.91671501e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.91671501e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02041971, -0.11662373,  0.0616666 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.43065335e-06,-2.19378653e-03,-4.98609777e-04,-2.39484086e-03,
 -2.06068208e-05,-2.31753091e-03,-5.66532598e-04,-7.90444857e-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,
  1.47052944e-03,-3.79608537e-04,-4.90543804e+00, 6.30412518e-03,
  2.13094642e-03,-2.66840009e-04]


--- Step 1930 ---
qpos:
[-1.28058392e-02, 8.71882308e-01,-2.09677379e-02, 8.18821170e-01,
  3.91646943e-03, 8.48778330e-01,-3.15470930e-02, 7.53522048e-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,
 -2.56086923e-02,-9.75011642e-02, 7.92508994e-02, 6.25969981e-01,
 -8.84281540e-03,-8.45568850e-04, 7.79796558e-01]

qacc:
[ 1.70450955e-01,-1.09517236e+02, 4.42835318e+02,-9.58379871e+02,
 -1.64406801e-01,-7.26598108e+01, 2.71661479e+02,-5.50823878e+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,
  7.16178673e+00, 4.27307867e+00,-1.69628728e+00,-3.34077698e+02,
  2.60541389e+02, 1.74652557e+02]

qfrc_actuator:
[ 0.00105408, 0.14147161, 0.00917568, 0.12596088, 0.00041832, 0.14331786,
  0.01280966, 0.15511247,-0.00212   , 0.140029  , 0.00774086, 0.15244714,
  0.        ,-0.00204986, 0.        ,-0.00184001, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  4.5150421 , -7.36214451,  4.5150421 ,  4.78436262,
       -2.36234791, -7.36214451, -2.36234791,  7.18758736,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003968806995483826
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.39868609e-14, -1.39868609e-14,  1.00000000e+00,  1.95632277e-28,
        1.00000000e+00,  1.39868609e-14, -1.00000000e+00,  0.00000000e+00,
        1.39868609e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01972601, -0.11664752,  0.0616536 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.99940204e-05,-2.55252185e-03,-5.92794487e-04,-2.45361229e-03,
 -3.32239726e-05,-2.78558490e-03,-6.53072388e-04,-1.37466290e-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,
  4.11249033e-04, 8.47751244e-05,-4.90518005e+00, 6.38953233e-03,
  2.24989937e-03, 7.83395052e-05]


--- Step 1931 ---
qpos:
[-1.28334864e-02, 8.74165203e-01,-2.09564271e-02, 8.21253204e-01,
  3.92461363e-03, 8.51107321e-01,-3.14590444e-02, 7.56548134e-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,
 -2.58819137e-02,-9.76731730e-02, 7.91537256e-02, 6.25580305e-01,
 -9.21712861e-03,-1.34748929e-03, 7.80104167e-01]

qacc:
[ 2.25760968e-01,-1.07980536e+02, 4.34149041e+02,-9.42412527e+02,
 -2.58008280e-01,-9.05628435e+01, 3.53648670e+02,-7.45109706e+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,
  7.00995670e+00, 2.78933117e+00,-2.67860668e+00,-3.70857548e+02,
 -2.16675936e+02,-4.84700412e+01]

qfrc_actuator:
[ 0.00108493, 0.14041371, 0.00916372, 0.12368074, 0.00038346, 0.14210615,
  0.01277815, 0.15339656,-0.00213802, 0.1390915 , 0.00775506, 0.15132992,
  0.        ,-0.00203657, 0.        ,-0.00208738, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  3.19814597, -8.02238364,  3.19814597,  1.96909689,
       -2.65792478, -8.02238364, -2.65792478,  7.57677439,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0040464836166403395
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.3718368e-14,  1.3718368e-14,  1.0000000e+00,  1.8819362e-28,
        1.0000000e+00, -1.3718368e-14, -1.0000000e+00,  0.0000000e+00,
       -1.3718368e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02040194, -0.0680247 ,  0.06164667])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.08757546e-05,-2.72457955e-03,-6.76814793e-04,-2.43679401e-03,
 -5.11439655e-05,-2.99299545e-03,-7.23855202e-04,-1.86351108e-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,
  1.54345494e-04, 1.98963334e-04,-4.90489515e+00, 6.22842390e-03,
  2.21531284e-03, 1.23336502e-04]


--- Step 1932 ---
qpos:
[-1.28608553e-02, 8.76430485e-01,-2.09468910e-02, 8.23641657e-01,
  3.93226002e-03, 8.53418214e-01,-3.13747362e-02, 7.59537843e-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,
 -2.61365148e-02,-9.78317472e-02, 7.90439528e-02, 6.24988800e-01,
 -1.02395283e-02,-1.98548310e-03, 7.80564033e-01]

qacc:
[ 1.51317010e-01,-9.58324137e+01, 3.92978353e+02,-8.82592207e+02,
 -2.49275432e-01,-7.81653040e+01, 3.25607320e+02,-7.52068346e+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,
  4.65509717e+00, 3.35866358e+00,-3.14974276e+00,-2.56618480e+02,
  2.09387465e+02, 1.26157770e+02]

qfrc_actuator:
[ 0.00109649, 0.13971217, 0.00913406, 0.12150912, 0.00035959, 0.14145512,
  0.01267056, 0.15158524,-0.00215134, 0.13827881, 0.00780664, 0.15026048,
  0.        ,-0.00193695, 0.        ,-0.00226641, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0040768218436834786
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01893233, -0.11678707,  0.06164301])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.69985093e-05,-2.47891342e-03,-7.37448274e-04,-2.33597833e-03,
 -4.88253394e-05,-2.57809081e-03,-8.64564908e-04,-1.97881039e-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,
  4.08606143e-04, 9.38426586e-05,-4.90501203e+00, 6.38039204e-03,
  2.11076796e-03, 1.11925298e-04]


--- Step 1933 ---
qpos:
[-1.28881327e-02, 8.78683163e-01,-2.09406150e-02, 8.25988554e-01,
  3.93948960e-03, 8.55715682e-01,-3.12961989e-02, 7.62496367e-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,
 -2.63633176e-02,-9.79797784e-02, 7.89232896e-02, 6.24477733e-01,
 -1.13117907e-02,-3.35009728e-03, 7.80953507e-01]

qacc:
[ 5.38341245e-02,-8.15756662e+01, 3.48780311e+02,-8.19804343e+02,
 -2.10618155e-01,-5.72842935e+01, 2.49884993e+02,-6.17946806e+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,
  6.94955901e+00, 2.63576382e+00,-2.72257490e+00,-2.98827067e+02,
 -2.07164079e+02,-5.70611979e+01]

qfrc_actuator:
[ 0.00109646, 0.13947861, 0.00911352, 0.11945444, 0.00034252, 0.14116291,
  0.01252127, 0.15005225,-0.00214403, 0.13754788, 0.00782712, 0.1490857 ,
  0.        ,-0.00185794, 0.        ,-0.00220839, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  3.05962589, -8.07622847,  3.05962589,  5.13916392,
       -1.32489105, -8.07622847, -1.32489105,  8.1344374 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004076678778913781
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.40418968e-15,  1.36167587e-14,  1.00000000e+00, -4.63540294e-29,
        1.00000000e+00, -1.36167587e-14, -1.00000000e+00,  0.00000000e+00,
        3.40418968e-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([ 0.00830456, -0.07102443,  0.06164133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.68350961e-06,-1.88247130e-03,-6.83153367e-04,-2.21037270e-03,
 -4.09156469e-05,-2.02011526e-03,-8.43093276e-04,-1.69279749e-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,
  1.08141854e-03,-6.51909126e-05,-4.90489090e+00, 6.19985844e-03,
  1.96495461e-03,-3.41559424e-05]


--- Step 1934 ---
qpos:
[-1.29152996e-02, 8.80926173e-01,-2.09364583e-02, 8.28293602e-01,
  3.94656777e-03, 8.58000328e-01,-3.12214708e-02, 7.65434029e-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,
 -2.65665624e-02,-9.81189681e-02, 7.87873628e-02, 6.24033542e-01,
 -1.24265071e-02,-5.32799694e-03, 7.81280572e-01]

qacc:
[ 6.30599591e-02,-8.13028453e+01, 3.53012743e+02,-8.28570185e+02,
 -7.37438986e-02,-4.34851754e+01, 1.77745060e+02,-4.19814667e+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,
  5.88949836e+00, 2.21036300e+00,-3.81592640e+00,-2.52456311e+02,
 -1.74449457e+02,-4.89974621e+01]

qfrc_actuator:
[ 0.00110729, 0.1392971 , 0.00911839, 0.11737882, 0.00034738, 0.1407335 ,
  0.0124215 , 0.14903292,-0.00215996, 0.13649914, 0.00784718, 0.14762757,
  0.        ,-0.00182737, 0.        ,-0.00197566, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  3.03099545, -8.08701697,  3.03099545, 28.38389799,
        7.40133068, -8.08701697,  7.40133068, 11.41036543,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004031252342958799
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.72127501e-14,  6.88510003e-15,  1.00000000e+00, -1.18511506e-28,
        1.00000000e+00, -6.88510003e-15, -1.00000000e+00,  0.00000000e+00,
        1.72127501e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0081307 , -0.07109068,  0.06164279])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.06591976e-05,-1.48388558e-03,-5.28984838e-04,-2.20708443e-03,
 -1.51301763e-05,-1.83216916e-03,-6.70269181e-04,-1.15268815e-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,
  2.20419443e-03, 3.82313268e-04,-4.90532490e+00, 6.38965732e-03,
  1.88553730e-03, 1.26334097e-04]


--- Step 1935 ---
qpos:
[-1.29421026e-02, 8.83162466e-01,-2.09342317e-02, 8.30556583e-01,
  3.95375638e-03, 8.60273123e-01,-3.11491041e-02, 7.68351962e-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,
 -2.68340006e-02,-9.82766719e-02, 7.86680554e-02, 6.23774149e-01,
 -1.33907901e-02,-6.09121570e-03, 7.81466182e-01]

qacc:
[ 1.89824569e-01,-7.82829126e+01, 3.48011107e+02,-8.27885386e+02,
  6.12985932e-02,-4.41077338e+01, 1.78257538e+02,-4.06285202e+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,
 -1.60483505e+01,-4.62853631e+00, 4.15485792e+00, 5.22213275e+02,
  3.21606857e+02,-1.09179800e+02]

qfrc_actuator:
[ 0.00114235, 0.13923767, 0.00912092, 0.1152898 , 0.00036531, 0.1403153 ,
  0.01236954, 0.14805764,-0.00217196, 0.13567688, 0.00784779, 0.14585441,
  0.        ,-0.00186126, 0.        ,-0.00181948, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  2.56744971, -8.24590679,  2.56744971, 19.70006526,
        3.44479974, -8.24590679,  3.44479974,  9.70893823,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.014560759284173727
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.85590777, -0.42795389,  0.29030562, -0.40527642,  0.90380057,
        0.1374611 , -0.3212054 ,  0.        , -0.94700955])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05446728, -0.12111189,  0.06162653])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.59489939e-05,-1.10939572e-03,-4.34041872e-04,-2.20250433e-03,
  1.04051713e-05,-1.66223809e-03,-5.47331644e-04,-1.08468790e-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,
  3.51780865e-03, 1.18782725e-03,-4.90581588e+00, 6.51260113e-03,
  1.84350167e-03, 3.84596877e-04]


--- Step 1936 ---
qpos:
[-1.29682732e-02, 8.85394876e-01,-2.09336673e-02, 8.32779402e-01,
  3.96089602e-03, 8.62536623e-01,-3.10787814e-02, 7.71239707e-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,
 -2.71493036e-02,-9.84464094e-02, 7.85602101e-02, 6.23662594e-01,
 -1.42426021e-02,-5.82793858e-03, 7.81542163e-01]

qacc:
[ 3.23452101e-01,-7.18738169e+01, 3.26586932e+02,-7.86249194e+02,
 -2.00381647e-02,-6.01115902e+01, 2.62545355e+02,-6.18195999e+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,
 -1.19662151e+01,-3.00843097e+00, 2.86551205e+00, 4.36820194e+02,
  2.77389005e+02,-8.54269449e+01]

qfrc_actuator:
[ 0.00119164, 0.13932343, 0.00914046, 0.11329845, 0.00035538, 0.14005   ,
  0.01232858, 0.14654791,-0.00216379, 0.13549393, 0.00787318, 0.14385697,
  0.        ,-0.00186207, 0.        ,-0.00181621, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  7.7055598 , -3.90014423,  7.7055598 , 17.43081011,
       17.37528901, -3.90014423, 17.37528901, 42.96492191,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.014376305020176755
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.50889234e-01, -4.25444617e-01,  3.08195376e-01, -4.00013767e-01,
        9.04984463e-01,  1.44886536e-01, -3.40553223e-01, -2.77555756e-17,
       -9.40225240e-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([-0.05438344, -0.12104728,  0.06161004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.27878768e-05,-7.37000702e-04,-3.31437433e-04,-2.08946755e-03,
 -5.06289811e-06,-1.38734333e-03,-4.85550177e-04,-1.60778515e-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,
  9.41813688e-04,-4.34025207e-05,-4.90513699e+00, 6.34729415e-03,
  2.09219682e-03, 3.34030162e-05]


--- Step 1937 ---
qpos:
[-1.29939530e-02, 8.87624536e-01,-2.09341081e-02, 8.34965067e-01,
  3.96774013e-03, 8.64792414e-01,-3.10107877e-02, 7.74099866e-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,
 -2.74988593e-02,-9.86227724e-02, 7.84591115e-02, 6.23666261e-01,
 -1.50117970e-02,-4.69703554e-03, 7.81532455e-01]

qacc:
[ 2.51525204e-01,-6.67947266e+01, 3.04196005e+02,-7.29123110e+02,
 -1.47115960e-01,-5.26223747e+01, 2.33244681e+02,-5.58545044e+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,
 -8.56313894e+00,-1.65636491e+00, 1.68667252e+00, 3.65376667e+02,
  2.39214614e+02,-6.58076128e+01]

qfrc_actuator:
[ 0.00121355, 0.13935413, 0.00915296, 0.11145165, 0.00032884, 0.13984312,
  0.0122771 , 0.1451797 ,-0.0021614 , 0.13560698, 0.0079156 , 0.14176181,
  0.        ,-0.00182546, 0.        ,-0.00179653, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  6.70689662, -5.44098471,  6.70689662, 15.82389669,
        8.85980087, -5.44098471,  8.85980087, 19.55750597,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.014075320088377979
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.84681622, -0.42340811,  0.32191283, -0.39577591,  0.90593906,
        0.15045218, -0.35533608,  0.        , -0.93473861])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05451621, -0.12111823,  0.06160108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.88143491e-05,-5.60961808e-04,-2.49126817e-04,-1.92700798e-03,
 -2.91402516e-05,-1.18171880e-03,-4.50148796e-04,-1.46631560e-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,
  4.81613850e-06,-2.51459763e-05,-4.90507184e+00, 6.33829834e-03,
  2.18217740e-03, 6.75348154e-05]


--- Step 1938 ---
qpos:
[-1.30193764e-02, 8.89848435e-01,-2.09338315e-02, 8.37114914e-01,
  3.97407027e-03, 8.67042015e-01,-3.09455771e-02, 7.76936434e-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,
 -2.77714667e-02,-9.87912659e-02, 7.83959755e-02, 6.23907394e-01,
 -1.50727019e-02,-3.93328974e-03, 7.81343014e-01]

qacc:
[ 1.35527193e-01,-7.30285946e+01, 3.16418338e+02,-7.21239927e+02,
 -2.59627227e-01,-4.23036689e+01, 1.90907739e+02,-4.69317142e+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,
  1.92370455e+01, 1.96738649e+00, 9.49066185e+00, 7.87559196e+01,
 -3.89361043e+02,-1.53260154e+02]

qfrc_actuator:
[ 0.00121892, 0.13894391, 0.00914348, 0.10965136, 0.0002926 , 0.13970894,
  0.01220266, 0.14401237,-0.00218029, 0.13559523, 0.00795144, 0.13975051,
  0.        ,-0.00190897, 0.        ,-0.00174953, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  0.8621908 , -8.59321848,  0.8621908 , 55.13671046,
        4.66555941, -8.59321848,  4.66555941,  9.10447723,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0046041480541813146
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.27483660e-15,  1.50709617e-15,  1.00000000e+00, -7.94968604e-30,
        1.00000000e+00, -1.50709617e-15, -1.00000000e+00,  0.00000000e+00,
        5.27483660e-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([-0.05146847, -0.08577438,  0.06159411])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.54270917e-05,-8.82135674e-04,-2.21500917e-04,-1.86852149e-03,
 -5.05465788e-05,-9.82256935e-04,-4.23250565e-04,-1.25402122e-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,
  6.58244071e-05, 7.56456567e-04,-4.90537469e+00, 6.41427649e-03,
  2.18000179e-03, 3.37565679e-04]


--- Step 1939 ---
qpos:
[-1.30445799e-02, 8.92061423e-01,-2.09311940e-02, 8.39230349e-01,
  3.97990560e-03, 8.69286198e-01,-3.08828367e-02, 7.79747895e-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,
 -2.79813706e-02,-9.89546945e-02, 7.83605021e-02, 6.24335616e-01,
 -1.45125302e-02,-3.46167662e-03, 7.81013727e-01]

qacc:
[ 1.19500419e-01,-8.17408254e+01, 3.33203159e+02,-7.15229925e+02,
 -2.49299365e-01,-4.48012065e+01, 2.04120067e+02,-5.00678751e+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,
  1.56758949e+01, 1.26621924e+00, 6.91566706e+00, 8.07541454e+01,
 -3.32346931e+02,-1.20138493e+02]

qfrc_actuator:
[ 0.00123215, 0.13811346, 0.00915501, 0.10791027, 0.00026863, 0.13954892,
  0.01211583, 0.14275959,-0.00221178, 0.13543846, 0.00800068, 0.13778685,
  0.        ,-0.00197437, 0.        ,-0.00179332, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -4.70096698,  7.2448386 , -4.70096698,  4.97314052,
       -2.37695991,  7.2448386 , -2.37695991,  7.09402285,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004661428392497877
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.44288373e-16,  1.48857675e-15,  1.00000000e+00,  1.10793036e-30,
        1.00000000e+00, -1.48857675e-15, -1.00000000e+00,  0.00000000e+00,
       -7.44288373e-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([-0.05166541, -0.08598833,  0.06158892])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.16829054e-05,-1.47261214e-03,-2.58869155e-04,-1.81758798e-03,
 -4.87249529e-05,-8.84028770e-04,-3.85827167e-04,-1.32701052e-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,
  3.01791346e-04, 3.12567811e-04,-4.90517832e+00, 6.49248296e-03,
  2.13395203e-03, 2.66521562e-04]


--- Step 1940 ---
qpos:
[-1.30695349e-02, 8.94259151e-01,-2.09263082e-02, 8.41312371e-01,
  3.98551271e-03, 8.71526178e-01,-3.08222234e-02, 7.82532338e-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,
 -2.81402090e-02,-9.91153149e-02, 7.83440648e-02, 6.24910098e-01,
 -1.34024808e-02,-3.22306235e-03, 7.80575016e-01]

qacc:
[ 1.34708354e-01,-8.53518280e+01, 3.35416313e+02,-7.01344780e+02,
 -1.13187901e-01,-4.74834441e+01, 2.19637969e+02,-5.39313986e+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,
  1.27663571e+01, 7.02049463e-01, 4.75899620e+00, 8.15384990e+01,
 -2.86418740e+02,-9.39170731e+01]

qfrc_actuator:
[ 0.00125005, 0.13707385, 0.00915945, 0.10621761, 0.00026997, 0.13948163,
  0.01205788, 0.14141322,-0.00223282, 0.13517889, 0.00802152, 0.13572482,
  0.        ,-0.00192189, 0.        ,-0.00187248, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -4.65257039,  7.27601303, -4.65257039,  4.88263434,
       -2.40028292,  7.27601303, -2.40028292,  7.10152785,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004652978835842231
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.71075964e-15,  1.49127992e-15,  1.00000000e+00,  1.00076211e-29,
        1.00000000e+00, -1.49127992e-15, -1.00000000e+00,  0.00000000e+00,
       -6.71075964e-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([-0.05188452, -0.08612672,  0.06158883])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.44484562e-05,-2.01439941e-03,-3.85328939e-04,-1.78828269e-03,
 -2.25639406e-05,-7.31384709e-04,-3.35052683e-04,-1.41758384e-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,
  4.89955370e-04, 3.65533723e-05,-4.90496124e+00, 6.34665172e-03,
  2.07906608e-03, 1.31946429e-04]


--- Step 1941 ---
qpos:
[-1.30940232e-02, 8.96437628e-01,-2.09195245e-02, 8.43363874e-01,
  3.99099386e-03, 8.73766277e-01,-3.07653786e-02, 7.85294521e-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,
 -2.82714411e-02,-9.92697959e-02, 7.83458749e-02, 6.25593082e-01,
 -1.19014801e-02,-3.58873961e-03, 7.80050493e-01]

qacc:
[ 2.43984588e-01,-8.45016503e+01, 3.19081571e+02,-6.47901934e+02,
 -6.40263478e-02,-2.89365821e+01, 1.52837365e+02,-4.20290459e+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,
  6.90158539e+00, 1.53483483e+00, 4.56186806e+00,-1.13103910e+02,
 -3.40647668e+02,-7.38389737e+01]

qfrc_actuator:
[ 0.00128837, 0.13586419, 0.00915882, 0.1046733 , 0.00026866, 0.13984372,
  0.01200013, 0.14032446,-0.00222971, 0.13493107, 0.00806053, 0.13395857,
  0.        ,-0.00192419, 0.        ,-0.00209609, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  5.12362071,  6.95235843,  5.12362071, 11.8309533 ,
       -2.35428969,  6.95235843, -2.35428969, 10.37138457,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004592676966335946
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.20868835e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.20868835e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02805588, -0.08066873,  0.06159275])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.62461105e-05,-2.50832274e-03,-5.11075377e-04,-1.66063265e-03,
 -1.24168097e-05,-2.09836082e-04,-3.01112059e-04,-1.15512207e-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,
  6.47209765e-04,-1.62102072e-04,-4.90476415e+00, 6.08427972e-03,
  2.01946648e-03,-5.47704442e-05]


--- Step 1942 ---
qpos:
[-1.31178175e-02, 8.98594615e-01,-2.09116739e-02, 8.45386037e-01,
  3.99638341e-03, 8.76008188e-01,-3.07113609e-02, 7.88038164e-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,
 -2.83891936e-02,-9.94101034e-02, 7.83371627e-02, 6.26253709e-01,
 -1.03422601e-02,-4.65084110e-03, 7.79536849e-01]

qacc:
[ 3.56919903e-01,-8.30802354e+01, 3.07758557e+02,-6.21110409e+02,
 -4.68399730e-02,-2.26794695e+01, 1.25214905e+02,-3.48975500e+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,
  3.36989162e+00, 3.54339714e+00,-2.63059129e+00,-2.53525853e+02,
 -2.40651263e+02, 7.87407488e+00]

qfrc_actuator:
[ 0.00133863, 0.13465135, 0.00915458, 0.10319296, 0.00026577, 0.14015902,
  0.01194501, 0.13941406,-0.00222995, 0.13472839, 0.00805703, 0.13266458,
  0.        ,-0.00194131, 0.        ,-0.00215445, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  7.83360597, -3.63612354,  7.83360597, 11.48943535,
        6.14661171, -3.63612354,  6.14661171, 21.87852486,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004567978960819619
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21522344e-14,  6.07611722e-15,  1.00000000e+00,  7.38384009e-29,
        1.00000000e+00, -6.07611722e-15, -1.00000000e+00,  0.00000000e+00,
       -1.21522344e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00533894, -0.07325135,  0.06159452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.90817215e-05,-2.80531011e-03,-6.22687381e-04,-1.61350161e-03,
 -8.99541785e-06, 4.91672046e-05,-1.82297753e-04,-9.52077865e-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,
  3.24785063e-04,-2.38459077e-05,-4.90455531e+00, 5.68280593e-03,
  2.04905378e-03,-1.69172771e-04]


--- Step 1943 ---
qpos:
[-1.31412670e-02, 9.00729462e-01,-2.09028485e-02, 8.47374477e-01,
  4.00150991e-03, 8.78249659e-01,-3.06571341e-02, 7.90757202e-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,
 -2.85042018e-02,-9.95285087e-02, 7.83284101e-02, 6.26705385e-01,
 -9.54718993e-03,-5.84923394e-03, 7.79175846e-01]

qacc:
[ 1.83364356e-01,-9.14187511e+01, 3.44202234e+02,-7.06375401e+02,
 -1.30246590e-01,-4.45425364e+01, 2.09164657e+02,-5.00462722e+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,
  6.86076778e-01, 5.47553940e+00,-1.00863203e-02,-2.93123629e+02,
  2.53890189e+02, 1.30310853e+02]

qfrc_actuator:
[ 0.00134238, 0.13351757, 0.00918377, 0.10149574, 0.00024417, 0.14007168,
  0.01192753, 0.13817204,-0.00226776, 0.13446616, 0.00801124, 0.13130372,
  0.        ,-0.00189603, 0.        ,-0.0019019 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([8.63636364, 4.57648116, 7.32411066, 4.57648116, 7.56429434,
       0.66988405, 7.32411066, 0.66988405, 8.21778562, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.004661038968545014
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.19096089e-14,  1.19096089e-14,  1.00000000e+00,  1.41838784e-28,
        1.00000000e+00, -1.19096089e-14, -1.00000000e+00,  0.00000000e+00,
       -1.19096089e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01502731, -0.11786846,  0.06158783])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.40532883e-05,-2.91068946e-03,-6.59123292e-04,-1.84218168e-03,
 -2.59915889e-05,-1.78665360e-04,-7.27420238e-05,-1.26667462e-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,
 -7.01795679e-05, 7.54090316e-04,-4.90465051e+00, 5.47420926e-03,
  2.17146094e-03, 1.20300455e-05]


--- Step 1944 ---
qpos:
[-1.31644710e-02, 9.02848946e-01,-2.08965341e-02, 8.49328741e-01,
  4.00635787e-03, 8.80488032e-01,-3.06026331e-02, 7.93450492e-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,
 -2.86187474e-02,-9.96284866e-02, 7.83150045e-02, 6.26988957e-01,
 -9.41821069e-03,-7.15385159e-03, 7.78938359e-01]

qacc:
[ 1.29581604e-01,-7.38360268e+01, 2.98033496e+02,-6.73914256e+02,
 -1.36837632e-01,-5.02033813e+01, 2.26179279e+02,-5.27860057e+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,
  1.15666178e-01, 4.60684909e+00,-1.16325799e+00,-2.50546549e+02,
  2.25134006e+02, 1.05636403e+02]

qfrc_actuator:
[ 0.0013538 , 0.13320382, 0.00921491, 0.09980879, 0.00022932, 0.13976205,
  0.01187747, 0.13686881,-0.00227451, 0.13422381, 0.00802938, 0.12987871,
  0.        ,-0.00188511, 0.        ,-0.00184104, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.5202093 ,  6.64184208, -5.5202093 ,  8.26786085,
       -0.30627234,  6.64184208, -0.30627234,  8.38181266,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00472282582326021
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.17538002e-14,  1.17538002e-14,  1.00000000e+00,  1.38151820e-28,
        1.00000000e+00, -1.17538002e-14, -1.00000000e+00,  0.00000000e+00,
       -1.17538002e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01477784, -0.11793376,  0.06158339])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.42668583e-05,-2.16305191e-03,-6.88871003e-04,-1.84144736e-03,
 -2.76437462e-05,-5.16245167e-04,-1.47553909e-04,-1.33917256e-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,
  1.11423293e-04, 9.83424418e-04,-4.90494640e+00, 5.93021498e-03,
  2.27034667e-03, 2.84229192e-04]


--- Step 1945 ---
qpos:
[-1.31874342e-02, 9.04962081e-01,-2.08958602e-02, 8.51250004e-01,
  4.01114126e-03, 8.82719419e-01,-3.05484184e-02, 7.96116284e-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,
 -2.86985480e-02,-9.97009831e-02, 7.83255530e-02, 6.27266186e-01,
 -9.33340361e-03,-7.79608241e-03, 7.78709985e-01]

qacc:
[ 1.22379300e-01,-5.13963377e+01, 2.35711043e+02,-6.08670923e+02,
 -2.75240204e-02,-5.68537527e+01, 2.45956834e+02,-5.64391587e+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,
  8.68622614e+00, 6.87036051e+00, 5.98853124e+00, 2.44134373e+02,
  2.24792835e+02, 8.60428668e+00]

qfrc_actuator:
[ 0.00136979, 0.1335262 , 0.00916157, 0.09819519, 0.00023639, 0.13914435,
  0.01175446, 0.13546881,-0.00226264, 0.13381833, 0.00808525, 0.12865821,
  0.        ,-0.00189469, 0.        ,-0.0018582 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,   7.70690599,   3.8974834 ,   7.70690599,
        19.7833077 , -22.042031  ,   3.8974834 , -22.042031  ,
        52.22240192,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004805669939214607
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.66338387e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.66338387e-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([-0.05584694, -0.12159102,  0.06157744])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.40837551e-05,-1.11764206e-03,-6.28678564e-04,-1.74470093e-03,
 -6.59750743e-06,-1.02878846e-03,-2.98486470e-04,-1.45121105e-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,
  5.88479970e-04, 9.95159040e-04,-4.90518527e+00, 6.19706452e-03,
  2.29566327e-03, 3.63657380e-04]


--- Step 1946 ---
qpos:
[-1.32104820e-02, 9.07070340e-01,-2.08979113e-02, 8.53137722e-01,
  4.01591795e-03, 8.84939361e-01,-3.04937037e-02, 7.98748437e-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,
 -2.87495011e-02,-9.97503175e-02, 7.83518453e-02, 6.27541185e-01,
 -9.28414110e-03,-7.85478346e-03, 7.78488386e-01]

qacc:
[-3.76679966e-02,-5.83063477e+01, 2.61915133e+02,-6.39633897e+02,
  4.25471088e-03,-7.56318101e+01, 3.15935019e+02,-7.01417404e+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,
  7.21188035e+00, 5.79052179e+00, 3.93596244e+00, 2.16068302e+02,
  1.96813405e+02, 5.85525560e+00]

qfrc_actuator:
[ 0.00135292, 0.13351728, 0.00911493, 0.09653158, 0.00023876, 0.13827593,
  0.01165914, 0.13375652,-0.00223977, 0.13337229, 0.00816254, 0.12751446,
  0.        ,-0.00188084, 0.        ,-0.00179687, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -2.93818732,  8.12119647, -2.93818732, 20.32352524,
        4.22832647,  8.12119647,  4.22832647, 10.1661401 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004849834318954575
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.43074865e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.43074865e-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([-0.05587995, -0.121585  ,  0.0615746 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.69225897e-06,-8.53830657e-04,-4.05205846e-04,-1.75689542e-03,
 -9.87443443e-07,-1.59751049e-03,-3.93603643e-04,-1.78786988e-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,
  1.70705622e-04, 2.89172702e-04,-4.90500621e+00, 6.29605098e-03,
  2.25422129e-03, 1.51106751e-04]


--- Step 1947 ---
qpos:
[-1.32339691e-02, 9.09171703e-01,-2.08996506e-02, 8.54991897e-01,
  4.02104440e-03, 8.87145245e-01,-3.04384446e-02, 8.01342980e-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,
 -2.87763669e-02,-9.97800014e-02, 7.83868530e-02, 6.27816269e-01,
 -9.26358059e-03,-7.39685007e-03, 7.78271293e-01]

qacc:
[-2.10647484e-01,-6.91711847e+01, 2.94208825e+02,-6.67046144e+02,
  1.84846605e-01,-8.61439458e+01, 3.56019627e+02,-7.84923328e+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,
  6.02183901e+00, 4.91260705e+00, 2.17881776e+00, 1.92109209e+02,
  1.73256216e+02, 3.89139792e+00]

qfrc_actuator:
[ 0.00131656, 0.13315086, 0.00912491, 0.09485171, 0.00027378, 0.13740634,
  0.01161527, 0.13185625,-0.00222832, 0.13313677, 0.00821622, 0.12628293,
  0.        ,-0.00188867, 0.        ,-0.001743  , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -2.98963984,  8.10239659, -2.98963984, 20.71791804,
        4.4578781 ,  8.10239659,  4.4578781 , 10.28124115,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004827956251618144
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.74892857e-15,  5.74892857e-15,  1.00000000e+00,  3.30501797e-29,
        1.00000000e+00, -5.74892857e-15, -1.00000000e+00,  0.00000000e+00,
       -5.74892857e-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([-0.05598246, -0.1216412 ,  0.06157661])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.46047700e-05,-1.02085252e-03,-2.70781083e-04,-1.75809675e-03,
  3.43725325e-05,-1.94432242e-03,-4.76521649e-04,-2.00532945e-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,
  6.77243747e-05, 4.66867365e-05,-4.90498423e+00, 6.37900692e-03,
  2.21413575e-03, 8.25830550e-05]


--- Step 1948 ---
qpos:
[-1.32576589e-02, 9.11264360e-01,-2.09003135e-02, 8.56812360e-01,
  4.02653246e-03, 8.89336562e-01,-3.03837764e-02, 8.03898496e-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,
 -2.87829952e-02,-9.97929008e-02, 7.84245725e-02, 6.28092480e-01,
 -9.26627186e-03,-6.47921948e-03, 7.78056549e-01]

qacc:
[-9.24869241e-02,-7.38945238e+01, 3.06995426e+02,-6.78869530e+02,
  1.90109697e-01,-8.62008001e+01, 3.58521247e+02,-8.03489818e+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,
  5.05937883e+00, 4.19615055e+00, 6.77981549e-01, 1.71599596e+02,
  1.53344107e+02, 2.51430971e+00]

qfrc_actuator:
[ 0.00132216, 0.13264494, 0.00914915, 0.09315775, 0.00029253, 0.13664977,
  0.01156652, 0.12989611,-0.00222383, 0.13313597, 0.00820312, 0.1249209 ,
  0.        ,-0.00190934, 0.        ,-0.00178275, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -3.04879504,  8.08032336, -3.04879504, 21.28084886,
        4.77090361,  8.08032336,  4.77090361, 10.43647814,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004752801754524819
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.83983449e-15, -4.37987587e-15,  1.00000000e+00,  2.55777502e-29,
        1.00000000e+00,  4.37987587e-15, -1.00000000e+00,  0.00000000e+00,
        5.83983449e-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([-0.05614024, -0.12174656,  0.06158244])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.07554353e-05,-1.22597779e-03,-2.73804229e-04,-1.77345610e-03,
  3.55858618e-05,-2.04712280e-03,-5.66439622e-04,-2.08411534e-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,
  1.87805924e-04, 1.26818865e-04,-4.90507119e+00, 6.45066977e-03,
  2.17461272e-03, 1.15045876e-04]


--- Step 1949 ---
qpos:
[-1.32806594e-02, 9.13347293e-01,-2.09000628e-02, 8.58600911e-01,
  4.03228835e-03, 8.91513414e-01,-3.03299352e-02, 8.06413075e-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,
 -2.88009332e-02,-9.97905771e-02, 7.84546374e-02, 6.28276201e-01,
 -9.82454864e-03,-5.60770742e-03, 7.77908123e-01]

qacc:
[ 3.47576075e-01,-7.15968434e+01, 2.93421167e+02,-6.43660292e+02,
  1.42814125e-01,-8.87550644e+01, 3.71504659e+02,-8.38275563e+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,
 -2.82744778e+00, 3.80574998e+00,-1.91365803e+00,-1.92634648e+02,
  2.01048277e+02, 5.83941367e+01]

qfrc_actuator:
[ 0.00140613, 0.13213089, 0.00918107, 0.09155769, 0.00030137, 0.13596713,
  0.0115335 , 0.1278455 ,-0.00220582, 0.13306277, 0.00816946, 0.1235819 ,
  0.        ,-0.00193743, 0.        ,-0.00166429, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,   8.35765711,   2.17631444,   8.35765711,
        11.33183437, -10.35136268,   2.17631444, -10.35136268,
        48.38849604,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00463957145411565
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.19647152e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.19647152e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01464133, -0.11842109,  0.06159099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.96233199e-05,-1.34846502e-03,-3.07272350e-04,-1.68653100e-03,
  2.62940422e-05,-2.05013708e-03,-5.83699129e-04,-2.18240762e-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,
  4.64133871e-04, 4.29076826e-04,-4.90523447e+00, 6.51389403e-03,
  2.13536410e-03, 2.17813181e-04]


--- Step 1950 ---
qpos:
[-1.33024186e-02, 9.15430326e-01,-2.09036745e-02, 8.60358821e-01,
  4.03820522e-03, 8.93677510e-01,-3.02780883e-02, 8.08890674e-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,
 -2.88292860e-02,-9.97753084e-02, 7.84732103e-02, 6.28383774e-01,
 -1.08741500e-02,-4.77095422e-03, 7.77812846e-01]

qacc:
[ 6.13167682e-01,-4.34710886e+01, 2.13568790e+02,-5.62211846e+02,
  8.74186747e-02,-7.63602929e+01, 3.23113239e+02,-7.45078126e+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,
 -2.60368172e+00, 3.23625864e+00,-2.87302071e+00,-1.68088427e+02,
  1.79709106e+02, 4.75215944e+01]

qfrc_actuator:
[ 0.0015008 , 0.13278814, 0.00921733, 0.09006115, 0.00030421, 0.13549435,
  0.01149266, 0.12600668,-0.00223315, 0.13307142, 0.00815941, 0.12242693,
  0.        ,-0.00195196, 0.        ,-0.00163106, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -7.17889058,  4.80107352, -7.17889058,  9.26864579,
        0.94543114,  4.80107352,  0.94543114, 10.05003636,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004573250518954984
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.06911331e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.06911331e-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([ 0.0147476 , -0.11853784,  0.06159616])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.26010710e-04,-2.48364822e-04,-3.28134349e-04,-1.58591136e-03,
  1.57076619e-05,-1.84804144e-03,-5.96839699e-04,-1.97330541e-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,
  1.33252249e-04, 4.60706368e-04,-4.90534189e+00, 6.53509978e-03,
  2.18039976e-03, 2.01358557e-04]


--- Step 1951 ---
qpos:
[-1.33229526e-02, 9.17524714e-01,-2.09134316e-02, 8.62085897e-01,
  4.04366110e-03, 8.95832411e-01,-3.02286825e-02, 8.11332852e-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,
 -2.88419793e-02,-9.97447538e-02, 7.84921823e-02, 6.28502602e-01,
 -1.19329769e-02,-3.47566561e-03, 7.77708174e-01]

qacc:
[ 5.99798994e-01,-2.28055504e+01, 1.63984927e+02,-5.26918849e+02,
 -2.25214098e-01,-6.77036633e+01, 2.96129972e+02,-7.02810319e+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,
  3.91486722e+00, 3.82147949e+00, 9.97956695e-02, 1.75467621e+02,
  1.47734122e+02,-4.81458234e+00]

qfrc_actuator:
[ 0.00156556, 0.13417773, 0.00920734, 0.08856721, 0.0002502 , 0.13534685,
  0.01148411, 0.12425408,-0.00226966, 0.13321839, 0.0081994 , 0.12138956,
  0.        ,-0.0019228 , 0.        ,-0.00168385, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,   8.22517637,   2.63310663,   8.22517637,
        15.83074226, -22.47346627,   2.63310663, -22.47346627,
        78.83793526,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0044683280522246835
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.48464977e-14,  1.24232488e-14,  1.00000000e+00,  3.08674223e-28,
        1.00000000e+00, -1.24232488e-14, -1.00000000e+00,  0.00000000e+00,
       -2.48464977e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05662766, -0.12211011,  0.06160389])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.24838665e-04, 1.09314015e-03,-1.56403186e-04,-1.54640659e-03,
 -4.63771248e-05,-1.40540119e-03,-5.19095510e-04,-1.87591760e-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,
 -3.18828848e-05, 4.03150990e-04,-4.90547978e+00, 6.51809906e-03,
  2.20042246e-03, 1.12562199e-04]


--- Step 1952 ---
qpos:
[-1.33426214e-02, 9.19627739e-01,-2.09240895e-02, 8.63785063e-01,
  4.04854400e-03, 8.97981316e-01,-3.01813261e-02, 8.13735381e-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,
 -2.88675441e-02,-9.97243597e-02, 7.85141622e-02, 6.28625446e-01,
 -1.29651512e-02,-2.85290461e-03, 7.77594891e-01]

qacc:
[ 4.25581858e-01,-3.54216039e+01, 1.94270574e+02,-5.16999289e+02,
 -2.81065208e-01,-7.19622914e+01, 3.25512345e+02,-7.83545140e+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,
 -3.21787218e+00,-2.54011792e+00, 7.51962165e-01,-2.53130580e+02,
 -2.21648547e+02,-8.32657726e+00]

qfrc_actuator:
[ 0.00159414, 0.13461074, 0.00917343, 0.08717604, 0.00021588, 0.13532504,
  0.01147844, 0.1222824 ,-0.00229362, 0.13309271, 0.00825159, 0.12021672,
  0.        ,-0.00192124, 0.        ,-0.00171586, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004428274039573361
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.25356179e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.25356179e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00521694, -0.07378375,  0.06160704])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.83085932e-05, 9.15291557e-04, 1.05544085e-04,-1.39467244e-03,
 -5.75688798e-05,-1.01472069e-03,-4.15966384e-04,-2.07552883e-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,
  6.92388685e-05, 9.93995384e-04,-4.90570962e+00, 6.56217168e-03,
  2.17230694e-03, 3.13683551e-04]


--- Step 1953 ---
qpos:
[-1.33614719e-02, 9.21732381e-01,-2.09318944e-02, 8.65455171e-01,
  4.05309632e-03, 9.00126647e-01,-3.01371518e-02, 8.16098183e-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,
 -2.89046605e-02,-9.97133278e-02, 7.85341798e-02, 6.28754747e-01,
 -1.39769609e-02,-2.81854530e-03, 7.77472937e-01]

qacc:
[ 4.06439135e-01,-5.68301562e+01, 2.55826882e+02,-5.81239898e+02,
 -1.61244087e-01,-6.58207877e+01, 3.08994594e+02,-7.70220514e+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,
 -2.88790185e+00,-2.34056079e+00,-4.90557637e-01,-2.22338793e+02,
 -1.92794474e+02,-9.07868996e+00]

qfrc_actuator:
[ 0.00163639, 0.13430819, 0.00917564, 0.08569617, 0.00021143, 0.13534362,
  0.01138631, 0.1203042 ,-0.00229213, 0.13294712, 0.0083095 , 0.1188846 ,
  0.        ,-0.00191834, 0.        ,-0.0017886 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.59006505,  0.89306171, -8.59006505,  8.78976449,
        1.47551204,  0.89306171,  1.47551204, 22.82882568,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004444203959250159
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24906849e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.24906849e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00519892, -0.07382566,  0.06160627])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.34928264e-05, 1.37911772e-04, 1.41467471e-04,-1.47772093e-03,
 -3.32777038e-05,-7.43361095e-04,-4.18808140e-04,-2.07024411e-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,
 -7.97964307e-06, 2.04030102e-04,-4.90542241e+00, 6.51856187e-03,
  2.19830210e-03, 8.93584876e-05]


--- Step 1954 ---
qpos:
[-1.33797979e-02, 9.23832022e-01,-2.09359250e-02, 8.67094133e-01,
  4.05761777e-03, 9.02267495e-01,-3.00947139e-02, 8.18424440e-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,
 -2.89243971e-02,-9.97144301e-02, 7.85722235e-02, 6.28874889e-01,
 -1.43757673e-02,-2.81021111e-03, 7.77368519e-01]

qacc:
[ 2.64528894e-01,-7.16867415e+01, 2.98592372e+02,-6.39964756e+02,
 -1.10402977e-02,-6.53149756e+01, 2.97738453e+02,-7.19329994e+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,
  4.34493608e+00,-3.03353694e+00, 4.50651862e+00, 1.82558235e+02,
 -2.46613992e+02, 8.02686211e+00]

qfrc_actuator:
[ 0.00165104, 0.13362114, 0.00919613, 0.08410439, 0.0002249 , 0.13515563,
  0.01131527, 0.11848003,-0.00227545, 0.13277325, 0.00833469, 0.11750488,
  0.        ,-0.0018969 , 0.        ,-0.00181373, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,  -8.55126269,  -1.20941446,  -8.55126269,
        10.30464665, -11.79572988,  -1.20941446, -11.79572988,
        92.03902507,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004434731722300092
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.2517364e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.2517364e-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([-0.05297742, -0.086474  ,  0.06160731])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.34157119e-05,-6.72869795e-04, 8.02015132e-06,-1.61523862e-03,
 -3.23431306e-06,-7.99322958e-04,-3.43810921e-04,-1.90707719e-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,
  2.09512176e-04,-1.06373998e-04,-4.90531522e+00, 6.48223244e-03,
  2.22041149e-03, 8.89332030e-06]


--- Step 1955 ---
qpos:
[-1.33980848e-02, 9.25921677e-01,-2.09376278e-02, 8.68704281e-01,
  4.06254020e-03, 9.04399727e-01,-3.00512948e-02, 8.20718953e-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,
 -2.89288384e-02,-9.97262960e-02, 7.86216243e-02, 6.28986764e-01,
 -1.42330712e-02,-2.82456303e-03, 7.77280575e-01]

qacc:
[ 2.70328040e-02,-7.01936661e+01, 2.80151428e+02,-5.91466993e+02,
  2.05939419e-01,-6.96532074e+01, 2.93341563e+02,-6.52641344e+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,
  3.82384063e+00,-2.69092053e+00, 2.83926468e+00, 1.61414636e+02,
 -2.17736880e+02, 7.47021975e+00]

qfrc_actuator:
[ 0.00163134, 0.1327626 , 0.00917227, 0.08263669, 0.00026669, 0.134562  ,
  0.01130998, 0.11688527,-0.00228538, 0.13229992, 0.00835808, 0.11616144,
  0.        ,-0.00188239, 0.        ,-0.00184609, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004423508954992758
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.5098243e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.5098243e-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([-0.05300555, -0.08646462,  0.06160878])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.74403523e-06,-1.32420075e-03,-2.15774021e-04,-1.52410386e-03,
  4.01090529e-05,-1.21514127e-03,-2.75195258e-04,-1.67352882e-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,
  5.06493614e-05,-4.60704339e-06,-4.90507186e+00, 6.42251965e-03,
  2.19561595e-03, 1.45450198e-04]


--- Step 1956 ---
qpos:
[-1.34162572e-02, 9.27997241e-01,-2.09377192e-02, 8.70285472e-01,
  4.06771506e-03, 9.06520299e-01,-3.00067389e-02, 8.22985449e-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,
 -2.89197176e-02,-9.97477881e-02, 7.86766721e-02, 6.29090765e-01,
 -1.36088543e-02,-2.85877947e-03, 7.77207460e-01]

qacc:
[ 6.45887295e-02,-7.38814754e+01, 2.85802548e+02,-5.95024414e+02,
  1.32523996e-01,-6.75112195e+01, 2.71976014e+02,-5.84451717e+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,
  3.39052226e+00,-2.40654465e+00, 1.41175912e+00, 1.43679889e+02,
 -1.93502334e+02, 6.90201852e+00]

qfrc_actuator:
[ 0.00164456, 0.13177267, 0.00913948, 0.0811648 , 0.0002718 , 0.13381966,
  0.01130659, 0.11547347,-0.00229344, 0.13159803, 0.00836138, 0.11486765,
  0.        ,-0.00185436, 0.        ,-0.00181145, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0043646548423535575
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05308883, -0.08642684,  0.06161382])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13477415e-05,-1.85737240e-03,-3.76047872e-04,-1.55363661e-03,
  2.51179225e-05,-1.57249247e-03,-3.40340013e-04,-1.49695427e-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,
  1.14285276e-05, 1.97805256e-06,-4.90499030e+00, 6.38150609e-03,
  2.18160716e-03, 1.64271786e-04]


--- Step 1957 ---
qpos:
[-1.34342582e-02, 9.30055452e-01,-2.09365368e-02, 8.71837779e-01,
  4.07267355e-03, 9.08627800e-01,-2.99627661e-02, 8.25225595e-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,
 -2.89087588e-02,-9.97829654e-02, 7.87424480e-02, 6.29204849e-01,
 -1.26657086e-02,-3.21079433e-03, 7.77129673e-01]

qacc:
[ 9.30255299e-02,-7.71100302e+01, 2.90823670e+02,-5.96037305e+02,
 -1.00752631e-01,-6.17689578e+01, 2.46428930e+02,-5.39010429e+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,
  4.59496732e-01,-3.42129633e+00, 2.68202942e+00,-2.31181406e+01,
 -2.23852771e+02,-8.00673495e+00]

qfrc_actuator:
[ 0.0016597 , 0.13069423, 0.00911888, 0.07970207, 0.00023714, 0.1330656 ,
  0.0112328 , 0.11414491,-0.00226484, 0.13078276, 0.00833417, 0.11368421,
  0.        ,-0.00183628, 0.        ,-0.00164885, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004275981233399714
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.29820849e-14,  1.29820849e-14,  1.00000000e+00, -1.68534527e-28,
        1.00000000e+00, -1.29820849e-14, -1.00000000e+00,  0.00000000e+00,
        1.29820849e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02865441, -0.08099939,  0.06162109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.71155039e-05,-2.27339946e-03,-4.88182613e-04,-1.56684905e-03,
 -2.21948997e-05,-1.78888609e-03,-4.83477836e-04,-1.42348198e-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,
  5.67823626e-05,-5.79501829e-05,-4.90502349e+00, 6.35449629e-03,
  2.17587677e-03, 9.93740092e-05]


--- Step 1958 ---
qpos:
[-1.34522218e-02, 9.32095568e-01,-2.09351937e-02, 8.73362029e-01,
  4.07747521e-03, 9.10721371e-01,-2.99197713e-02, 8.27440810e-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,
 -2.89075139e-02,-9.98265659e-02, 7.87975027e-02, 6.29327716e-01,
 -1.17122740e-02,-4.00697701e-03, 7.77041436e-01]

qacc:
[ 2.70127351e-02,-7.35986349e+01, 2.76056953e+02,-5.71942701e+02,
 -7.12962415e-02,-5.93241817e+01, 2.33314370e+02,-5.08500015e+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,
 -2.42844768e+00,-2.10578952e+00,-2.68031216e+00,-1.69312236e+02,
 -1.43654030e+02,-9.52926949e+00]

qfrc_actuator:
[ 0.00165812, 0.12974913, 0.00910528, 0.07829185, 0.00023225, 0.13234609,
  0.01117129, 0.11289359,-0.00225007, 0.12987071, 0.00832427, 0.11252179,
  0.        ,-0.00189528, 0.        ,-0.00180273, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.28566396,  2.43609309,  8.28566396,  8.86256231,
       -0.76934918,  2.43609309, -0.76934918, 11.25308168,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004185739150351794
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00565514, -0.07356747,  0.06162869])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.35523002e-06,-2.39256125e-03,-5.76290576e-04,-1.53113118e-03,
 -1.62369189e-05,-1.89975202e-03,-5.28180031e-04,-1.35600671e-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,
 -1.46129983e-05,-1.62701817e-06,-4.90510395e+00, 6.31868688e-03,
  2.18174668e-03, 4.70198999e-05]


--- Step 1959 ---
qpos:
[-1.34701406e-02, 9.34118976e-01,-2.09338799e-02, 8.74857775e-01,
  4.08215031e-03, 9.12803328e-01,-2.98782386e-02, 8.29631555e-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,
 -2.89768895e-02,-9.99083574e-02, 7.88326689e-02, 6.29547382e-01,
 -1.06851775e-02,-3.99202200e-03, 7.76878359e-01]

qacc:
[ 3.00804718e-02,-7.20317864e+01, 2.73985404e+02,-5.75970408e+02,
 -5.72584441e-02,-5.41469068e+01, 2.18672841e+02,-4.90634017e+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,
 -1.76551629e+01,-9.54776177e+00,-4.97212099e+00, 3.38739485e+02,
  2.27248892e+02,-5.65551109e+01]

qfrc_actuator:
[ 0.00166434, 0.12905148, 0.00914974, 0.07687061, 0.00022748, 0.13197295,
  0.01117103, 0.11167998,-0.00226149, 0.12928108, 0.00837756, 0.11130991,
  0.        ,-0.00196402, 0.        ,-0.00192884, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  0.9091578 , -8.58837639,  0.9091578 , 41.28029643,
        3.45565737, -8.58837639,  3.45565737,  9.00217642,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.011629131681472076
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.83715862, -0.41857931,  0.352075  , -0.38584552,  0.90818025,
        0.16227099, -0.38767085,  0.        , -0.92179787])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05734014, -0.12259408,  0.06163623])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.15110742e-06,-2.22675142e-03,-5.50525201e-04,-1.54767975e-03,
 -1.31317268e-05,-1.62088440e-03,-4.91717781e-04,-1.32167990e-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,
 -9.05350000e-05, 3.55877282e-04,-4.90518389e+00, 6.28948326e-03,
  2.19617164e-03, 1.36087099e-04]


--- Step 1960 ---
qpos:
[-1.34881378e-02, 9.36126696e-01,-2.09324561e-02, 8.76324084e-01,
  4.08671514e-03, 9.14876217e-01,-2.98390937e-02, 8.31796399e-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,
 -2.90485449e-02,-9.99749036e-02, 7.88608255e-02, 6.29635765e-01,
 -1.02989995e-02,-4.05018880e-03, 7.76811643e-01]

qacc:
[-2.99191217e-02,-7.26942069e+01, 2.79746884e+02,-5.92620521e+02,
 -5.02891294e-02,-5.07849892e+01, 2.14957864e+02,-5.06078695e+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,
 -5.69936000e-01, 3.81132023e+00,-1.75240321e+00,-2.30656748e+02,
  2.25164222e+02, 8.22157234e+01]

qfrc_actuator:
[ 0.00165746, 0.12838388, 0.00919367, 0.07540116, 0.00022283, 0.13172212,
  0.01111963, 0.11039199,-0.00225303, 0.12901401, 0.00843347, 0.10993681,
  0.        ,-0.00193142, 0.        ,-0.00170018, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  1.60237865,  8.48641028,  1.60237865, 31.46303347,
       -4.31006364,  8.48641028, -4.31006364,  9.45017698,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004147684802801498
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.67672949e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.67672949e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01547154, -0.11931242,  0.06163292])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.47735602e-06,-2.09968223e-03,-5.15663762e-04,-1.59014854e-03,
 -1.14347722e-05,-1.33494135e-03,-4.82028106e-04,-1.38486927e-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,
  2.11800696e-04,-1.75465374e-04,-4.90502370e+00, 6.26412633e-03,
  2.15462351e-03,-5.12869972e-05]


--- Step 1961 ---
qpos:
[-1.35060065e-02, 9.38119883e-01,-2.09312995e-02, 8.77761314e-01,
  4.09135447e-03, 9.16939807e-01,-2.98014235e-02, 8.33933099e-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,
 -2.91236709e-02,-1.00028363e-01, 7.88783934e-02, 6.29617767e-01,
 -1.04772407e-02,-4.16460411e-03, 7.76823243e-01]

qacc:
[ 6.99825551e-02,-6.95094209e+01, 2.70179835e+02,-5.80143439e+02,
  4.16772610e-02,-5.74672059e+01, 2.41798184e+02,-5.57310354e+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,
 -8.67644993e-01, 3.27182568e+00,-2.64716630e+00,-1.99925705e+02,
  2.00896919e+02, 6.68275205e+01]

qfrc_actuator:
[ 0.00167833, 0.12777548, 0.00921939, 0.07395063, 0.00023603, 0.13129824,
  0.01105681, 0.10898183,-0.00226824, 0.12855203, 0.00847405, 0.10832028,
  0.        ,-0.00189222, 0.        ,-0.00163713, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.05731477,  7.00073883, -5.05731477,  7.64490342,
       -0.71622817,  7.00073883, -0.71622817,  8.11896235,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004161877296469593
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.33380077e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.33380077e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01537151, -0.11937161,  0.06163234])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.28543475e-05,-1.96400484e-03,-5.05859879e-04,-1.56705159e-03,
  7.29951255e-06,-1.34910052e-03,-4.37370632e-04,-1.49865743e-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,
  1.48196536e-05,-1.65618890e-05,-4.90500061e+00, 6.36549767e-03,
  2.19481602e-03, 9.03479175e-05]


--- Step 1962 ---
qpos:
[-1.35236533e-02, 9.40101318e-01,-2.09316595e-02, 8.79169811e-01,
  4.09574131e-03, 9.18994083e-01,-2.97652422e-02, 8.36039408e-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,
 -2.92030794e-02,-1.00070539e-01, 7.88822207e-02, 6.29512868e-01,
 -1.11549421e-02,-4.32226389e-03, 7.76897956e-01]

qacc:
[ 1.13695284e-01,-6.18451261e+01, 2.48548520e+02,-5.58085693e+02,
 -1.19089789e-01,-6.13600961e+01, 2.59750289e+02,-6.00518030e+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,
 -1.07063069e+00, 2.82051385e+00,-3.43517022e+00,-1.74355043e+02,
  1.79870889e+02, 5.44358858e+01]

qfrc_actuator:
[ 0.00169792, 0.127403  , 0.00921676, 0.07252287, 0.00020655, 0.13086314,
  0.01098719, 0.10745772,-0.00229753, 0.12795943, 0.00852231, 0.10662663,
  0.        ,-0.00190275, 0.        ,-0.00161901, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.09821918,  6.97100696, -5.09821918,  7.75839637,
       -0.64209799,  6.97100696, -0.64209799,  8.16676773,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004120383223384455
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.69446545e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.69446545e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01539158, -0.11946445,  0.06163563])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.25766125e-05,-1.64970186e-03,-5.05411579e-04,-1.53910665e-03,
 -2.59177327e-05,-1.36263291e-03,-4.45069683e-04,-1.61418546e-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,
  2.45816824e-05,-3.44066218e-06,-4.90500664e+00, 6.38673410e-03,
  2.19877921e-03, 1.09466625e-04]


--- Step 1963 ---
qpos:
[-1.35410385e-02, 9.42072461e-01,-2.09337262e-02, 8.80549792e-01,
  4.09981120e-03, 9.21037465e-01,-2.97297141e-02, 8.38114995e-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,
 -2.92872911e-02,-1.00102947e-01, 7.88695440e-02, 6.29336347e-01,
 -1.22768949e-02,-4.51313380e-03, 7.77022955e-01]

qacc:
[ 1.32225758e-01,-5.90168156e+01, 2.40976299e+02,-5.49341102e+02,
 -1.49649508e-01,-6.62532347e+01, 2.73880442e+02,-6.15748576e+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,
 -1.20079174e+00, 2.44241074e+00,-4.12596340e+00,-1.53022259e+02,
  1.61680667e+02, 4.44238676e+01]

qfrc_actuator:
[ 0.0017166 , 0.12703309, 0.00918074, 0.0711023 , 0.00018725, 0.13026529,
  0.01093183, 0.10591424,-0.00228176, 0.1273469 , 0.0085565 , 0.10493658,
  0.        ,-0.0019072 , 0.        ,-0.00162746, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.17408033,  6.91488754, -5.17408033,  7.92170007,
       -0.53474864,  6.91488754, -0.53474864,  8.23623675,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00403416113371248
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.37602712e-14,  1.37602712e-14,  1.00000000e+00, -1.89345063e-28,
        1.00000000e+00, -1.37602712e-14, -1.00000000e+00,  0.00000000e+00,
        1.37602712e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01550664, -0.11958384,  0.06164197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.67398878e-05,-1.47155360e-03,-4.75791324e-04,-1.52128956e-03,
 -3.25486181e-05,-1.53781586e-03,-4.37687813e-04,-1.63673884e-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,
  1.65479232e-04,-8.92418069e-05,-4.90504110e+00, 6.35835392e-03,
  2.18095147e-03, 4.58760697e-05]


--- Step 1964 ---
qpos:
[-1.35579762e-02, 9.44033719e-01,-2.09363116e-02, 8.81902971e-01,
  4.10376771e-03, 9.23067250e-01,-2.96933240e-02, 8.40156488e-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,
 -2.94299537e-02,-1.00159281e-01, 7.88470389e-02, 6.29284593e-01,
 -1.32935569e-02,-3.87487702e-03, 7.77051586e-01]

qacc:
[ 2.22381168e-01,-5.86748262e+01, 2.36548436e+02,-5.24897628e+02,
 -4.75351380e-02,-7.97788761e+01, 3.21853040e+02,-6.97946451e+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,
 -1.46127458e+01,-5.98174189e+00,-2.45713958e+00, 3.55805353e+02,
  2.20866307e+02,-7.39453801e+01]

qfrc_actuator:
[ 0.00175236, 0.1266502 , 0.00919648, 0.06976833, 0.00019199, 0.12945081,
  0.0109203 , 0.1041941 ,-0.00227466, 0.12679856, 0.00852884, 0.10312014,
  0.        ,-0.00192573, 0.        ,-0.00163371, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.15336242,  6.93034145, -5.15336242,  5.24523359,
       -2.52162499,  6.93034145, -2.52162499,  6.76129766,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.011217346365500758
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.33245095e-01, -4.16622548e-01,  3.63494518e-01, -3.81868329e-01,
        9.09079564e-01,  1.66586092e-01, -3.99848959e-01,  2.77555756e-17,
       -9.16581044e-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([-0.05773823, -0.12290296,  0.06163864])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.60239707e-05,-1.37898450e-03,-3.84793823e-04,-1.42772502e-03,
 -1.19160095e-05,-1.85036615e-03,-4.28136245e-04,-1.81932482e-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,
  3.87879001e-04,-2.40975083e-04,-4.90510060e+00, 6.30067731e-03,
  2.15057861e-03,-7.24216412e-05]


--- Step 1965 ---
qpos:
[-1.35746172e-02, 9.45985210e-01,-2.09387584e-02, 8.83229270e-01,
  4.10768018e-03, 9.25081963e-01,-2.96570332e-02, 8.42160330e-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,
 -2.95348246e-02,-1.00218552e-01, 7.88461222e-02, 6.29323585e-01,
 -1.36737311e-02,-3.40343026e-03, 7.77015618e-01]

qacc:
[ 1.49502402e-01,-6.04235232e+01, 2.42527951e+02,-5.30968541e+02,
 -1.32187115e-02,-8.53043663e+01, 3.45829691e+02,-7.61294485e+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,
  9.44793875e+00,-7.34305401e-01, 5.39711912e+00, 1.35934042e+02,
 -2.99172376e+02,-5.79247913e+01]

qfrc_actuator:
[ 0.00176257, 0.12622773, 0.00922502, 0.06842501, 0.00019332, 0.12858443,
  0.01086281, 0.10229487,-0.00225512, 0.12636403, 0.0085184 , 0.10113732,
  0.        ,-0.0018992 , 0.        ,-0.00169186, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.30388796,  6.81583079, -5.30388796, 26.82156322,
       14.15121122,  6.81583079, 14.15121122, 19.64843849,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004088989849162922
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.78788078e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.78788078e-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([-0.0539534 , -0.08660935,  0.06163743])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.04654403e-05,-1.34592123e-03,-3.40270818e-04,-1.42925184e-03,
 -4.89973520e-06,-2.07922370e-03,-5.40210471e-04,-2.01236146e-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,
 -7.57766855e-05, 1.93879803e-04,-4.90523714e+00, 6.36173907e-03,
  2.18971876e-03, 9.50974154e-05]


--- Step 1966 ---
qpos:
[-1.35910152e-02, 9.47925307e-01,-2.09406362e-02, 8.84529311e-01,
  4.11173718e-03, 9.27080312e-01,-2.96212507e-02, 8.44128761e-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,
 -2.96081864e-02,-1.00281361e-01, 7.88595902e-02, 6.29433232e-01,
 -1.34913264e-02,-3.06552136e-03, 7.76931396e-01]

qacc:
[ 1.23965488e-01,-6.26232254e+01, 2.45625134e+02,-5.24941815e+02,
  7.90112022e-02,-8.19572909e+01, 3.27125691e+02,-7.15486946e+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,
  7.87728718e+00,-8.84388765e-01, 3.59618500e+00, 1.25542536e+02,
 -2.60135446e+02,-4.45037541e+01]

qfrc_actuator:
[ 0.00177517, 0.12559007, 0.00922529, 0.06710462, 0.00021033, 0.12771158,
  0.01081386, 0.10051841,-0.00224608, 0.12589489, 0.00855418, 0.09930336,
  0.        ,-0.0018639 , 0.        ,-0.00188663, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.4936458 ,  6.66383018, -5.4936458 , 12.66518634,
        3.32135189,  6.66383018,  3.32135189, 11.37447826,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004109670480682934
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.70148916e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.70148916e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05403266, -0.08669845,  0.0616359 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.48924689e-05,-1.53367022e-03,-3.56790897e-04,-1.40392690e-03,
  1.43223657e-05,-2.24064068e-03,-5.95580520e-04,-1.90471114e-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,
  9.36956272e-06, 1.31062666e-04,-4.90509140e+00, 6.41312936e-03,
  2.18514585e-03, 1.81693428e-04]


--- Step 1967 ---
qpos:
[-1.36070132e-02, 9.49851385e-01,-2.09416734e-02, 8.85803335e-01,
  4.11595084e-03, 9.29062103e-01,-2.95861342e-02, 8.46063060e-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,
 -2.96676147e-02,-1.00350159e-01, 7.88890486e-02, 6.29600736e-01,
 -1.29467655e-02,-3.19356083e-03, 7.76804413e-01]

qacc:
[ 2.00417332e-01,-6.63754178e+01, 2.53071824e+02,-5.26702256e+02,
  8.46554139e-02,-7.95349483e+01, 3.15563927e+02,-6.88748646e+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,
  3.48337077e+00,-1.49709339e+00, 3.99757903e+00,-6.67036400e+01,
 -2.86949842e+02,-3.96313681e+01]

qfrc_actuator:
[ 0.0018069 , 0.12474007, 0.00920811, 0.06579038, 0.00021883, 0.12691317,
  0.01078823, 0.09881067,-0.00227892, 0.12558689, 0.00859931, 0.09739417,
  0.        ,-0.00191247, 0.        ,-0.0021603 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  2.99730147,  8.09956547,  2.99730147, 21.05021996,
       -4.59383531,  8.09956547, -4.59383531, 10.33634488,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004082029269242254
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.35989106e-14,  1.35989106e-14,  1.00000000e+00, -1.84930370e-28,
        1.00000000e+00, -1.35989106e-14, -1.00000000e+00,  0.00000000e+00,
        1.35989106e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02933452, -0.08133555,  0.06163811])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.11653904e-05,-1.85203660e-03,-4.12168135e-04,-1.40355061e-03,
  1.55772154e-05,-2.26243583e-03,-6.06997008e-04,-1.84038673e-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,
  1.08079089e-04, 3.55881768e-05,-4.90502246e+00, 6.39652154e-03,
  2.17287703e-03, 1.65068456e-04]


--- Step 1968 ---
qpos:
[-1.36225931e-02, 9.51762063e-01,-2.09417041e-02, 8.87051852e-01,
  4.12027626e-03, 9.31029160e-01,-2.95525751e-02, 8.47962431e-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,
 -2.97261094e-02,-1.00419134e-01, 7.89073803e-02, 6.29777266e-01,
 -1.23874889e-02,-3.86561800e-03, 7.76667369e-01]

qacc:
[ 2.09288824e-01,-6.77310468e+01, 2.54049426e+02,-5.20280331e+02,
  6.16888029e-02,-7.60944171e+01, 3.08807412e+02,-6.92957688e+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,
  2.33391471e-01,-4.46246030e-02,-2.78166633e+00,-2.06622827e+02,
 -1.76893077e+02,-1.02179701e+01]

qfrc_actuator:
[ 0.0018321 , 0.12391186, 0.00923321, 0.06450783, 0.00022215, 0.12632595,
  0.01075921, 0.09706829,-0.00231885, 0.12605285, 0.00863248, 0.09538504,
  0.        ,-0.00193941, 0.        ,-0.00230068, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([8.63636364, 7.2600344 , 4.67746484, 7.2600344 , 7.20183066,
       2.22658194, 4.67746484, 2.22658194, 5.18041859, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.004033170106037112
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.37636524e-14,  2.06454785e-14,  1.00000000e+00,  2.84157189e-28,
        1.00000000e+00, -2.06454785e-14, -1.00000000e+00,  0.00000000e+00,
       -1.37636524e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0052062 , -0.07396627,  0.06164213])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.30616238e-05,-2.01701419e-03,-4.38721685e-04,-1.38343249e-03,
  1.10463063e-05,-2.06281054e-03,-6.13748671e-04,-1.87451621e-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,
  2.28649457e-05,-1.81906663e-05,-4.90498082e+00, 6.32893938e-03,
  2.17688823e-03, 1.09200812e-04]


--- Step 1969 ---
qpos:
[-1.36379550e-02, 9.53655945e-01,-2.09406076e-02, 8.88276135e-01,
  4.12431415e-03, 9.32982399e-01,-2.95201892e-02, 8.49828473e-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,
 -2.98366020e-02,-1.00514179e-01, 7.89134930e-02, 6.30035674e-01,
 -1.17717301e-02,-3.74746238e-03, 7.76467921e-01]

qacc:
[ 1.12907826e-01,-6.76498197e+01, 2.48618829e+02,-4.99110727e+02,
 -1.33413288e-01,-7.31205497e+01, 2.96509262e+02,-6.62522372e+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,
 -1.29994861e+01,-6.51715403e+00,-3.05472673e+00, 3.25038388e+02,
  2.27439907e+02,-4.66616985e+01]

qfrc_actuator:
[ 0.00183544, 0.12301496, 0.00926544, 0.06328971, 0.00018683, 0.12576371,
  0.01074705, 0.09540834,-0.00236268, 0.12683696, 0.00862595, 0.09356446,
  0.        ,-0.00188224, 0.        ,-0.00227261, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  1.32009396, -8.5348772 ,  1.32009396, 29.4309036 ,
        3.21630247, -8.5348772 ,  3.21630247,  9.13383084,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.010656251288550885
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.29511774e-01, -4.14755887e-01,  3.74015737e-01, -3.78099264e-01,
        9.09932720e-01,  1.70479889e-01, -4.11036694e-01,  2.77555756e-17,
       -9.11618800e-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([-0.05834582, -0.12331008,  0.06164591])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.22355738e-05,-2.18117959e-03,-4.66321194e-04,-1.32445684e-03,
 -2.98643947e-05,-1.92899088e-03,-5.58931212e-04,-1.78646981e-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,
 -1.18443173e-05, 2.82209505e-04,-4.90503538e+00, 6.28150840e-03,
  2.20207876e-03, 1.84923793e-04]


--- Step 1970 ---
qpos:
[-1.36531569e-02, 9.55529590e-01,-2.09384837e-02, 8.89476658e-01,
  4.12781211e-03, 9.34921349e-01,-2.94883978e-02, 8.51662903e-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,
 -2.99375899e-02,-1.00603362e-01, 7.89092373e-02, 6.30306666e-01,
 -1.11406755e-02,-4.26888127e-03, 7.76254577e-01]

qacc:
[ 8.58284447e-02,-7.10594080e+01, 2.53125654e+02,-4.94932639e+02,
 -2.55979828e-01,-7.22904137e+01, 2.88776036e+02,-6.33880412e+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,
  2.37617946e+00, 1.46544425e+00,-2.59212417e+00,-2.43438067e+02,
 -2.07310425e+02,-1.30553814e+01]

qfrc_actuator:
[ 0.00184347, 0.1217826 , 0.0092304 , 0.06208366, 0.00014645, 0.12507943,
  0.01072751, 0.09382798,-0.00239074, 0.1271846 , 0.00861551, 0.09179867,
  0.        ,-0.00184665, 0.        ,-0.00212779, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.98543798,  6.2258581 , -5.98543798,  5.26714455,
       -3.23911204,  6.2258581 , -3.23911204,  5.52233439,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003980833542273715
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.48615124e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.48615124e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00513274, -0.07406145,  0.06164634])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.61626148e-05,-2.61059865e-03,-5.67073201e-04,-1.31693142e-03,
 -5.58286015e-05,-1.96249511e-03,-5.30550896e-04,-1.69879914e-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,
  1.65189764e-04,-6.28335841e-05,-4.90495414e+00, 6.31157543e-03,
  2.15364159e-03, 6.80103541e-05]


--- Step 1971 ---
qpos:
[-1.36682015e-02, 9.57379742e-01,-2.09349266e-02, 8.90653364e-01,
  4.13113335e-03, 9.36845836e-01,-2.94575598e-02, 8.53467292e-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,
 -3.00383992e-02,-1.00677533e-01, 7.88960394e-02, 6.30437497e-01,
 -1.11249486e-02,-4.87192985e-03, 7.76145001e-01]

qacc:
[ 8.53954638e-02,-7.65274403e+01, 2.65864463e+02,-5.04572562e+02,
 -7.92432941e-02,-6.87901837e+01, 2.73093090e+02,-6.00064058e+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,
  4.46617957e-02, 3.75278554e+00,-2.23554809e+00,-2.26164570e+02,
  2.12222480e+02, 8.79611200e+01]

qfrc_actuator:
[ 0.00185426, 0.12041239, 0.00922566, 0.06087632, 0.00015665, 0.12438118,
  0.01068568, 0.09232472,-0.00240916, 0.12721533, 0.00858363, 0.0900257 ,
  0.        ,-0.00182422, 0.        ,-0.00209295, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004010580480695865
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.38411762e-14,  2.07617643e-14,  1.00000000e+00,  2.87367239e-28,
        1.00000000e+00, -2.07617643e-14, -1.00000000e+00,  0.00000000e+00,
       -1.38411762e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01478753, -0.12023529,  0.06164411])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.57976055e-05,-3.00531186e-03,-6.32391397e-04,-1.33441836e-03,
 -1.85585707e-05,-1.98595437e-03,-5.53242016e-04,-1.61983316e-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,
 -1.52160429e-05, 1.83050831e-04,-4.90494941e+00, 6.22549907e-03,
  2.19887199e-03, 1.21949338e-04]


--- Step 1972 ---
qpos:
[-1.36832452e-02, 9.59205454e-01,-2.09309025e-02, 8.91806627e-01,
  4.13458419e-03, 9.38755909e-01,-2.94280130e-02, 8.55242430e-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,
 -3.01079597e-02,-1.00726521e-01, 7.88960534e-02, 6.30567310e-01,
 -1.11385991e-02,-4.92617483e-03, 7.76039001e-01]

qacc:
[ 1.00200112e-02,-7.44938753e+01, 2.56747373e+02,-4.91117376e+02,
  6.94518927e-02,-6.64186719e+01, 2.63325368e+02,-5.81240003e+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,
  7.81220153e+00, 6.29599380e+00, 3.30298228e+00, 2.03718339e+02,
  1.84371380e+02, 4.64714515e+00]

qfrc_actuator:
[ 0.00184891, 0.11913058, 0.00922054, 0.05969553, 0.0001793 , 0.12369818,
  0.01063106, 0.09086106,-0.00240394, 0.12696749, 0.00859139, 0.08831569,
  0.        ,-0.00179201, 0.        ,-0.00203445, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,   8.08302158,   3.04163426,   8.08302158,
        13.50577434, -12.94026446,   3.04163426, -12.94026446,
        43.02459962,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004061467158554696
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.54234890e-15,  1.70846978e-14,  1.00000000e+00,  1.45943450e-28,
        1.00000000e+00, -1.70846978e-14, -1.00000000e+00,  0.00000000e+00,
       -8.54234890e-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([-0.0586045 , -0.12338522,  0.06164023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.24575087e-07,-3.14827542e-03,-7.18214642e-04,-1.32248055e-03,
  1.29530537e-05,-1.98501412e-03,-5.70607499e-04,-1.57980855e-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,
  1.43803236e-04, 2.06964383e-04,-4.90504431e+00, 6.35194151e-03,
  2.21909075e-03, 1.76532363e-04]


--- Step 1973 ---
qpos:
[-1.36986303e-02, 9.61006965e-01,-2.09279501e-02, 8.92936173e-01,
  4.13821942e-03, 9.40650463e-01,-2.93993713e-02, 8.56988056e-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,
 -3.01514705e-02,-1.00754201e-01, 7.89028084e-02, 6.30698087e-01,
 -1.11762468e-02,-4.48959758e-03, 7.75934828e-01]

qacc:
[-1.54953361e-01,-7.04799789e+01, 2.44462444e+02,-4.83289863e+02,
  9.65076458e-02,-6.93528841e+01, 2.71614378e+02,-5.90665775e+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,
  6.51241845e+00, 5.32693778e+00, 1.68522349e+00, 1.82892528e+02,
  1.64051838e+02, 2.99437149e+00]

qfrc_actuator:
[ 0.00181621, 0.11792992, 0.00916232, 0.05850431, 0.00019144, 0.12288805,
  0.01056949, 0.08937913,-0.00238464, 0.12669719, 0.00863916, 0.08660295,
  0.        ,-0.00180748, 0.        ,-0.00205121, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -3.72754997,  7.79051655, -3.72754997, 16.34759971,
        3.68961643,  7.79051655,  3.68961643, 10.4017446 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004066609548079664
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.70630935e-15,  1.02378561e-14,  1.00000000e+00, -1.74689496e-29,
        1.00000000e+00, -1.02378561e-14, -1.00000000e+00,  0.00000000e+00,
        1.70630935e-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([-0.05867336, -0.12341815,  0.06163985])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.63153982e-05,-3.16215371e-03,-8.08671330e-04,-1.33958015e-03,
  1.85916106e-05,-2.11317358e-03,-5.77895478e-04,-1.59758194e-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,
  1.71752581e-05, 1.26809331e-05,-4.90499980e+00, 6.38871012e-03,
  2.20203001e-03, 1.18991224e-04]


--- Step 1974 ---
qpos:
[-1.37143484e-02, 9.62784689e-01,-2.09261044e-02, 8.94041961e-01,
  4.14183311e-03, 9.42527491e-01,-2.93709491e-02, 8.58704254e-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,
 -3.01731301e-02,-1.00763721e-01, 7.89107915e-02, 6.30830716e-01,
 -1.12335847e-02,-3.61171014e-03, 7.75830761e-01]

qacc:
[-1.50899619e-01,-6.99034192e+01, 2.43224636e+02,-4.82703984e+02,
 -2.58733522e-03,-7.36811409e+01, 2.82233922e+02,-5.97401015e+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,
  5.46281198e+00, 4.53974513e+00, 3.07053063e-01, 1.65015323e+02,
  1.46809482e+02, 1.82562237e+00]

qfrc_actuator:
[ 0.00180295, 0.11680523, 0.00912685, 0.05731648, 0.0001794 , 0.12191976,
  0.01052164, 0.08789818,-0.00239264, 0.1267355 , 0.00872779, 0.08493774,
  0.        ,-0.00181563, 0.        ,-0.00220094, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -3.75568745,  7.77699097, -3.75568745, 16.30850967,
        3.70505543,  7.77699097,  3.70505543, 10.42561995,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00402254144279017
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.72500246e-15, -6.90000986e-15,  1.00000000e+00,  1.19025340e-29,
        1.00000000e+00,  6.90000986e-15, -1.00000000e+00,  0.00000000e+00,
        1.72500246e-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([-0.05879298, -0.12349545,  0.06164315])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.54579681e-05,-3.11154240e-03,-7.99288172e-04,-1.33963346e-03,
 -2.68666852e-06,-2.34383555e-03,-5.90622688e-04,-1.60124858e-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,
  9.62853725e-05, 1.00662171e-04,-4.90505806e+00, 6.42078275e-03,
  2.18283739e-03, 1.51273395e-04]


--- Step 1975 ---
qpos:
[-1.37299436e-02, 9.64540644e-01,-2.09254060e-02, 8.95126482e-01,
  4.14518020e-03, 9.44386871e-01,-2.93430534e-02, 8.60391483e-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,
 -3.02042810e-02,-1.00760292e-01, 7.89087800e-02, 6.30882097e-01,
 -1.18410687e-02,-2.76692537e-03, 7.75783419e-01]

qacc:
[ 6.64622425e-02,-6.27690459e+01, 2.17517446e+02,-4.31402263e+02,
 -1.21495895e-01,-7.21948958e+01, 2.75895102e+02,-5.85605791e+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,
 -2.37284848e+00, 3.23744567e+00,-2.49865229e+00,-1.86719465e+02,
  2.02503733e+02, 5.02160789e+01]

qfrc_actuator:
[ 0.00183699, 0.11591293, 0.009141  , 0.05626449, 0.00015299, 0.12106005,
  0.01049944, 0.08644731,-0.0023992 , 0.12704754, 0.00880558, 0.0834383 ,
  0.        ,-0.00174833, 0.        ,-0.00221475, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -7.63700672, -4.03272925, -7.63700672,  8.86336164,
       -0.42987891, -4.03272925, -0.42987891,  9.45044957,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0040187673615142555
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.38129795e-14,  1.38129795e-14,  1.00000000e+00, -1.90798403e-28,
        1.00000000e+00, -1.38129795e-14, -1.00000000e+00,  0.00000000e+00,
        1.38129795e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01449763, -0.12046855,  0.06164352])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.23201696e-05,-2.84861683e-03,-7.38367470e-04,-1.20186557e-03,
 -2.80116179e-05,-2.36513196e-03,-6.11835381e-04,-1.57897582e-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,
  3.24571869e-04, 3.89410018e-04,-4.90519111e+00, 6.44970955e-03,
  2.16162102e-03, 2.48135105e-04]


--- Step 1976 ---
qpos:
[-1.37452505e-02, 9.66282378e-01,-2.09279560e-02, 8.96188702e-01,
  4.14822471e-03, 9.46232514e-01,-2.93173174e-02, 8.62050700e-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,
 -3.02438735e-02,-1.00765198e-01, 7.89060753e-02, 6.30950127e-01,
 -1.24381344e-02,-2.56627074e-03, 7.75719437e-01]

qacc:
[ 1.42424020e-01,-4.89628643e+01, 1.86508518e+02,-4.20775219e+02,
 -1.40824689e-01,-6.09605876e+01, 2.42869837e+02,-5.46597056e+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,
 -2.11038939e+00,-2.08376184e+00,-1.73322501e-01,-2.46490915e+02,
 -2.07104731e+02,-1.55344180e+01]

qfrc_actuator:
[ 0.00186358, 0.11573563, 0.00916765, 0.05517674, 0.00013597, 0.12066319,
  0.01049303, 0.0850613 ,-0.00240487, 0.12734395, 0.00884216, 0.08190653,
  0.        ,-0.00172556, 0.        ,-0.00220157, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -1.02218607, -8.57565814, -1.02218607, 90.78290797,
       -9.79155795, -8.57565814, -9.79155795,  9.80348038,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004083381413448134
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.79720379e-15,  1.35944076e-14,  1.00000000e+00, -9.24039587e-29,
        1.00000000e+00, -1.35944076e-14, -1.00000000e+00,  0.00000000e+00,
        6.79720379e-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([ 0.00464808, -0.07453006,  0.06163876])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.98455460e-05,-1.97102329e-03,-6.62760816e-04,-1.22439003e-03,
 -3.16698042e-05,-1.91694190e-03,-6.01744540e-04,-1.51483472e-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,
  4.47441330e-05, 4.17787277e-04,-4.90525602e+00, 6.43558038e-03,
  2.18384389e-03, 2.24175841e-04]


--- Step 1977 ---
qpos:
[-1.37605662e-02, 9.68019805e-01,-2.09356436e-02, 8.97227780e-01,
  4.15100254e-03, 9.48073955e-01,-2.92969156e-02, 8.63681746e-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,
 -3.02915101e-02,-1.00778019e-01, 7.88983514e-02, 6.31034073e-01,
 -1.30274993e-02,-2.93080617e-03, 7.75640183e-01]

qacc:
[-2.93957776e-03,-3.22801597e+01, 1.49435202e+02,-4.04021095e+02,
 -1.27572240e-01,-4.01162090e+01, 1.89903925e+02,-5.07013793e+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,
 -2.01102257e+00,-1.97853293e+00,-1.25476623e+00,-2.16705641e+02,
 -1.81174847e+02,-1.45162562e+01]

qfrc_actuator:
[ 1.84997173e-03, 1.16237026e-01, 9.16885232e-03, 5.40593275e-02,
  1.24715842e-04, 1.21115273e-01, 1.04624360e-02, 8.36893265e-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, -7.08401239,  4.93999446, -7.08401239, 11.66347219,
        4.34091064,  4.93999446,  4.34091064, 14.86128252,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00409141102349124
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.78386392e-15,  1.35677278e-14,  1.00000000e+00,  9.20416193e-29,
        1.00000000e+00, -1.35677278e-14, -1.00000000e+00,  0.00000000e+00,
       -6.78386392e-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([ 0.0046124 , -0.07456981,  0.06163814])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05777459e-06,-7.91694912e-04,-5.07456773e-04,-1.22497166e-03,
 -2.77525228e-05,-8.14945397e-04,-5.34061342e-04,-1.48454230e-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,
  1.98794440e-05, 2.73183080e-06,-4.90511819e+00, 6.42277948e-03,
  2.19685589e-03, 1.04479934e-04]


--- Step 1978 ---
qpos:
[-1.37759340e-02, 9.69757424e-01,-2.09464784e-02, 8.98245558e-01,
  4.15356686e-03, 9.49918212e-01,-2.92813447e-02, 8.65286421e-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,
 -3.03467651e-02,-1.00798321e-01, 7.88818249e-02, 6.31132487e-01,
 -1.36113257e-02,-3.79406066e-03, 7.75546337e-01]

qacc:
[-2.39231218e-02,-2.85215035e+01, 1.40229767e+02,-3.76850325e+02,
 -1.03588225e-01,-2.91151095e+01, 1.60771435e+02,-4.63652453e+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,
 -1.90460668e+00,-1.87046390e+00,-2.20066375e+00,-1.91592988e+02,
 -1.59386070e+02,-1.34717191e+01]

qfrc_actuator:
[ 1.84794100e-03, 1.16679854e-01, 9.17573397e-03, 5.30226378e-02,
  1.17014443e-04, 1.21841891e-01, 1.04391182e-02, 8.24081541e-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([ 8.63636364, -7.0635045 ,  4.9692737 , -7.0635045 , 12.21156793,
        5.08192407,  4.9692737 ,  5.08192407, 15.85999342,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004046506597274527
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.74365801e-14,  1.37182901e-14,  1.00000000e+00, -3.76382964e-28,
        1.00000000e+00, -1.37182901e-14, -1.00000000e+00,  0.00000000e+00,
        2.74365801e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00465938, -0.07454431,  0.0616413 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.47633998e-06,-1.66391710e-04,-2.51995481e-04,-1.10295866e-03,
 -2.20869033e-05, 8.51019636e-05,-3.00304661e-04,-1.35559172e-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,
  2.68484132e-04,-1.39117127e-05,-4.90512499e+00, 6.40567416e-03,
  2.21113820e-03, 1.05136759e-04]


--- Step 1979 ---
qpos:
[-1.37909712e-02, 9.71495889e-01,-2.09582769e-02, 8.99243524e-01,
  4.15596790e-03, 9.51764335e-01,-2.92665071e-02, 8.66865208e-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,
 -3.03823406e-02,-1.00831265e-01, 7.88836314e-02, 6.31225100e-01,
 -1.35811433e-02,-4.69163416e-03, 7.75466578e-01]

qacc:
[ 1.59105140e-01,-3.09643491e+01, 1.45983385e+02,-3.64690105e+02,
 -7.68957984e-02,-4.05909749e+01, 1.95735545e+02,-4.88349311e+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,
  4.91988557e+00,-3.16060675e+00, 4.58324716e+00, 1.80439727e+02,
 -2.49032951e+02, 5.29719675e+00]

qfrc_actuator:
[ 1.88840614e-03, 1.16871730e-01, 9.18608520e-03, 5.20417975e-02,
  1.11495985e-04, 1.22017791e-01, 1.04395504e-02, 8.11199185e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0040744603043925826
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.51510800e-15,  2.72483456e-14,  1.00000000e+00,  2.32022605e-28,
        1.00000000e+00, -2.72483456e-14, -1.00000000e+00,  0.00000000e+00,
       -8.51510800e-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([-0.0548234 , -0.08712679,  0.06163905])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.47809492e-05,-1.68066125e-05,-9.25298766e-05,-1.01726577e-03,
 -1.69031470e-05, 8.38172960e-05,-6.78942838e-05,-1.32381726e-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,
  6.99409803e-04, 2.40869615e-04,-4.90522845e+00, 6.38552812e-03,
  2.22672526e-03, 1.87223550e-04]


--- Step 1980 ---
qpos:
[-1.38057455e-02, 9.73236730e-01,-2.09709204e-02, 9.00222190e-01,
  4.15875767e-03, 9.53609038e-01,-2.92508012e-02, 8.68416526e-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,
 -3.04708037e-02,-1.00890153e-01, 7.88778847e-02, 6.31402402e-01,
 -1.34946764e-02,-4.72384069e-03, 7.75323536e-01]

qacc:
[ 1.26470754e-01,-2.83662441e+01, 1.38728865e+02,-3.52999699e+02,
  1.91039513e-01,-5.19685110e+01, 2.31309704e+02,-5.36696345e+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,
 -1.32219035e+01,-6.48588905e+00,-1.88831574e+00, 3.53722366e+02,
  2.51925734e+02,-4.70659548e+01]

qfrc_actuator:
[ 0.00190075, 0.11714309, 0.00919759, 0.05108375, 0.00016058, 0.12177432,
  0.01041656, 0.079731  ,-0.00241761, 0.12754232, 0.00883284, 0.07649036,
  0.        ,-0.00169529, 0.        ,-0.00168343, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -1.83056539,  8.44013076, -1.83056539, 80.67387494,
       15.62409151,  8.44013076, 15.62409151, 12.02504588,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.010010764075598554
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.15707114e-01, -4.07853557e-01,  4.10216260e-01, -3.64372171e-01,
        9.13047357e-01,  1.83241493e-01, -4.49282567e-01,  2.77555756e-17,
       -8.93389711e-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([-0.05887186, -0.12348762,  0.06163679])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.77576389e-05, 1.79705060e-04,-4.10371018e-05,-9.83108605e-04,
  4.03656356e-05,-2.89150719e-04,-6.37243755e-05,-1.41682019e-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,
  3.04609654e-04, 4.27146035e-04,-4.90512717e+00, 6.35429464e-03,
  2.20996708e-03, 2.78374679e-04]


--- Step 1981 ---
qpos:
[-1.38204526e-02, 9.74982111e-01,-2.09848967e-02, 9.01181266e-01,
  4.16219005e-03, 9.55448863e-01,-2.92338454e-02, 8.69940163e-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,
 -3.05993297e-02,-1.00967908e-01, 7.88625622e-02, 6.31647760e-01,
 -1.33651655e-02,-4.01655338e-03, 7.75129890e-01]

qacc:
[ 3.23879993e-02,-2.47072355e+01, 1.30766854e+02,-3.50636345e+02,
  3.14165245e-01,-5.78961058e+01, 2.45537421e+02,-5.49243110e+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,
 -1.00157276e+01,-4.71674770e+00,-2.39393178e+00, 3.00602258e+02,
  2.17274763e+02,-3.74704324e+01]

qfrc_actuator:
[ 0.00189615, 0.11754903, 0.00919231, 0.05011128, 0.00020643, 0.12131727,
  0.01039597, 0.0783291 ,-0.00240686, 0.12683252, 0.00882464, 0.07523861,
  0.        ,-0.00167492, 0.        ,-0.00175765, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  1.95969462, -8.41108637,  1.95969462,  4.57167532,
       -0.94702961, -8.41108637, -0.94702961,  8.4157157 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.009913695367589744
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.13787917e-01, -4.06893958e-01,  4.14953652e-01, -3.62489659e-01,
        9.13475400e-01,  1.84834900e-01, -4.54258158e-01,  2.77555756e-17,
       -8.90870095e-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([-0.05896112, -0.12352203,  0.06163618])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.18020977e-06, 4.34383397e-04,-1.22418669e-05,-9.89122982e-04,
  6.67374620e-05,-7.11435384e-04,-1.37198088e-04,-1.44369423e-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,
  2.69251988e-05, 1.62838337e-05,-4.90498692e+00, 6.38371253e-03,
  2.18994241e-03, 1.48155315e-04]


--- Step 1982 ---
qpos:
[-1.38349538e-02, 9.76732597e-01,-2.09997450e-02, 9.02120482e-01,
  4.16586222e-03, 9.57280871e-01,-2.92156045e-02, 8.71438222e-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,
 -3.06910477e-02,-1.01049425e-01, 7.88604995e-02, 6.31976403e-01,
 -1.27169199e-02,-3.46018564e-03, 7.74875560e-01]

qacc:
[ 9.84672197e-02,-2.56731366e+01, 1.35356466e+02,-3.58107818e+02,
  1.20719752e-01,-5.81847108e+01, 2.36808633e+02,-5.13811704e+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,
  9.20201014e+00,-9.40346838e-01, 3.31496286e+00, 1.05772344e+02,
 -2.48134580e+02,-5.34938953e+01]

qfrc_actuator:
[ 0.00191699, 0.11789059, 0.00917778, 0.04912041, 0.00019668, 0.12075385,
  0.01039383, 0.07703714,-0.00242   , 0.1262538 , 0.00882451, 0.07397056,
  0.        ,-0.0016806 , 0.        ,-0.00165952, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -4.34723752,  7.46245957, -4.34723752, 13.31992615,
        2.72839786,  7.46245957,  2.72839786, 10.22578512,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004079764221609078
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02048455e-14,  1.36064606e-14,  1.00000000e+00,  1.38851828e-28,
        1.00000000e+00, -1.36064606e-14, -1.00000000e+00,  0.00000000e+00,
       -1.02048455e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05504878, -0.08725801,  0.06163836])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.18593206e-05, 5.16521156e-04, 3.16902468e-05,-9.98919097e-04,
  2.47804250e-05,-1.06694504e-03,-2.11235016e-04,-1.35004793e-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,
  3.54499499e-04, 2.27506110e-04,-4.90512382e+00, 6.45767536e-03,
  2.13365961e-03, 2.19018375e-04]


--- Step 1983 ---
qpos:
[-1.38493689e-02, 9.78486190e-01,-2.10137879e-02, 9.03040293e-01,
  4.16958760e-03, 9.59103099e-01,-2.91966224e-02, 8.72912847e-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,
 -3.07651413e-02,-1.01134908e-01, 7.88750613e-02, 6.32376514e-01,
 -1.17043199e-02,-3.40709632e-03, 7.74565262e-01]

qacc:
[ 4.27092018e-02,-3.20397423e+01, 1.51977967e+02,-3.66070130e+02,
  3.09844062e-02,-5.55540653e+01, 2.19989533e+02,-4.71343258e+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,
  4.40609552e+00,-9.91758158e-01, 4.15610015e+00,-7.94997356e+01,
 -2.99715305e+02,-4.92052210e+01]

qfrc_actuator:
[ 0.00191742, 0.1179781 , 0.00919327, 0.04814437, 0.00018922, 0.12014926,
  0.01038448, 0.07585561,-0.00241187, 0.12590038, 0.00877634, 0.0727386 ,
  0.        ,-0.00168396, 0.        ,-0.00170909, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  5.10991769,  6.96243622,  5.10991769, 16.2096513 ,
       -5.55823786,  6.96243622, -5.55823786, 12.71570269,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004042831691852197
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03030656, -0.08204501,  0.06164098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.16825979e-06, 3.16308222e-04, 8.26094967e-05,-9.80483094e-04,
  5.30100762e-06,-1.31638601e-03,-2.94132161e-04,-1.25101542e-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,
  5.41451459e-04, 1.84630975e-06,-4.90501736e+00, 6.35252396e-03,
  2.09596653e-03, 1.00983019e-04]


--- Step 1984 ---
qpos:
[-1.38638760e-02, 9.80239687e-01,-2.10264995e-02, 9.03942241e-01,
  4.17311336e-03, 9.60914407e-01,-2.91769869e-02, 8.74362331e-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,
 -3.08357524e-02,-1.01217130e-01, 7.88806525e-02, 6.32774927e-01,
 -1.06634990e-02,-3.97740455e-03, 7.74252131e-01]

qacc:
[-4.08654254e-02,-3.49683597e+01, 1.53054852e+02,-3.46588249e+02,
 -8.99422584e-02,-5.97654160e+01, 2.35730356e+02,-5.04798522e+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,
  8.70620462e-01, 8.15365264e-01,-2.24263692e+00,-2.32522756e+02,
 -2.08026811e+02,-3.93475949e+00]

qfrc_actuator:
[ 0.00190564, 0.11778888, 0.00918995, 0.04723797, 0.00016547, 0.1195428 ,
  0.01038858, 0.07458866,-0.00242659, 0.12554277, 0.00880766, 0.07155559,
  0.        ,-0.00170365, 0.        ,-0.00173881, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([8.63636364, 6.83535143, 5.27870701, 6.83535143, 6.82400114,
       2.34681231, 5.27870701, 2.34681231, 5.59749695, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.004052612461532684
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.36976214e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.36976214e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00423383, -0.07499118,  0.06164048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.72017434e-06,-6.06419133e-05, 3.08690942e-05,-9.15098012e-04,
 -2.11167541e-05,-1.46926099e-03,-3.36266883e-04,-1.34458157e-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,
  3.14229474e-04,-1.54838093e-04,-4.90487322e+00, 6.16533191e-03,
  2.10471485e-03,-3.62478236e-05]


--- Step 1985 ---
qpos:
[-1.38781331e-02, 9.81989921e-01,-2.10367925e-02, 9.04826578e-01,
  4.17604715e-03, 9.62714460e-01,-2.91578808e-02, 8.75786866e-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,
 -3.09098022e-02,-1.01283118e-01, 7.88804287e-02, 6.33038398e-01,
 -1.02797884e-02,-4.62070135e-03, 7.74038347e-01]

qacc:
[ 1.22478008e-01,-4.16270512e+01, 1.69207347e+02,-3.55754008e+02,
 -2.78454943e-01,-5.66666851e+01, 2.24437662e+02,-4.91830805e+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,
 -8.59694580e-01, 4.05859233e+00,-1.45376444e+00,-2.36679162e+02,
  2.30493890e+02, 8.45897726e+01]

qfrc_actuator:
[ 1.93993209e-03, 1.17453323e-01, 9.24550341e-03, 4.63440719e-02,
  1.14419298e-04, 1.18958029e-01, 1.03472950e-02, 7.33347886e-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([  8.63636364,  -3.44051892,  -7.92146491,  -3.44051892,
        73.66808438, -28.24513752,  -7.92146491, -28.24513752,
        20.90403523,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004103159168306975
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.70577616e-14,  2.70577616e-14,  1.00000000e+00,  7.32122461e-28,
        1.00000000e+00, -2.70577616e-14, -1.00000000e+00,  0.00000000e+00,
       -2.70577616e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0135548 , -0.12103888,  0.06163691])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.63903488e-05,-4.23693480e-04, 1.17569860e-05,-9.14283351e-04,
 -6.21576253e-05,-1.54324115e-03,-4.19330489e-04,-1.33970408e-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,
 -1.33252665e-05, 1.80358485e-04,-4.90486864e+00, 6.04468171e-03,
  2.17185136e-03, 3.15578289e-05]


--- Step 1986 ---
qpos:
[-1.38917038e-02, 9.83739359e-01,-2.10469571e-02, 9.05693250e-01,
  4.17854156e-03, 9.64506598e-01,-2.91410283e-02, 8.77186479e-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,
 -3.09882269e-02,-1.01335201e-01, 7.88706229e-02, 6.33192365e-01,
 -1.04740312e-02,-5.31991579e-03, 7.73905306e-01]

qacc:
[ 3.27253993e-01,-3.22744575e+01, 1.42564004e+02,-3.34193452e+02,
 -2.06864439e-01,-4.75601267e+01, 1.99710361e+02,-4.71330238e+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,
 -1.09369841e+00, 3.47622529e+00,-2.39547277e+00,-2.04950867e+02,
  2.05312075e+02, 6.89843906e+01]

qfrc_actuator:
[ 2.00156672e-03, 1.17565754e-01, 9.29925266e-03, 4.54645625e-02,
  1.00725102e-04, 1.18799281e-01, 1.03151971e-02, 7.20986321e-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([ 8.63636364, -5.23530291,  6.868652  , -5.23530291,  7.99776489,
       -0.48674148,  6.868652  , -0.48674148,  8.26536812,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004127677194366311
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01342512, -0.12108653,  0.06163516])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.27158863e-05,-1.80275946e-04,-6.34699084e-05,-9.11639083e-04,
 -4.61830730e-05,-1.17403728e-03,-4.33969099e-04,-1.32667020e-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,
  5.43392937e-05, 2.88055810e-04,-4.90497454e+00, 6.24912331e-03,
  2.22384497e-03, 1.65792175e-04]


--- Step 1987 ---
qpos:
[-1.39047119e-02, 9.85494017e-01,-2.10599094e-02, 9.06542956e-01,
  4.18072078e-03, 9.66295118e-01,-2.91260910e-02, 8.78557914e-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,
 -3.10404232e-02,-1.01366018e-01, 7.88736256e-02, 6.33347436e-01,
 -1.06946968e-02,-5.43482511e-03, 7.73774587e-01]

qacc:
[ 2.65400867e-01,-1.52470182e+01, 9.48366652e+01,-2.87395782e+02,
 -1.47858841e-01,-4.84712455e+01, 2.16839635e+02,-5.28228171e+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,
  6.55709467e+00, 5.31648773e+00, 3.20210436e+00, 2.17745049e+02,
  1.95203931e+02, 3.43847007e+00]

qfrc_actuator:
[ 2.02581127e-03, 1.18229857e-01, 9.29998578e-03, 4.46362921e-02,
  9.17744496e-05, 1.18968321e-01, 1.03438074e-02, 7.07055300e-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([  8.63636364,   8.02423587,   3.19349581,   8.02423587,
        16.96464868, -20.9263226 ,   3.19349581, -20.9263226 ,
        61.21753432,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004116314284182264
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.68570557e-15,  1.68570557e-14,  1.00000000e+00,  2.84160326e-29,
        1.00000000e+00, -1.68570557e-14, -1.00000000e+00,  0.00000000e+00,
       -1.68570557e-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([-0.05964189, -0.12375052,  0.06163585])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.97913780e-05, 4.91584396e-04,-7.71884943e-05,-8.55070932e-04,
 -3.31131034e-05,-6.43789040e-04,-3.01612467e-04,-1.47199215e-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,
  3.03924241e-04, 2.45778500e-04,-4.90509192e+00, 6.35580160e-03,
  2.23765213e-03, 1.71199470e-04]


--- Step 1988 ---
qpos:
[-1.39172667e-02, 9.87253984e-01,-2.10735241e-02, 9.07376713e-01,
  4.18250844e-03, 9.68081244e-01,-2.91123179e-02, 8.79901157e-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,
 -3.10705186e-02,-1.01378624e-01, 7.88831065e-02, 6.33505205e-01,
 -1.09368787e-02,-5.03047513e-03, 7.73644773e-01]

qacc:
[ 2.14341816e-01,-1.90982499e+01, 1.05359526e+02,-2.84705363e+02,
 -1.84155091e-01,-4.89041402e+01, 2.20119421e+02,-5.31813590e+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,
  5.52522489e+00, 4.55263813e+00, 1.61955544e+00, 1.94098042e+02,
  1.72762687e+02, 2.07806300e+00]

qfrc_actuator:
[ 2.04522364e-03, 1.18597924e-01, 9.30727916e-03, 4.38451327e-02,
  6.79688484e-05, 1.18995603e-01, 1.03383953e-02, 6.93024974e-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([ 8.63636364, -2.91089926,  8.1310173 , -2.91089926, 21.72010758,
        4.6839724 ,  8.1310173 ,  4.6839724 , 10.31322292,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004127870681018719
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.17669038e-14,  1.68098626e-14,  1.00000000e+00, -1.97800037e-28,
        1.00000000e+00, -1.68098626e-14, -1.00000000e+00,  0.00000000e+00,
        1.17669038e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05968054, -0.12376038,  0.06163507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.82457929e-05, 5.66604779e-04, 6.14432382e-05,-7.96373564e-04,
 -4.11227270e-05,-4.70060532e-04,-2.20165089e-04,-1.46441790e-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,
  5.75737719e-05, 1.74995932e-05,-4.90503483e+00, 6.40343528e-03,
  2.21549218e-03, 1.03599857e-04]


--- Step 1989 ---
qpos:
[-1.39294536e-02, 9.89015780e-01,-2.10856908e-02, 9.08194393e-01,
  4.18412024e-03, 9.69865540e-01,-2.90996744e-02, 8.81218142e-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,
 -3.10818670e-02,-1.01375522e-01, 7.88936486e-02, 6.33666184e-01,
 -1.11966526e-02,-4.16208231e-03, 7.73514370e-01]

qacc:
[ 1.75828073e-01,-2.96065457e+01, 1.34454754e+02,-3.09670639e+02,
 -8.13255252e-02,-4.48912526e+01, 2.03382295e+02,-4.93864910e+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,
  4.68674087e+00, 3.92703318e+00, 2.65283103e-01, 1.73945965e+02,
  1.53803082e+02, 1.15332196e+00]

qfrc_actuator:
[ 2.06162110e-03, 1.18519902e-01, 9.31749853e-03, 4.30287503e-02,
  7.09579958e-05, 1.18991311e-01, 1.03125845e-02, 6.79935528e-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([ 8.63636364, -2.96826154,  8.11025279, -2.96826154, 22.56121812,
        5.09634052,  8.11025279,  5.09634052, 10.5015671 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004088016700050837
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.78949663e-15,  1.35789933e-14,  1.00000000e+00, -9.21945290e-29,
        1.00000000e+00, -1.35789933e-14, -1.00000000e+00,  0.00000000e+00,
        6.78949663e-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([-0.05977759, -0.12381966,  0.0616381 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.91687435e-05, 1.91147956e-04, 9.67604815e-05,-8.13819468e-04,
 -1.85102579e-05,-3.88839445e-04,-1.96625461e-04,-1.36219621e-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,
  5.84556877e-05, 1.06446884e-04,-4.90509460e+00, 6.44623350e-03,
  2.19095670e-03, 1.37601918e-04]


--- Step 1990 ---
qpos:
[-1.39415020e-02, 9.90776272e-01,-2.10958081e-02, 9.08994837e-01,
  4.18565123e-03, 9.71652233e-01,-2.90898683e-02, 8.82508566e-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,
 -3.11040823e-02,-1.01359823e-01, 7.88930193e-02, 6.33756198e-01,
 -1.19728293e-02,-3.31841339e-03, 7.73433074e-01]

qacc:
[ 6.85292789e-02,-3.73675283e+01, 1.57306739e+02,-3.41388686e+02,
 -3.78086058e-02,-3.52374336e+01, 1.79036533e+02,-4.78287008e+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,
 -2.71670396e+00, 3.14922207e+00,-2.79281653e+00,-1.73470717e+02,
  1.91466587e+02, 4.39411260e+01]

qfrc_actuator:
[ 2.05836085e-03, 1.18264348e-01, 9.34538070e-03, 4.21504853e-02,
  7.22122784e-05, 1.19412283e-01, 1.02749659e-02, 6.66793948e-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([  8.63636364,   8.332946  ,   2.26909406,   8.332946  ,
        12.48861954, -14.14689721,   2.26909406, -14.14689721,
        60.58896121,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004023646788318305
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.37962287e-14,  2.06943430e-14,  1.00000000e+00,  2.85503889e-28,
        1.00000000e+00, -2.06943430e-14, -1.00000000e+00,  0.00000000e+00,
       -1.37962287e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01343935, -0.12138185,  0.06164291])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.47024197e-05,-1.87779009e-04, 4.42516842e-05,-8.86608262e-04,
 -8.44273717e-06, 8.95674277e-05,-1.86542872e-04,-1.36179374e-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,
  2.36271733e-04, 4.16886786e-04,-4.90523740e+00, 6.48542039e-03,
  2.16441061e-03, 2.43336873e-04]


--- Step 1991 ---
qpos:
[-1.39534762e-02, 9.92531928e-01,-2.11043503e-02, 9.09778572e-01,
  4.18697176e-03, 9.73446869e-01,-2.90838934e-02, 8.83771716e-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,
 -3.11373104e-02,-1.01353500e-01, 7.88915874e-02, 6.33856971e-01,
 -1.27355761e-02,-3.10113923e-03, 7.73339207e-01]

qacc:
[ 3.87695784e-02,-3.98036068e+01, 1.58462399e+02,-3.33801931e+02,
 -1.01379023e-01,-2.64970991e+01, 1.60741281e+02,-4.73954470e+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,
 -2.75322823e+00,-2.34393974e+00,-2.00667475e-01,-2.37938095e+02,
 -2.03591294e+02,-1.19162264e+01]

qfrc_actuator:
[ 2.06114102e-03, 1.17780406e-01, 9.32942195e-03, 4.12959372e-02,
  5.46482992e-05, 1.20226940e-01, 1.02324221e-02, 6.53374083e-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: -0.0040348517932109335
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.43947895e-15,  2.06368737e-14,  1.00000000e+00, -7.09800927e-29,
        1.00000000e+00, -2.06368737e-14, -1.00000000e+00,  0.00000000e+00,
        3.43947895e-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([ 0.00402625, -0.07532448,  0.06164206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.79013564e-06,-6.38411188e-04,-8.21437713e-05,-8.77776515e-04,
 -2.19568542e-05, 7.50422098e-04,-9.59884642e-05,-1.37419082e-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,
  1.62045549e-05, 4.16750343e-04,-4.90534494e+00, 6.47974462e-03,
  2.18582520e-03, 1.94116689e-04]


--- Step 1992 ---
qpos:
[-1.39652091e-02, 9.94277626e-01,-2.11108819e-02, 9.10546801e-01,
  4.18807806e-03, 9.75250043e-01,-2.90793151e-02, 8.85009476e-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,
 -3.11806174e-02,-1.01355893e-01, 7.88850108e-02, 6.33968976e-01,
 -1.34886004e-02,-3.43467600e-03, 7.73233210e-01]

qacc:
[ 1.18718493e-01,-4.56042065e+01, 1.66651405e+02,-3.23448747e+02,
 -1.02203063e-01,-2.90151964e+01, 1.65643677e+02,-4.56019331e+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,
 -2.51970156e+00,-2.17883526e+00,-1.28619113e+00,-2.09847806e+02,
 -1.78232434e+02,-1.17097720e+01]

qfrc_actuator:
[ 2.08530694e-03, 1.16950454e-01, 9.30456587e-03, 4.04974929e-02,
  4.37079860e-05, 1.20809736e-01, 1.02245571e-02, 6.40788267e-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([ 8.63636364, -8.1162883 ,  2.95171834, -8.1162883 , 10.2297633 ,
        4.3813432 ,  2.95171834,  4.3813432 , 20.68366643,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004038734343394898
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.37446899e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.37446899e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00400981, -0.07535526,  0.06164176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.54928658e-05,-1.25825169e-03,-1.93656541e-04,-8.39066788e-04,
 -2.23489530e-05, 9.02143304e-04, 7.89221204e-05,-1.26751127e-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,
  4.97493074e-05,-9.19249618e-06,-4.90519759e+00, 6.45332193e-03,
  2.20468659e-03, 7.42021650e-05]


--- Step 1993 ---
qpos:
[-1.39766603e-02, 9.96008952e-01,-2.11148891e-02, 9.11300941e-01,
  4.18934433e-03, 9.77058947e-01,-2.90735062e-02, 8.86223359e-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,
 -3.12055384e-02,-1.01370919e-01, 7.88957298e-02, 6.34073215e-01,
 -1.36341650e-02,-3.80060428e-03, 7.73143469e-01]

qacc:
[ 1.38727469e-01,-5.03200540e+01, 1.71971005e+02,-3.08541678e+02,
  7.76790200e-02,-3.71689155e+01, 1.84409791e+02,-4.52582886e+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,
  4.59648053e+00,-3.15843063e+00, 4.32392280e+00, 1.80007804e+02,
 -2.45244641e+02, 6.89369175e+00]

qfrc_actuator:
[ 2.10435486e-03, 1.15955457e-01, 9.32656385e-03, 3.97736958e-02,
  7.23350694e-05, 1.21001106e-01, 1.02543501e-02, 6.28793132e-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: -0.004058273058801819
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.54907223e-15,  1.36785156e-14,  1.00000000e+00,  1.16938618e-28,
        1.00000000e+00, -1.36785156e-14, -1.00000000e+00,  0.00000000e+00,
       -8.54907223e-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([-0.05558572, -0.0875009 ,  0.06164026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.97215230e-05,-1.78683200e-03,-2.79983365e-04,-7.85859117e-04,
  1.70141213e-05, 6.32660918e-04, 1.69792423e-04,-1.19601586e-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,
  3.36093242e-04,-5.55475345e-05,-4.90519088e+00, 6.42748621e-03,
  2.22275214e-03, 6.92442071e-05]


--- Step 1994 ---
qpos:
[-1.39880053e-02, 9.97725135e-01,-2.11176746e-02, 9.12041065e-01,
  4.19102048e-03, 9.78870181e-01,-2.90655397e-02, 8.87413034e-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,
 -3.12143454e-02,-1.01397157e-01, 7.89172612e-02, 6.34170068e-01,
 -1.32414516e-02,-4.19498702e-03, 7.73068814e-01]

qacc:
[ 5.57237443e-02,-4.76756988e+01, 1.61879485e+02,-2.98128944e+02,
  1.97667493e-01,-4.47056642e+01, 2.04310463e+02,-4.71722613e+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,
  4.02851247e+00,-2.80305226e+00, 2.70307896e+00, 1.59632422e+02,
 -2.17221008e+02, 6.42095668e+00]

qfrc_actuator:
[ 2.10244246e-03, 1.15136119e-01, 9.35760345e-03, 3.90639677e-02,
  1.06661464e-04, 1.20921506e-01, 1.02869166e-02, 6.16528722e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004061839591227696
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.70831313e-15,  2.73330101e-14,  1.00000000e+00,  4.66933400e-29,
        1.00000000e+00, -2.73330101e-14, -1.00000000e+00,  0.00000000e+00,
       -1.70831313e-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([-0.05559393, -0.08750336,  0.06164019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09935812e-05,-1.91869974e-03,-3.82851638e-04,-7.89324111e-04,
  4.33248690e-05, 2.32633049e-04, 1.32100764e-04,-1.22710623e-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,
  9.97590810e-05, 6.72659430e-05,-4.90503038e+00, 6.38357567e-03,
  2.20295004e-03, 1.69548396e-04]


--- Step 1995 ---
qpos:
[-1.39989562e-02, 9.99429390e-01,-2.11219899e-02, 9.12766467e-01,
  4.19292985e-03, 9.80684498e-01,-2.90586093e-02, 8.88580965e-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,
 -3.12707641e-02,-1.01446910e-01, 7.89257996e-02, 6.34339489e-01,
 -1.27974631e-02,-3.84154420e-03, 7.72939118e-01]

qacc:
[ 1.88760035e-01,-3.72339625e+01, 1.34293872e+02,-2.83997663e+02,
  1.11639525e-01,-3.08102082e+01, 1.54344676e+02,-3.98153522e+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,
 -1.19029089e+01,-5.87878454e+00,-3.24823198e+00, 3.05683913e+02,
  2.17821325e+02,-4.06587285e+01]

qfrc_actuator:
[ 2.14127446e-03, 1.14730493e-01, 9.34110319e-03, 3.83327378e-02,
  1.08588286e-04, 1.21088744e-01, 1.02309648e-02, 6.05621781e-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, -2.02810121,  8.39485451, -2.02810121, 54.58100039,
       11.09970083,  8.39485451, 11.09970083, 11.31792491,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00899258759245625
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.99729515e-01, -3.99864758e-01,  4.47817907e-01, -3.48890101e-01,
        9.16574152e-01,  1.95365098e-01, -4.88577936e-01, -2.77555756e-17,
       -8.72520258e-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([-0.06000932, -0.12392911,  0.06164307])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.18281260e-05,-1.59790615e-03,-4.68022031e-04,-8.17976972e-04,
  2.47119821e-05, 2.49525616e-04,-4.04372783e-05,-1.10580012e-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,
 -1.27491829e-05, 9.29434022e-05,-4.90501877e+00, 6.35546923e-03,
  2.19301859e-03, 1.57433925e-04]


--- Step 1996 ---
qpos:
[-1.40093009e-02, 1.00112400e+00,-2.11279015e-02, 9.13477975e-01,
  4.19496399e-03, 9.82502269e-01,-2.90530425e-02, 8.89727097e-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,
 -3.13631814e-02,-1.01513749e-01, 7.89200178e-02, 6.34566692e-01,
 -1.23137881e-02,-2.84594052e-03, 7.72764767e-01]

qacc:
[ 2.87513284e-01,-3.25973925e+01, 1.20962463e+02,-2.63873001e+02,
  5.98695976e-02,-2.95246062e+01, 1.50755409e+02,-3.95650975e+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,
 -8.99968817e+00,-4.27146780e+00,-3.58004554e+00, 2.61047054e+02,
  1.88733114e+02,-3.24620805e+01]

qfrc_actuator:
[ 2.18647030e-03, 1.14451667e-01, 9.33384699e-03, 3.76481777e-02,
  1.08840701e-04, 1.21313637e-01, 1.01774905e-02, 5.94713886e-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,  2.09329954, -8.37883488,  2.09329954,  4.38660946,
       -1.06172381, -8.37883488, -1.06172381,  8.37111125,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00888391202612041
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.99692934e-01, -3.99846467e-01,  4.47899558e-01, -3.48855147e-01,
        9.16582131e-01,  1.95390080e-01, -4.88662765e-01, -2.77555756e-17,
       -8.72472752e-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([-0.06016099, -0.12401705,  0.06164668])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.46435197e-05,-1.31080565e-03,-4.06318137e-04,-7.64641449e-04,
  1.32775650e-05, 2.86483066e-04,-5.07822088e-05,-1.10776242e-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,
  2.16188623e-04,-1.08213336e-05,-4.90501725e+00, 6.37670486e-03,
  2.15992653e-03, 1.21697558e-04]


--- Step 1997 ---
qpos:
[-1.40195568e-02, 1.00280880e+00,-2.11339300e-02, 9.14176054e-01,
  4.19722516e-03, 9.84319968e-01,-2.90462172e-02, 8.90849732e-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,
 -3.14493177e-02,-1.01578028e-01, 7.89119920e-02, 6.34812282e-01,
 -1.18203295e-02,-2.60656626e-03, 7.72571584e-01]

qacc:
[ 4.54225509e-02,-3.60241542e+01, 1.30868637e+02,-2.66988922e+02,
  1.10543001e-01,-4.41674915e+01, 1.96803246e+02,-4.54217646e+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,
  1.57028951e+00, 6.40198576e-01,-5.61023255e-01,-2.89003247e+02,
 -2.43577139e+02,-1.77490534e+01]

qfrc_actuator:
[ 0.0021641 , 0.11402062, 0.00935057, 0.03697893, 0.00012586, 0.12114546,
  0.0101795 , 0.05828278,-0.00256536, 0.12361865, 0.00907537, 0.05754733,
  0.        ,-0.00174465, 0.        ,-0.00170992, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.87665221,  6.32864406, -5.87665221,  4.90286927,
       -3.46684814,  6.32864406, -3.46684814,  5.41711784,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00404632865557332
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.028917e-14,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
       -1.028917e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00381235, -0.07557887,  0.06164164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.28746552e-06,-1.29002196e-03,-3.17233648e-04,-7.37457069e-04,
  2.40404946e-05,-8.81485517e-05, 1.07610428e-05,-1.20478343e-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,
  8.38358140e-04, 3.20701326e-04,-4.90521183e+00, 6.43121905e-03,
  2.10261114e-03, 2.28617893e-04]


--- Step 1998 ---
qpos:
[-1.40302080e-02, 1.00448408e+00,-2.11403201e-02, 9.14860697e-01,
  4.19952561e-03, 9.86134003e-01,-2.90377677e-02, 8.91950088e-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,
 -3.15319433e-02,-1.01641651e-01, 7.88979373e-02, 6.35075116e-01,
 -1.13195353e-02,-3.02378830e-03, 7.72361523e-01]

qacc:
[-1.81682151e-01,-3.49659050e+01, 1.27877485e+02,-2.64544101e+02,
  2.25128616e-02,-4.77602169e+01, 2.00031668e+02,-4.39994641e+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,
  8.77650378e-01, 1.63905800e-01,-1.50720212e+00,-2.51225564e+02,
 -2.11119122e+02,-1.59085388e+01]

qfrc_actuator:
[ 2.11922805e-03, 1.13591042e-01, 9.34533003e-03, 3.63062034e-02,
  1.17272274e-04, 1.20743572e-01, 1.01772248e-02, 5.71524092e-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([ 8.63636364, -5.79071081,  6.40737428, -5.79071081,  8.11649682,
       -0.4698334 ,  6.40737428, -0.4698334 ,  8.21174831,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004091353127546896
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01759399e-14,  4.07037595e-14,  1.00000000e+00,  4.14199009e-28,
        1.00000000e+00, -4.07037595e-14, -1.00000000e+00,  0.00000000e+00,
       -1.01759399e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00365348, -0.07571311,  0.06163823])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.26357097e-05,-1.25841567e-03,-3.23994593e-04,-7.37003293e-04,
  4.08039066e-06,-5.20195829e-04,-6.30688268e-05,-1.15867961e-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,
  1.94732755e-04,-3.37310023e-05,-4.90497540e+00, 6.34336406e-03,
  2.15031185e-03, 9.89042253e-05]


--- Step 1999 ---
qpos:
[-1.40411373e-02, 1.00614943e+00,-2.11464599e-02, 9.15532333e-01,
  4.20195749e-03, 9.87940639e-01,-2.90275818e-02, 8.93028719e-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,
 -3.16131236e-02,-1.01706008e-01, 7.88744514e-02, 6.35353102e-01,
 -1.08133218e-02,-4.01425755e-03, 7.72135606e-01]

qacc:
[-1.26216002e-01,-3.64120820e+01, 1.31007444e+02,-2.61932377e+02,
  6.69634918e-02,-5.19995184e+01, 2.06627415e+02,-4.36552994e+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,
  3.61323393e-01,-1.83599408e-01,-2.35780006e+00,-2.19594475e+02,
 -1.84007792e+02,-1.41385653e+01]

qfrc_actuator:
[ 0.00211455, 0.11311271, 0.00936271, 0.03565453, 0.00012893, 0.12013408,
  0.0101715 , 0.05604741,-0.00251337, 0.12268988, 0.00908057, 0.05560878,
  0.        ,-0.00171426, 0.        ,-0.00155576, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.72173628,  6.46904249, -5.72173628,  8.26797039,
       -0.32583632,  6.46904249, -0.32583632,  8.34816805,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004075185390361467
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.38380602e-14,  2.72434974e-14,  1.00000000e+00, -6.49432130e-28,
        1.00000000e+00, -2.72434974e-14, -1.00000000e+00,  0.00000000e+00,
        2.38380602e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0036036 , -0.07576298,  0.06163919])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.00688181e-05,-1.29070762e-03,-2.95832168e-04,-7.15161495e-04,
  1.37711821e-05,-9.79986992e-04,-1.58557940e-04,-1.14799462e-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,
  5.95831667e-06, 1.27144291e-04,-4.90494208e+00, 6.25819609e-03,
  2.19517287e-03, 1.28679250e-04]


--- Step 2000 ---
qpos:
[-1.40518921e-02, 1.00780704e+00,-2.11536588e-02, 9.16189799e-01,
  4.20468256e-03, 9.89736544e-01,-2.90161232e-02, 8.94085747e-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,
 -3.16985527e-02,-1.01757161e-01, 7.88427532e-02, 6.35526872e-01,
 -1.09259348e-02,-5.05066708e-03, 7.71984915e-01]

qacc:
[ 8.44138136e-02,-3.20272742e+01, 1.22576264e+02,-2.69453751e+02,
  1.43867334e-01,-5.49027794e+01, 2.10444190e+02,-4.36045571e+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,
 -1.06218309e+00, 3.30097906e+00,-2.05308330e+00,-2.14735218e+02,
  2.23698989e+02, 6.51252124e+01]

qfrc_actuator:
[ 0.00215179, 0.11287563, 0.0093577 , 0.03494941, 0.00015263, 0.11936972,
  0.0101452 , 0.05494824,-0.00247911, 0.12224811, 0.00905077, 0.0546501 ,
  0.        ,-0.00167612, 0.        ,-0.0017592 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,  -1.94532848,  -8.4144206 ,  -1.94532848,
        84.97593011, -17.64893151,  -8.4144206 , -17.64893151,
        12.71661714,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004091524511270761
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.7134703e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -2.7134703e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01266912, -0.12183404,  0.06163766])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.85460194e-05,-1.06082721e-03,-3.20589041e-04,-7.68229249e-04,
  3.08814400e-05,-1.40771664e-03,-2.80155824e-04,-1.15915472e-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,
  1.23721140e-04, 6.23472889e-04,-4.90504223e+00, 6.17708794e-03,
  2.23767615e-03, 2.61951259e-04]


--- Step 2001 ---
qpos:
[-1.40621665e-02, 1.00946147e+00,-2.11637495e-02, 9.16832717e-01,
  4.20751778e-03, 9.91519132e-01,-2.90037522e-02, 8.95121682e-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,
 -3.17562981e-02,-1.01787270e-01, 7.88284666e-02, 6.35694211e-01,
 -1.10752120e-02,-5.43343534e-03, 7.71842398e-01]

qacc:
[ 2.25481176e-01,-2.17225113e+01, 9.69064859e+01,-2.54083196e+02,
  5.77481686e-02,-5.64385681e+01, 2.10132100e+02,-4.27816763e+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,
  6.92091226e+00, 5.26120397e+00, 4.35289516e+00, 2.40635620e+02,
  2.21794579e+02, 8.74343856e+00]

qfrc_actuator:
[ 0.00219608, 0.11303362, 0.00932269, 0.03423635, 0.00014783, 0.11853648,
  0.01012407, 0.05387889,-0.00244255, 0.12181848, 0.00912722, 0.05379   ,
  0.        ,-0.00167129, 0.        ,-0.00187905, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,   7.87936399,   3.5358733 ,   7.87936399,
        21.2171147 , -28.03503081,   3.5358733 , -28.03503081,
        71.10981598,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004132152592248417
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.51886653e-14,  1.67924435e-14,  1.00000000e+00, -4.22979239e-28,
        1.00000000e+00, -1.67924435e-14, -1.00000000e+00,  0.00000000e+00,
        2.51886653e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06045174, -0.12399198,  0.06163425])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.15747720e-05,-5.44762540e-04,-3.09814035e-04,-7.71092419e-04,
  1.13897316e-05,-1.73745436e-03,-3.73305017e-04,-1.14657747e-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,
  5.18975755e-04, 5.57733425e-04,-4.90516795e+00, 6.31461581e-03,
  2.25025496e-03, 2.75244936e-04]


--- Step 2002 ---
qpos:
[-1.40719262e-02, 1.01111633e+00,-2.11761398e-02, 9.17462092e-01,
  4.21054015e-03, 9.93286150e-01,-2.89900415e-02, 8.96136277e-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,
 -3.17907235e-02,-1.01799297e-01, 7.88246132e-02, 6.35858742e-01,
 -1.12539194e-02,-5.23930525e-03, 7.71705617e-01]

qacc:
[ 2.40589229e-01,-1.68253868e+01, 8.44645301e+01,-2.33548718e+02,
  9.47391815e-02,-6.09689908e+01, 2.21828782e+02,-4.39399447e+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,
  5.83000845e+00, 4.52026419e+00, 2.60829736e+00, 2.13283043e+02,
  1.94683811e+02, 6.18134496e+00]

qfrc_actuator:
[ 0.00222648, 0.11337394, 0.00932522, 0.03357783, 0.0001615 , 0.11763328,
  0.01014141, 0.05280006,-0.00244046, 0.12159557, 0.00923044, 0.05295935,
  0.        ,-0.00172179, 0.        ,-0.00187758, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -1.14669753,  8.55989846, -1.14669753, 25.2560392 ,
        2.22639802,  8.55989846,  2.22639802,  8.93461543,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004183024662435121
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.29411068e-15,  6.63528854e-15,  1.00000000e+00, -5.50338176e-29,
        1.00000000e+00, -6.63528854e-15, -1.00000000e+00,  0.00000000e+00,
        8.29411068e-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([-0.06043553, -0.12394819,  0.06163037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.53921006e-05,-7.46059847e-05,-1.69859737e-04,-7.00533542e-04,
  1.95427851e-05,-2.00757755e-03,-4.09873939e-04,-1.16882197e-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,
  1.21790534e-04, 8.86416877e-05,-4.90503281e+00, 6.37570194e-03,
  2.22445819e-03, 1.31394256e-04]


--- Step 2003 ---
qpos:
[-1.40813968e-02, 1.01277257e+00,-2.11891210e-02, 9.18077832e-01,
  4.21389309e-03, 9.95035741e-01,-2.89750814e-02, 8.97130956e-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,
 -3.18053829e-02,-1.01795680e-01, 7.88251984e-02, 6.36022441e-01,
 -1.14563191e-02,-4.53318103e-03, 7.71572198e-01]

qacc:
[ 1.35805810e-01,-2.03517011e+01, 9.77072744e+01,-2.46914339e+02,
  1.62465133e-01,-6.06950474e+01, 2.14747823e+02,-4.14817587e+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,
  4.94148627e+00, 3.91110615e+00, 1.10965982e+00, 1.90026065e+02,
  1.71898620e+02, 4.33295477e+00]

qfrc_actuator:
[ 0.00223056, 0.11359053, 0.00935082, 0.03290359, 0.00018613, 0.11666019,
  0.01016327, 0.05179523,-0.0024768 , 0.12158744, 0.00929622, 0.05208174,
  0.        ,-0.00178694, 0.        ,-0.00182242, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -1.19041682,  8.55392802, -1.19041682, 26.5924878 ,
        2.49888382,  8.55392802,  2.49888382,  8.98412356,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004173687834620118
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.31266518e-15, -6.65013214e-15,  1.00000000e+00,  5.52803219e-29,
        1.00000000e+00,  6.65013214e-15, -1.00000000e+00,  0.00000000e+00,
        8.31266518e-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([-0.06049014, -0.12396521,  0.06163097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.11901225e-05, 9.16507280e-05,-3.64089328e-05,-6.96127041e-04,
  3.48014026e-05,-2.23453957e-03,-4.63173422e-04,-1.10481295e-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,
  3.76052556e-05, 3.79899604e-05,-4.90504785e+00, 6.42602596e-03,
  2.19815596e-03, 1.20903897e-04]


--- Step 2004 ---
qpos:
[-1.40908446e-02, 1.01443176e+00,-2.12029690e-02, 9.18679909e-01,
  4.21737853e-03, 9.96768899e-01,-2.89606895e-02, 8.98107278e-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,
 -3.18031790e-02,-1.01778432e-01, 7.88250831e-02, 6.36186111e-01,
 -1.16778476e-02,-3.37011637e-03, 7.71439889e-01]

qacc:
[ 1.09954318e-02,-1.76119665e+01, 9.12397072e+01,-2.42445984e+02,
  6.78310698e-02,-5.17809513e+01, 1.83631380e+02,-3.69256423e+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,
  4.21584357e+00, 3.40777221e+00,-1.75127611e-01, 1.70200486e+02,
  1.52685512e+02, 3.02463553e+00]

qfrc_actuator:
[ 0.00221887, 0.11387377, 0.00935398, 0.03222542, 0.00018162, 0.11590178,
  0.0101519 , 0.05087742,-0.00251812, 0.12208103, 0.00925154, 0.05114813,
  0.        ,-0.00180696, 0.        ,-0.00164734, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -1.26438726,  8.54330742, -1.26438726, 28.05813644,
        2.87437181,  8.54330742,  2.87437181,  9.06176318,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004115674578200126
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.19175785e-14,  1.01158055e-14,  1.00000000e+00, -2.21713961e-28,
        1.00000000e+00, -1.01158055e-14, -1.00000000e+00,  0.00000000e+00,
        2.19175785e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0606012 , -0.12403055,  0.06163515])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.51635354e-06, 2.76727312e-04,-1.08231169e-05,-6.90919196e-04,
  1.37269692e-05,-2.15353364e-03,-5.45056189e-04,-1.02495376e-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,
  1.75470398e-04, 2.76582108e-04,-4.90516782e+00, 6.46916336e-03,
  2.17088900e-03, 2.03501576e-04]


--- Step 2005 ---
qpos:
[-1.41001692e-02, 1.01609470e+00,-2.12171569e-02, 9.19270478e-01,
  4.22089443e-03, 9.98488316e-01,-2.89479603e-02, 8.99065881e-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,
 -3.18144722e-02,-1.01771979e-01, 7.88282281e-02, 6.36358401e-01,
 -1.18833010e-02,-2.88886360e-03, 7.71296588e-01]

qacc:
[ 5.76292783e-02,-1.41913362e+01, 7.67798427e+01,-2.04923347e+02,
  1.85670504e-02,-4.41791379e+01, 1.61569289e+02,-3.43782597e+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,
 -3.37428789e+00,-2.69865499e+00, 8.15087009e-01,-2.57843331e+02,
 -2.23001522e+02,-1.08293074e+01]

qfrc_actuator:
[ 0.00223338, 0.11417715, 0.00937968, 0.0316569 , 0.00017744, 0.11542018,
  0.01013967, 0.05000048,-0.00254433, 0.12265807, 0.00921511, 0.05024256,
  0.        ,-0.0017823 , 0.        ,-0.00182909, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004101586821698006
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.45879193e-15,  3.38351677e-15,  1.00000000e+00,  2.86204644e-29,
        1.00000000e+00, -3.38351677e-15, -1.00000000e+00,  0.00000000e+00,
       -8.45879193e-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([ 0.00336051, -0.07604614,  0.06163612])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.33917264e-05, 4.04518905e-04, 5.11149528e-05,-5.74757976e-04,
  2.91007420e-06,-1.84498959e-03,-5.36813561e-04,-9.82123328e-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,
  4.69505871e-04, 7.12837120e-04,-4.90536217e+00, 6.50714792e-03,
  2.14259484e-03, 3.50647160e-04]


--- Step 2006 ---
qpos:
[-1.41095002e-02, 1.01775849e+00,-2.12299237e-02, 9.19850185e-01,
  4.22455561e-03, 1.00019472e+00,-2.89362458e-02, 9.00007824e-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,
 -3.18378911e-02,-1.01775416e-01, 7.88297097e-02, 6.36540647e-01,
 -1.20769121e-02,-3.00514251e-03, 7.71142738e-01]

qacc:
[-1.38959489e-03,-2.16677356e+01, 9.51978498e+01,-2.11683376e+02,
  7.25092347e-02,-4.31431143e+01, 1.56955409e+02,-3.27496740e+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,
 -3.03143977e+00,-2.47262633e+00,-4.15862143e-01,-2.26625184e+02,
 -1.94612085e+02,-1.07630743e+01]

qfrc_actuator:
[ 0.00222798, 0.1140823 , 0.00940098, 0.03110422, 0.00019126, 0.11487776,
  0.01012823, 0.04917252,-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, -8.40326623,  1.992961  , -8.40326623,  9.57742712,
        3.96796875,  1.992961  ,  3.96796875, 25.36719667,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0041422150739681834
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.35033009e-15,  1.34013204e-14,  1.00000000e+00,  4.48988469e-29,
        1.00000000e+00, -1.34013204e-14, -1.00000000e+00,  0.00000000e+00,
       -3.35033009e-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([ 0.00329561, -0.07611755,  0.06163321])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.66228725e-07, 9.27883935e-05, 8.23289330e-05,-5.50515051e-04,
  1.52057917e-05,-1.73154657e-03,-4.72949214e-04,-9.22260685e-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,
  9.17205659e-05, 1.41072192e-04,-4.90510909e+00, 6.45017803e-03,
  2.17644552e-03, 1.72079805e-04]


--- Step 2007 ---
qpos:
[-1.41190169e-02, 1.01942214e+00,-2.12423560e-02, 9.20418594e-01,
  4.22835674e-03, 1.00188873e+00,-2.89248834e-02, 9.00929688e-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,
 -3.18722367e-02,-1.01787928e-01, 7.88252339e-02, 6.36732927e-01,
 -1.22619784e-02,-3.64798027e-03, 7.70978285e-01]

qacc:
[-8.49861870e-02,-2.07761500e+01, 9.16093342e+01,-2.12921073e+02,
  7.04116543e-02,-4.99992861e+01, 1.87852608e+02,-3.95582983e+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,
 -2.73165321e+00,-2.26877390e+00,-1.48935022e+00,-2.00261826e+02,
 -1.70803577e+02,-1.04364378e+01]

qfrc_actuator:
[ 0.00221073, 0.11399847, 0.00938252, 0.03052949, 0.000198  , 0.11433912,
  0.01013504, 0.04816694,-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, -8.36318639,  2.15496872, -8.36318639,  9.88651324,
        4.85168719,  2.15496872,  4.85168719, 27.46520507,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004123464588968645
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.68278246e-14,  1.34622597e-14,  1.00000000e+00,  2.26540546e-28,
        1.00000000e+00, -1.34622597e-14, -1.00000000e+00,  0.00000000e+00,
       -1.68278246e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00332096, -0.07611752,  0.0616346 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.00829224e-05,-6.17789261e-05,-1.42480746e-05,-5.80570229e-04,
  1.46685152e-05,-1.65007874e-03,-4.23118648e-04,-1.09303315e-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,
  6.28751073e-05, 2.57845153e-05,-4.90503255e+00, 6.39815621e-03,
  2.20647126e-03, 1.33972727e-04]


--- Step 2008 ---
qpos:
[-1.41282236e-02, 1.02108666e+00,-2.12547984e-02, 9.20975306e-01,
  4.23225439e-03, 1.00357314e+00,-2.89146642e-02, 9.01831455e-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,
 -3.19164566e-02,-1.01808777e-01, 7.88110696e-02, 6.36934481e-01,
 -1.24410661e-02,-4.75747506e-03, 7.70802863e-01]

qacc:
[ 1.45051986e-01,-1.92038913e+01, 8.89045040e+01,-2.15810444e+02,
  4.89680191e-02,-4.42558739e+01, 1.73442491e+02,-3.84736384e+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,
 -2.46857203e+00,-2.08426757e+00,-2.42213412e+00,-1.77951090e+02,
 -1.50788502e+02,-9.93878315e+00]

qfrc_actuator:
[ 0.00225756, 0.11413492, 0.00941171, 0.02994632, 0.00020044, 0.11407362,
  0.01015255, 0.04717138,-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, -8.32895857,  2.28368694, -8.32895857, 10.25265212,
        5.89485344,  2.28368694,  5.89485344, 30.13580351,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004056823042888638
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.73668093e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.73668093e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00341802, -0.07606096,  0.0616394 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.35665932e-05, 5.31729076e-05,-8.80193987e-06,-5.97275826e-04,
  1.00987489e-05,-1.32705286e-03,-3.95675697e-04,-1.08286652e-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,
  2.73374562e-04, 2.22205187e-04,-4.90507677e+00, 6.34971360e-03,
  2.23426463e-03, 1.91369270e-04]


--- Step 2009 ---
qpos:
[-0.014137  , 1.02275301,-0.02126716, 0.92152098, 0.00423604, 1.0052511 ,
 -0.02890616, 0.90271473, 0.01626556, 1.03065994,-0.02226084, 0.91048877,
  1.368948  ,-0.00136927, 1.1547902 , 0.06322217,-0.03199745,-0.10184782,
  0.07879704, 0.63718631,-0.01259798,-0.00498864, 0.77059069]

qacc:
[ 2.02713294e-01,-1.70322072e+01, 8.19109397e+01,-2.02498895e+02,
 -5.20408837e-02,-3.57698581e+01, 1.47148961e+02,-3.44452260e+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,
 -9.19381321e+00,-4.54932143e+00, 3.30416119e-02, 3.45794653e+02,
  2.71522531e+02,-2.56689554e+01]

qfrc_actuator:
[ 0.00228915, 0.11433157, 0.00945196, 0.0293985 , 0.00018253, 0.11400969,
  0.01015965, 0.04626091,-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, -1.11523583,  8.56405429, -1.11523583,  5.29762309,
       -0.43478041,  8.56405429, -0.43478041,  8.57974528,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.008299597285190882
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77332249, -0.38666125,  0.50245935, -0.32423202,  0.92222182,
        0.21066684, -0.54483568,  0.        , -0.83854283])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06065799, -0.12393192,  0.061631  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.71577213e-05, 1.77625674e-04, 2.49363506e-05,-5.58646636e-04,
 -1.26414274e-05,-9.40566528e-04,-3.39010868e-04,-9.86668751e-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,
  6.46624459e-04, 6.29413276e-04,-4.90520087e+00, 6.30421625e-03,
  2.26070217e-03, 3.12851377e-04]


--- Step 2010 ---
qpos:
[-0.01414552, 1.02441947,-0.02127872, 0.92205633, 0.00423931, 1.00692281,
 -0.0288979 , 0.90357946, 0.01626994, 1.03245988,-0.02227146, 0.91136685,
  1.36902184,-0.00137116, 1.15496267, 0.06322614,-0.03205012,-0.10186705,
  0.07879359, 0.63742352,-0.0127968 ,-0.00466999, 0.7703932 ]

qacc:
[ 1.18411550e-01,-2.00272780e+01, 8.74310779e+01,-1.97795518e+02,
 -2.34075235e-01,-3.95712273e+01, 1.59986531e+02,-3.56442992e+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,
  7.08078666e+00, 4.95452327e+00, 2.64505768e+00, 1.98437296e+02,
  1.91183714e+02, 1.38787464e+01]

qfrc_actuator:
[ 0.0022936 , 0.11426124, 0.00946326, 0.02887591, 0.00013484, 0.11378334,
  0.0101793 , 0.0453369 ,-0.00249277, 0.12020039, 0.00921727, 0.04595539,
  0.        ,-0.00177091, 0.        ,-0.00154981, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  3.97298057, -7.6682594 ,  3.97298057,  7.77139508,
       -0.44814646, -7.6682594 , -0.44814646,  8.40417572,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004207889008566917
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.31921615e-14,  2.63843229e-14,  1.00000000e+00,  3.48066248e-28,
        1.00000000e+00, -2.63843229e-14, -1.00000000e+00,  0.00000000e+00,
       -1.31921615e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06069034, -0.12390836,  0.06162807])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.73517718e-05,-1.26077227e-05, 2.54047617e-05,-5.27738626e-04,
 -5.44974552e-05,-8.74534926e-04,-2.41027112e-04,-9.84279745e-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,
  1.10035219e-04, 6.89164967e-05,-4.90502909e+00, 6.38893053e-03,
  2.22082311e-03, 1.38925743e-04]


--- Step 2011 ---
qpos:
[-0.01415387, 1.02608261,-0.02128847, 0.92258017, 0.00424204, 1.00858652,
 -0.02888864, 0.90442616, 0.01627398, 1.03424784,-0.02228183, 0.91222981,
  1.36909555,-0.0013725 , 1.15513565, 0.06322548,-0.03213422,-0.10190158,
  0.07878074, 0.63770544,-0.01297123,-0.00366318, 0.77016239]

qacc:
[ 8.06744385e-02,-2.92802316e+01, 1.14730545e+02,-2.33587167e+02,
 -2.51059931e-01,-4.43303470e+01, 1.71573821e+02,-3.59189194e+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,
 -7.85634784e+00,-3.82584289e+00,-2.34947978e+00, 2.73060699e+02,
  2.10246320e+02,-2.34987274e+01]

qfrc_actuator:
[ 2.29952307e-03, 1.13889700e-01, 9.47417681e-03, 2.82834011e-02,
  1.05222125e-04, 1.13319892e-01, 1.02056812e-02, 4.44299869e-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([ 8.63636364, -1.95946776,  8.41113922, -1.95946776, 19.63054011,
        2.56121481,  8.41113922,  2.56121481,  9.23302691,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.008176190376168572
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76819491, -0.38409745,  0.51219696, -0.31957553,  0.92329256,
        0.21307824, -0.55475045,  0.        , -0.83201679])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06078384, -0.12394147,  0.06162945])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.81820621e-05,-4.17976696e-04,-1.12682922e-05,-6.02720011e-04,
 -5.87350438e-05,-1.05547966e-03,-2.09916936e-04,-9.62158949e-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,
  8.82396846e-05, 8.78239113e-05,-4.90509002e+00, 6.45999940e-03,
  2.18362936e-03, 1.53238450e-04]


--- Step 2012 ---
qpos:
[-0.01416209, 1.02773859,-0.02129619, 0.9230939 , 0.00424447, 1.01024121,
 -0.02887896, 0.90525523, 0.0162776 , 1.03602409,-0.02229259, 0.91307524,
  1.36916947,-0.0013742 , 1.15530822, 0.06322489,-0.0321888 ,-0.10194366,
  0.07878222, 0.63803442,-0.01260002,-0.00276431, 0.76989978]

qacc:
[ 6.43064000e-02,-3.25250442e+01, 1.16252721e+02,-2.15996309e+02,
 -1.35161238e-01,-4.34553537e+01, 1.66181381e+02,-3.49125191e+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,
  7.37862116e+00,-1.88664569e+00, 3.58288975e+00, 1.32653661e+02,
 -2.44239320e+02,-2.99586461e+01]

qfrc_actuator:
[ 2.30631866e-03, 1.13287553e-01, 9.48354968e-03, 2.77607720e-02,
  1.04437743e-04, 1.12807198e-01, 1.01994506e-02, 4.35402129e-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([ 8.63636364, -3.98024363,  7.66449199, -3.98024363,  8.07689745,
       -0.29053611,  7.66449199, -0.29053611,  8.48548547,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004129862167385867
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.40087831e-15,  1.34414053e-14,  1.00000000e+00,  1.12919610e-28,
        1.00000000e+00, -1.34414053e-14, -1.00000000e+00,  0.00000000e+00,
       -8.40087831e-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([-0.05630529, -0.08784816,  0.06163339])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.41004958e-05,-8.82276547e-04,-9.86460791e-05,-5.47965233e-04,
 -3.22004448e-05,-1.19783782e-03,-2.73764215e-04,-9.49178809e-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,
  4.54318082e-04, 5.44865477e-04,-4.90533121e+00, 6.56255146e-03,
  2.11864847e-03, 3.09888257e-04]


--- Step 2013 ---
qpos:
[-0.01417035, 1.02938345,-0.02130152, 0.92359879, 0.00424657, 1.01188824,
 -0.02887089, 0.90606686, 0.016281  , 1.03779503,-0.02230687, 0.91390556,
  1.36924341,-0.00137595, 1.15548025, 0.06322712,-0.03224527,-0.10198697,
  0.07878286, 0.63836613,-0.01220623,-0.00258416, 0.76963174]

qacc:
[-1.74620815e-02,-3.64955985e+01, 1.20253098e+02,-2.02131037e+02,
 -1.54112131e-01,-3.57808659e+01, 1.42750422e+02,-3.26845128e+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,
 -4.70937690e-01,-3.07484274e-01,-2.08968780e-01,-2.69452533e+02,
 -2.37939359e+02,-7.33714574e+00]

qfrc_actuator:
[ 2.29585271e-03, 1.12481201e-01, 9.50879238e-03, 2.73010269e-02,
  8.54203521e-05, 1.12499969e-01, 1.01383248e-02, 4.26675537e-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([ 8.63636364,  7.79393163,  3.72040408,  7.79393163, 13.40493645,
       -9.9897564 ,  3.72040408, -9.9897564 , 29.56405768,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004179593376263946
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.99222076e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.99222076e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00297792, -0.07651342,  0.06162977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.37828246e-06,-1.35866871e-03,-1.82066524e-04,-5.00495327e-04,
 -3.63064080e-05,-1.08306330e-03,-3.63459475e-04,-9.38058588e-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,
  7.19324129e-04, 2.92457705e-04,-4.90517007e+00, 6.45928568e-03,
  2.07907808e-03, 2.28106329e-04]


--- Step 2014 ---
qpos:
[-0.01417886, 1.0310149 ,-0.0213052 , 0.92409487, 0.00424837, 1.01352915,
 -0.0288646 , 0.9068616 , 0.01628446, 1.03956728,-0.02232525, 0.91471939,
  1.36931709,-0.00137694, 1.15565231, 0.06322977,-0.03230466,-0.10203257,
  0.07877851, 0.63870254,-0.01179549,-0.00302984, 0.76935736]

qacc:
[-1.05231766e-01,-3.73708947e+01, 1.19374773e+02,-1.99382976e+02,
 -1.33792056e-01,-3.23817895e+01, 1.32798818e+02,-3.12284141e+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,
 -7.31454137e-01,-5.73945153e-01,-1.24909563e+00,-2.35400727e+02,
 -2.06227744e+02,-7.67930997e+00]

qfrc_actuator:
[ 2.27515579e-03, 1.11647911e-01, 9.52462844e-03, 2.68462845e-02,
  7.33729470e-05, 1.12336013e-01, 1.00993965e-02, 4.18297732e-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([ 8.63636364, -6.93960114,  5.14088639, -6.93960114,  8.99829219,
        0.48856162,  5.14088639,  0.48856162,  9.29586524,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004207309531134962
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.97909677e-14,  2.63879569e-14,  1.00000000e+00,  5.22243201e-28,
        1.00000000e+00, -2.63879569e-14, -1.00000000e+00,  0.00000000e+00,
       -1.97909677e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00288719, -0.07661313,  0.06162777])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.61274893e-05,-1.66386253e-03,-2.92869477e-04,-5.11313379e-04,
 -3.15333279e-05,-8.93267621e-04,-3.28559207e-04,-9.02017214e-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,
  1.86624121e-04, 3.47154662e-06,-4.90494535e+00, 6.33832564e-03,
  2.14587416e-03, 1.16318163e-04]


--- Step 2015 ---
qpos:
[-0.01418743, 1.0326308 ,-0.02130778, 0.92458087, 0.00425011, 1.01516358,
 -0.02885851, 0.9076408 , 0.01628821, 1.0413402 ,-0.02234399, 0.91551479,
  1.36939092,-0.00137809, 1.15582457, 0.06323093,-0.03236769,-0.10208121,
  0.07876548, 0.63904412,-0.01137219,-0.00402348, 0.76907548]

qacc:
[-2.65059050e-02,-4.09976232e+01, 1.30467941e+02,-2.22648144e+02,
 -2.65678153e-02,-3.47970846e+01, 1.37235013e+02,-3.00288867e+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,
 -9.07555950e-01,-7.57588141e-01,-2.17131259e+00,-2.06758364e+02,
 -1.79776132e+02,-7.63556056e+00]

qfrc_actuator:
[ 2.28403457e-03, 1.10716427e-01, 9.51686926e-03, 2.63270310e-02,
  8.33501565e-05, 1.12064270e-01, 1.01100907e-02, 4.10548367e-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([ 8.63636364, -6.86157299,  5.24457748, -6.86157299,  9.25806297,
        0.81338018,  5.24457748,  0.81338018,  9.70052324,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004176319948760915
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.15993080e-14,  9.96891137e-15,  1.00000000e+00, -2.15321587e-28,
        1.00000000e+00, -9.96891137e-15, -1.00000000e+00,  0.00000000e+00,
        2.15993080e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00289388, -0.07663488,  0.06162994])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.75178082e-06,-1.95269189e-03,-3.89158347e-04,-5.88598072e-04,
 -6.95543652e-06,-8.87735223e-04,-2.36484087e-04,-8.31419171e-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,
  5.39508290e-05, 1.75492052e-04,-4.90491107e+00, 6.23346046e-03,
  2.20266987e-03, 1.48945206e-04]


--- Step 2016 ---
qpos:
[-0.01419614, 1.03422858,-0.02130913, 0.92505575, 0.00425171, 1.01679233,
 -0.02885316, 0.90840462, 0.01629194, 1.04311026,-0.02235983, 0.91629456,
  1.36946485,-0.00137943, 1.15599685, 0.06323079,-0.03243692,-0.10211685,
  0.07874365, 0.63929331,-0.01154333,-0.00505167, 0.76885974]

qacc:
[-5.90606070e-02,-4.65014907e+01, 1.46536106e+02,-2.47209981e+02,
 -6.70499327e-02,-3.19761937e+01, 1.28824095e+02,-2.91043680e+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,
 -1.55209675e+00, 3.24743739e+00,-2.19691609e+00,-2.03612500e+02,
  2.16984399e+02, 5.76595151e+01]

qfrc_actuator:
[ 2.27507903e-03, 1.09644780e-01, 9.51257894e-03, 2.57561176e-02,
  7.09251202e-05, 1.11854930e-01, 1.00964428e-02, 4.02875309e-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([ 8.63636364, -0.94552357, -8.58444885, -0.94552357, 65.81201757,
       -6.29754216, -8.58444885, -6.29754216,  9.32999868,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004136768685657738
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.34189643e-14,  2.01284464e-14,  1.00000000e+00,  2.70102904e-28,
        1.00000000e+00, -2.01284464e-14, -1.00000000e+00,  0.00000000e+00,
       -1.34189643e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01160324, -0.12257808,  0.06163263])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.56684788e-05,-2.27358499e-03,-4.55478175e-04,-6.53636400e-04,
 -1.62186368e-05,-8.01713583e-04,-2.46994190e-04,-8.19247920e-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,
  1.93490398e-04, 6.49323279e-04,-4.90500217e+00, 6.14100811e-03,
  2.25252651e-03, 2.75883895e-04]


--- Step 2017 ---
qpos:
[-0.01420513, 1.03580518,-0.02130886, 0.92552212, 0.00425314, 1.01841644,
 -0.02884902, 0.90915431, 0.01629555, 1.04487307,-0.02237227, 0.91706097,
  1.36953865,-0.00138037, 1.156169  , 0.06323019,-0.03248139,-0.10213494,
  0.07873805, 0.63953074,-0.01175538,-0.00541476, 0.76865657]

qacc:
[-1.21075988e-01,-4.70140334e+01, 1.37877134e+02,-2.07178259e+02,
 -6.98979498e-02,-2.72227153e+01, 1.12223545e+02,-2.62563737e+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,
  6.19008078e+00, 4.38934161e+00, 4.05395887e+00, 2.42567722e+02,
  2.28219710e+02, 1.24837072e+01]

qfrc_actuator:
[ 2.25552211e-03, 1.08409063e-01, 9.52755814e-03, 2.53190515e-02,
  6.29225805e-05, 1.11720327e-01, 1.00688038e-02, 3.95840931e-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: -0.0042480837893826215
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.14339217e-14, -3.26683477e-15,  1.00000000e+00, -3.73527328e-29,
        1.00000000e+00,  3.26683477e-15, -1.00000000e+00,  0.00000000e+00,
       -1.14339217e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06120564, -0.12394249,  0.06162428])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.05466709e-05,-2.62982762e-03,-5.08471302e-04,-5.32966082e-04,
 -1.67525143e-05,-6.80820492e-04,-2.44851940e-04,-7.52740622e-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,
  5.77808587e-04, 5.66110527e-04,-4.90516152e+00, 6.29026440e-03,
  2.27550022e-03, 2.75209500e-04]


--- Step 2018 ---
qpos:
[-0.01421404, 1.03735972,-0.02130787, 0.92598048, 0.00425478, 1.02003531,
 -0.02884441, 0.90988973, 0.0162992 , 1.04662487,-0.02238227, 0.91781225,
  1.36961246,-0.00138123, 1.15634095, 0.06322999,-0.03250485,-0.10213774,
  0.07874188, 0.63976109,-0.01199988,-0.00519253, 0.76846262]

qacc:
[ 4.38307773e-02,-4.48591925e+01, 1.28359957e+02,-1.92318516e+02,
  9.44625910e-02,-3.27708940e+01, 1.29696790e+02,-2.79024872e+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,
  5.25196715e+00, 3.82280391e+00, 2.35943170e+00, 2.14565642e+02,
  1.99569890e+02, 9.19814193e+00]

qfrc_actuator:
[ 2.28305389e-03, 1.07244977e-01, 9.53546918e-03, 2.49108782e-02,
  9.31434511e-05, 1.11489788e-01, 1.01045526e-02, 3.88706411e-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([ 8.63636364,  1.81093364,  8.44436476,  1.81093364, 28.63647515,
       -4.28911775,  8.44436476, -4.28911775,  9.55618506,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004289951654308337
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.13223321e-14,  1.61747601e-14,  1.00000000e+00, -1.83136006e-28,
        1.00000000e+00, -1.61747601e-14, -1.00000000e+00,  0.00000000e+00,
        1.13223321e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06119327, -0.12389515,  0.06162121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.49290066e-06,-2.76155762e-03,-5.87657406e-04,-5.13631018e-04,
  2.11882918e-05,-7.07122192e-04,-1.55415580e-04,-7.57417708e-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,
  1.62902369e-04, 9.80011079e-05,-4.90504795e+00, 6.38073203e-03,
  2.23485470e-03, 1.33119868e-04]


--- Step 2019 ---
qpos:
[-0.01422274, 1.03889262,-0.02130721, 0.92643009, 0.00425652, 1.02164912,
 -0.0288398 , 0.91060918, 0.01630291, 1.04836426,-0.02239076, 0.91854579,
  1.36968655,-0.00138285, 1.1565127 , 0.06323071,-0.03251038,-0.10212713,
  0.07874931, 0.63998711,-0.01227017,-0.00445225, 0.76827477]

qacc:
[ 1.00820798e-01,-4.28004297e+01, 1.23804754e+02,-1.97151630e+02,
  5.00602783e-02,-3.41749052e+01, 1.38178165e+02,-3.06407022e+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,
  4.48431015e+00, 3.35183389e+00, 9.00588497e-01, 1.90785748e+02,
  1.75571406e+02, 6.79035058e+00]

qfrc_actuator:
[ 2.30308590e-03, 1.06186476e-01, 9.52163932e-03, 2.44696843e-02,
  9.27508374e-05, 1.11257388e-01, 1.01061196e-02, 3.80682025e-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,  1.79672287,  8.44739982,  1.79672287, 30.84694539,
       -4.72408801,  8.44739982, -4.72408801,  9.64115531,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004272002242274045
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.12136033e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.12136033e-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([-0.06125321, -0.12391009,  0.06162255])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.21392505e-05,-2.74332610e-03,-6.43530782e-04,-5.52519239e-04,
  1.09179384e-05,-7.05909840e-04,-1.84591534e-04,-8.44659215e-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,
  7.06842809e-05, 6.05417610e-05,-4.90508425e+00, 6.45350306e-03,
  2.19692700e-03, 1.28630940e-04]


--- Step 2020 ---
qpos:
[-0.01423137, 1.04040322,-0.02130656, 0.92687099, 0.00425797, 1.02325892,
 -0.0288369 , 0.91131276, 0.01630668, 1.05009237,-0.02240026, 0.9192646 ,
  1.36976076,-0.00138505, 1.15668483, 0.06322832,-0.032551  ,-0.10213408,
  0.07874251, 0.64025856,-0.01250956,-0.00307163, 0.76805147]

qacc:
[ 3.79208641e-02,-4.44204120e+01, 1.27971217e+02,-1.99900782e+02,
 -1.29625364e-01,-2.80010921e+01, 1.19408450e+02,-2.89466162e+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,
 -8.77346651e+00,-4.39010799e+00,-3.55741798e+00, 2.56073469e+02,
  1.93351502e+02,-2.49389622e+01]

qfrc_actuator:
[ 2.30070773e-03, 1.05057720e-01, 9.51326995e-03, 2.40303729e-02,
  5.62537792e-05, 1.11114550e-01, 1.00341996e-02, 3.72730265e-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, -2.12346893,  8.37123985, -2.12346893, 18.63975443,
        2.53748428,  8.37123985,  2.53748428,  9.28002803,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007677497347603797
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.48281774e-01, -3.74140887e-01,  5.47807433e-01, -3.01888394e-01,
        9.27371876e-01,  2.21008599e-01, -5.90709560e-01, -2.77555756e-17,
       -8.06884264e-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([-0.06137073, -0.12397443,  0.06162741])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.16546534e-06,-2.81517328e-03,-6.41890262e-04,-5.52618676e-04,
 -3.06900793e-05,-6.23952921e-04,-2.63721946e-04,-8.40220922e-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,
  2.06315496e-04, 3.17536719e-04,-4.90522422e+00, 6.51417362e-03,
  2.16037154e-03, 2.19284726e-04]


--- Step 2021 ---
qpos:
[-0.01423996, 1.04189141,-0.02130603, 0.9273029 , 0.0042594 , 1.02486282,
 -0.02883411, 0.91200215, 0.01631066, 1.05180996,-0.02241161, 0.91997075,
  1.36983465,-0.00138659, 1.15685745, 0.06321995,-0.0325979 ,-0.10214571,
  0.07873911, 0.6405341 ,-0.01272948,-0.00244628, 0.76782032]

qacc:
[ 2.22495266e-02,-4.47697044e+01, 1.29504651e+02,-2.04426058e+02,
 -1.11431216e-02,-3.19256562e+01, 1.25596015e+02,-2.73815334e+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,
 -1.57126106e+00,-1.17190958e+00, 8.49321868e-01,-2.83802672e+02,
 -2.49204432e+02,-8.83401246e+00]

qfrc_actuator:
[ 2.30269020e-03, 1.03949378e-01, 9.50799595e-03, 2.35778976e-02,
  6.94483462e-05, 1.10760142e-01, 1.00086748e-02, 3.65595191e-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([ 8.63636364, -1.1923063 ,  8.55366486, -1.1923063 , 27.25383391,
        2.59511302,  8.55366486,  2.59511302,  8.99809976,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004186699950792135
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00274282, -0.07691351,  0.06162862])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.45129819e-06,-2.83372374e-03,-6.52532836e-04,-5.67895493e-04,
 -3.34082691e-06,-8.05386755e-04,-2.10095815e-04,-7.58263028e-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,
  7.44856953e-04, 9.97027643e-04,-4.90555457e+00, 6.61831451e-03,
  2.09237178e-03, 4.50563656e-04]


--- Step 2022 ---
qpos:
[-0.01424851, 1.04336083,-0.02130756, 0.92772584, 0.0042612 , 1.02645962,
 -0.0288307 , 0.91267911, 0.01631485, 1.05351818,-0.0224234 , 0.92066405,
  1.36990835,-0.00138755, 1.15702949, 0.06321159,-0.03265127,-0.10216242,
  0.07873431, 0.64081634,-0.01293549,-0.00247801, 0.76758124]

qacc:
[ 2.30319908e-02,-3.47014283e+01, 1.02345109e+02,-1.82698494e+02,
  1.79081591e-01,-3.24671731e+01, 1.21606264e+02,-2.48657087e+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,
 -1.61671158e+00,-1.26778294e+00,-3.51059500e-01,-2.47769099e+02,
 -2.15718814e+02,-9.31290969e+00]

qfrc_actuator:
[ 2.30729498e-03, 1.03252876e-01, 9.48693913e-03, 2.31390415e-02,
  1.12317921e-04, 1.10371043e-01, 1.00278150e-02, 3.59351870e-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, -7.38135631,  4.48356509, -7.38135631,  9.64816442,
        1.66574187,  4.48356509,  1.66574187, 11.37869792,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004247855533388224
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.30680412e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.30680412e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00261269, -0.07703975,  0.06162413])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.09957769e-06,-2.43423023e-03,-6.73468990e-04,-5.55490822e-04,
  4.10097530e-05,-9.27209850e-04,-1.92390856e-04,-6.71195990e-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,
  2.04247823e-04, 2.42460703e-04,-4.90519120e+00, 6.51078198e-03,
  2.15315353e-03, 2.10117320e-04]


--- Step 2023 ---
qpos:
[-0.01425684, 1.04481737,-0.02131241, 0.92814047, 0.00426328, 1.02805055,
 -0.02882791, 0.91334296, 0.01631904, 1.05522085,-0.02243663, 0.92134372,
  1.36998224,-0.00138888, 1.15720052, 0.06320909,-0.03271113,-0.10218439,
  0.07872386, 0.64110616,-0.01313187,-0.00308443, 0.76733365]

qacc:
[ 1.03346441e-01,-2.24151094e+01, 7.01181345e+01,-1.50207495e+02,
  1.26701859e-01,-2.85941113e+01, 1.12351826e+02,-2.49256115e+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,
 -1.62112054e+00,-1.31604470e+00,-1.41056001e+00,-2.17439269e+02,
 -1.87769581e+02,-9.36306723e+00]

qfrc_actuator:
[ 0.00233121, 0.10303958, 0.00947616, 0.02274745, 0.00011934, 0.11015998,
  0.0100198 , 0.03527951,-0.00254084, 0.11607689, 0.00931005, 0.03603297,
  0.        ,-0.00175588, 0.        ,-0.00184778, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -7.31738836,  4.58722187, -7.31738836,  9.97013767,
        2.12759332,  4.58722187,  2.12759332, 12.03023186,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004243430134664883
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.30816697e-14,  1.30816697e-14,  1.00000000e+00, -1.71130081e-28,
        1.00000000e+00, -1.30816697e-14, -1.00000000e+00,  0.00000000e+00,
        1.30816697e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00258916, -0.07708241,  0.06162438])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.38294064e-05,-1.73327639e-03,-5.86830200e-04,-4.96465914e-04,
  2.90116836e-05,-8.10189960e-04,-2.38760211e-04,-7.03755701e-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,
  1.02970059e-04, 5.11696774e-05,-4.90505380e+00, 6.41782189e-03,
  2.20467418e-03, 1.45215771e-04]


--- Step 2024 ---
qpos:
[-0.01426524, 1.04626461,-0.02131959, 0.92854544, 0.00426536, 1.02963491,
 -0.02882571, 0.91399423, 0.01632315, 1.0569189 ,-0.02245085, 0.92200898,
  1.37005623,-0.00139055, 1.15737217, 0.06320362,-0.03276557,-0.10222233,
  0.07873353, 0.64142093,-0.01297033,-0.00409133, 0.76706859]

qacc:
[-2.74296734e-02,-2.27117155e+01, 7.96243612e+01,-1.76640757e+02,
  7.37947528e-03,-2.87033316e+01, 1.10409409e+02,-2.40803266e+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,
  1.35334930e+00,-3.99048342e+00, 5.02962681e+00,-3.87796152e+01,
 -2.65544649e+02,-1.83563467e+01]

qfrc_actuator:
[ 2.31324781e-03, 1.02887057e-01, 9.47361399e-03, 2.22806067e-02,
  1.04805620e-04, 1.09808793e-01, 9.97874761e-03, 3.46461809e-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([ 8.63636364, -8.63127075,  0.29655021, -8.63127075,  8.67802033,
        1.212443  ,  0.29655021,  1.212443  , 43.92524071,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004198239559547991
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.3222483e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.3222483e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03186856, -0.08335917,  0.06162749])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.23429607e-06,-1.26554601e-03,-4.29540309e-04,-5.46581432e-04,
  1.02776785e-06,-8.95453438e-04,-2.55034638e-04,-6.79915781e-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,
  2.98605978e-04, 2.37387127e-04,-4.90506931e+00, 6.33549294e-03,
  2.25009228e-03, 1.97694338e-04]


--- Step 2025 ---
qpos:
[-0.01427408, 1.04770675,-0.02132877, 0.92893922, 0.00426736, 1.03121087,
 -0.02882323, 0.91463679, 0.01632717, 1.05861156,-0.02246452, 0.92266013,
  1.37013008,-0.00139193, 1.15754384, 0.06319688,-0.03284528,-0.10227323,
  0.07874268, 0.6417628 ,-0.01280622,-0.00430642, 0.76678417]

qacc:
[-2.02894653e-01,-2.07352742e+01, 8.30036198e+01,-2.00125710e+02,
 -3.50679097e-02,-2.68070418e+01, 9.29625109e+01,-1.78631811e+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,
 -6.31733419e+00,-3.24286169e+00,-1.30899055e-01, 3.04648799e+02,
  2.53137850e+02,-1.14708456e+01]

qfrc_actuator:
[ 2.27036391e-03, 1.02967829e-01, 9.49410713e-03, 2.17377920e-02,
  9.52463298e-05, 1.09323336e-01, 9.97135129e-03, 3.42085055e-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([8.63636364, 2.76207349, 8.18277012, 2.76207349, 3.79292442,
       1.63489073, 8.18277012, 1.63489073, 8.08451038, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0074264239631505555
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.73712904, -0.36856452,  0.56639295, -0.29225363,  0.92960217,
        0.22456095, -0.60928532,  0.        , -0.79295107])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06169164, -0.12398084,  0.06162711])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.89737005e-05,-7.43898971e-04,-2.98334543e-04,-6.04923874e-04,
 -9.07615149e-06,-1.07916611e-03,-2.39188720e-04,-4.86809499e-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,
  3.48985251e-04, 6.31089428e-04,-4.90505842e+00, 6.20647377e-03,
  2.26301098e-03, 3.09395486e-04]


--- Step 2026 ---
qpos:
[-0.01428321, 1.04914985,-0.02134038, 0.92932362, 0.00426926, 1.03277871,
 -0.02882035, 0.91526842, 0.01633111, 1.06030051,-0.0224783 , 0.9232987 ,
  1.37020383,-0.00139302, 1.15771458, 0.06319613,-0.03294309,-0.10233275,
  0.07874783, 0.64212739,-0.01264037,-0.00384071, 0.7664841 ]

qacc:
[-1.37716235e-01,-8.49521202e+00, 4.88985281e+01,-1.52996420e+02,
 -4.50336824e-02,-3.06076925e+01, 1.10587456e+02,-2.20461401e+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,
 -4.52404747e+00,-2.15291808e+00,-1.00099622e+00, 2.61678292e+02,
  2.17935388e+02,-9.37939511e+00]

qfrc_actuator:
[ 2.26618910e-03, 1.03489909e-01, 9.54679122e-03, 2.12968103e-02,
  8.87586639e-05, 1.08957046e-01, 1.00012534e-02, 3.36585932e-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([ 8.63636364,  3.83836085, -7.73652137,  3.83836085,  5.08508143,
       -1.76191623, -7.73652137, -1.76191623,  7.76221491,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007351823346907123
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.32999529e-01, -3.66499765e-01,  5.73052889e-01, -2.88734862e-01,
        9.30418144e-01,  2.25730496e-01, -6.15908978e-01,  2.77555756e-17,
       -7.87817320e-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([-0.06178401, -0.12399229,  0.06162678])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.29082274e-05, 1.01457510e-05,-1.50671001e-04,-4.84799146e-04,
 -1.14706768e-05,-1.05231946e-03,-2.30289112e-04,-5.99768148e-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,
  9.56153068e-05, 9.43119362e-05,-4.90494329e+00, 6.32273530e-03,
  2.20082275e-03, 1.45516038e-04]


--- Step 2027 ---
qpos:
[-0.01429269, 1.0505986 ,-0.02135474, 0.92970176, 0.00427106, 1.03434153,
 -0.02881812, 0.91588489, 0.01633497, 1.0619888 ,-0.02249276, 0.92392464,
  1.37027747,-0.00139366, 1.15788561, 0.0631955 ,-0.03305301,-0.1023973 ,
  0.07874588, 0.64250969,-0.01247377,-0.00278783, 0.76617096]

qacc:
[-1.53747400e-01, 3.96746935e+00, 9.02894233e+00,-8.43328314e+01,
 -4.34219109e-02,-3.09195006e+01, 1.25556517e+02,-2.85158139e+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,
 -3.02722253e+00,-1.25909645e+00,-1.77224067e+00, 2.25362631e+02,
  1.88350040e+02,-7.27145879e+00]

qfrc_actuator:
[ 2.24976711e-03, 1.04148466e-01, 9.54899379e-03, 2.10083655e-02,
  8.41686549e-05, 1.08913878e-01, 1.00355476e-02, 3.29050291e-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([ 8.63636364,  3.58843719, -7.85556461,  3.58843719,  4.55830968,
       -1.86286298, -7.85556461, -1.86286298,  7.78540421,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007207543846742569
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.30031726e-01, -3.65015863e-01,  5.77769070e-01, -2.86222115e-01,
        9.31001300e-01,  2.26524792e-01, -6.20588898e-01, -2.77555756e-17,
       -7.84136098e-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([-0.06198341, -0.12408173,  0.06163036])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.63595805e-05, 5.96525545e-04,-3.30252551e-05,-3.02346339e-04,
 -1.08655701e-05,-7.15874135e-04,-2.22898899e-04,-8.04916393e-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,
  3.02359067e-04, 1.20215707e-04,-4.90504827e+00, 6.43867695e-03,
  2.13161764e-03, 1.64535028e-04]


--- Step 2028 ---
qpos:
[-0.01430273, 1.05205413,-0.02136984, 0.93007436, 0.00427278, 1.03590062,
 -0.02881672, 0.91648745, 0.01633862, 1.06367569,-0.02250627, 0.92453757,
  1.37035117,-0.00139423, 1.15805671, 0.06319518,-0.03315571,-0.10245666,
  0.07874156, 0.64289522,-0.01228771,-0.00250757, 0.76585146]

qacc:
[-2.64716394e-01, 1.27986517e+00, 1.81600489e+01,-8.49616332e+01,
 -3.74699554e-02,-2.66158593e+01, 1.10846901e+02,-2.58359190e+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,
  1.80328972e+00, 1.29946743e+00,-5.94587396e-01,-2.89721490e+02,
 -2.55614496e+02,-8.12873927e+00]

qfrc_actuator:
[ 2.20839614e-03, 1.04653067e-01, 9.57545500e-03, 2.07410477e-02,
  8.07536960e-05, 1.08851699e-01, 1.00378772e-02, 3.22153946e-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, -6.41494366,  5.78232433, -6.41494366,  5.5852547 ,
       -3.38491769,  5.78232433, -3.38491769,  4.88111661,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004209840483269042
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.97790693e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.97790693e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00234754, -0.07741424,  0.06162699])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.31512202e-05, 7.95637388e-04, 1.24919073e-04,-2.55820193e-04,
 -9.33724993e-06,-5.53398415e-04,-1.94049645e-04,-7.35148235e-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,
  7.94396486e-04, 5.03481537e-04,-4.90529180e+00, 6.54930174e-03,
  2.06041692e-03, 3.00574321e-04]


--- Step 2029 ---
qpos:
[-0.0143133 , 1.05351966,-0.02138585, 0.93043851, 0.00427442, 1.03745421,
 -0.02881538, 0.91707652, 0.01634186, 1.06535842,-0.02251852, 0.9251389 ,
  1.3704249 ,-0.00139477, 1.15822755, 0.06319705,-0.03325417,-0.10251322,
  0.07873108, 0.64328607,-0.01208777,-0.00289636, 0.765525  ]

qacc:
[-2.38838863e-01, 9.12512345e-01, 3.04953355e+01,-1.31426141e+02,
 -2.99725016e-02,-3.03207777e+01, 1.19226759e+02,-2.59624459e+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,
  1.06074606e+00, 6.97920213e-01,-1.53832500e+00,-2.51711785e+02,
 -2.20336855e+02,-8.39954817e+00]

qfrc_actuator:
[ 2.18793723e-03, 1.05399207e-01, 9.61557775e-03, 2.03284369e-02,
  7.80694034e-05, 1.08494786e-01, 1.00037082e-02, 3.15334286e-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, -6.38699334,  5.81318268, -6.38699334,  8.12994693,
       -0.55640435,  5.81318268, -0.55640435,  8.02503743,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004247282452238918
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.80235336e-15,  3.92094134e-14,  1.00000000e+00, -3.84344526e-28,
        1.00000000e+00, -3.92094134e-14, -1.00000000e+00,  0.00000000e+00,
        9.80235336e-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([ 0.00220056, -0.07755382,  0.06162421])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.68375453e-05, 1.17967599e-03, 1.96977462e-04,-3.89364459e-04,
 -7.77132465e-06,-7.50195983e-04,-1.93233138e-04,-7.20027644e-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,
  2.32642806e-04, 7.34157425e-05,-4.90499473e+00, 6.39642887e-03,
  2.14440336e-03, 1.45066406e-04]


--- Step 2030 ---
qpos:
[-0.01432391, 1.054997  ,-0.02140301, 0.93079441, 0.00427601, 1.03900188,
 -0.02881401, 0.91765221, 0.01634473, 1.06703674,-0.02253062, 0.92572684,
  1.37049859,-0.00139503, 1.1583984 , 0.06319993,-0.03335061,-0.10256878,
  0.07871105, 0.64368261,-0.01187821,-0.00386767, 0.76519059]

qacc:
[-2.46033151e-02, 4.30146556e+00, 2.19068196e+01,-1.22858450e+02,
 -2.43605911e-02,-3.08767730e+01, 1.20086337e+02,-2.58681560e+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,
  5.05698098e-01, 2.51366595e-01,-2.38918722e+00,-2.19845282e+02,
 -1.90987469e+02,-8.27108867e+00]

qfrc_actuator:
[ 2.21570378e-03, 1.06142310e-01, 9.61108893e-03, 1.99225187e-02,
  7.58426855e-05, 1.08195078e-01, 1.00004521e-02, 3.08612113e-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, -6.32366713,  5.88200738, -6.32366713,  8.20884037,
       -0.45962452,  5.88200738, -0.45962452,  8.14222749,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004222770136566349
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.31456720e-14,  1.31456720e-14,  1.00000000e+00,  1.72808693e-28,
        1.00000000e+00, -1.31456720e-14, -1.00000000e+00,  0.00000000e+00,
       -1.31456720e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00216434, -0.07760736,  0.06162581])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.16484889e-06, 1.39906802e-03, 2.31796327e-04,-3.72049416e-04,
 -6.48738759e-06,-8.01109539e-04,-2.00326352e-04,-7.15939550e-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,
  1.31760900e-04, 1.82101142e-04,-4.90492315e+00, 6.26470135e-03,
  2.21552212e-03, 1.59868913e-04]


--- Step 2031 ---
qpos:
[-0.0143339 , 1.05648491,-0.02141993, 0.93114378, 0.00427771, 1.0405488 ,
 -0.0288149 , 0.91821712, 0.01634745, 1.0687139 ,-0.02254348, 0.92630292,
  1.37057234,-0.00139533, 1.15856926, 0.06320339,-0.03345739,-0.10262974,
  0.07869674, 0.64408477,-0.0116887 ,-0.00405275, 0.76485408]

qacc:
[ 2.85521361e-01, 1.89384341e+00, 2.41957666e+01,-1.04039768e+02,
  5.19388400e-02,-1.34622355e+01, 6.58275164e+01,-1.83911721e+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,
 -2.58538024e+00,-1.34948951e+00, 1.43008220e+00, 2.94381935e+02,
  2.60740692e+02, 1.88143137e+00]

qfrc_actuator:
[ 2.28989659e-03, 1.06646991e-01, 9.61595120e-03, 1.95948164e-02,
  9.16592757e-05, 1.08518158e-01, 1.00156929e-02, 3.03421464e-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, -0.83623023,  8.59578361, -0.83623023, 18.99339763,
        1.0075713 ,  8.59578361,  1.0075713 ,  8.73438397,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006811234054995455
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.05204294e-01, -3.52602147e-01,  6.15108633e-01, -2.65723055e-01,
        9.35773330e-01,  2.31774744e-01, -6.57326526e-01,  2.77555756e-17,
       -7.53605890e-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([-0.06245194, -0.12414849,  0.06162791])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.94410326e-05, 1.28926122e-03, 2.88554545e-04,-2.85793987e-04,
  1.22436685e-05,-2.07577223e-04,-1.92444257e-04,-5.64458310e-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,
  3.38457241e-04, 6.39250825e-04,-4.90499897e+00, 6.14940211e-03,
  2.27751061e-03, 2.84727128e-04]


--- Step 2032 ---
qpos:
[-0.0143428 , 1.05798158,-0.02143625, 0.93148667, 0.00427987, 1.04210145,
 -0.02881847, 0.91877085, 0.0163506 , 1.07039256,-0.02255703, 0.9268694 ,
  1.37064606,-0.00139544, 1.15874058, 0.06320348,-0.03352855,-0.10266928,
  0.07869359, 0.6444548 ,-0.01155569,-0.00371607, 0.76454606]

qacc:
[   0.49345473,  -1.37407261,  31.90949507,-108.98899037,   0.21238333,
   -4.48294358,  47.5994776 ,-176.55382002,   0.19732895, -12.81037813,
   64.37769511,-169.4363306 ,  -0.40917095,   0.65430709,  10.8924489 ,
  -37.04857017,   8.90383673,   5.35270751,   2.79216781, 181.20845281,
  189.39761007,  24.62713039]

qfrc_actuator:
[ 0.00237354, 0.1069874 , 0.00960775, 0.01926237, 0.00013591, 0.10930087,
  0.01006206, 0.02981122,-0.0025869 , 0.11568345, 0.0095674 , 0.03039755,
  0.        ,-0.00168682, 0.        ,-0.0017359 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  4.12931127, -7.58522019,  4.12931127,  7.45169741,
       -0.64491939, -7.58522019, -0.64491939,  8.28527654,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004216640151344056
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.13927719e-14,  2.30383697e-14,  1.00000000e+00, -4.92854587e-28,
        1.00000000e+00, -2.30383697e-14, -1.00000000e+00,  0.00000000e+00,
        2.13927719e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06254136, -0.12414012,  0.06162573])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19592594e-04, 1.07787997e-03, 2.62993418e-04,-2.90185813e-04,
  5.08679896e-05, 5.86953703e-04,-3.94319272e-05,-5.54404093e-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,
  1.35632440e-04, 1.08139758e-04,-4.90492499e+00, 6.30638342e-03,
  2.19954106e-03, 1.28722660e-04]


--- Step 2033 ---
qpos:
[-0.01435065, 1.05948255,-0.02145084, 0.93182363, 0.00428252, 1.04366124,
 -0.02882278, 0.91931267, 0.0163543 , 1.07207121,-0.02256916, 0.92742424,
  1.37071987,-0.00139564, 1.15891194, 0.06320108,-0.03360169,-0.10269327,
  0.07868137, 0.64469534,-0.01201036,-0.0034439 , 0.7643375 ]

qacc:
[ 4.81434833e-01,-9.33577919e+00, 4.96431442e+01,-1.15294951e+02,
  2.21556816e-01,-9.15392429e+00, 6.66967248e+01,-2.03003667e+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,
 -4.93927594e-01, 3.88932619e+00,-2.27051452e+00,-2.14589924e+02,
  2.03057139e+02, 8.22661961e+01]

qfrc_actuator:
[ 0.00242663, 0.106925  , 0.00959123, 0.01894738, 0.00016131, 0.10983835,
  0.01009291, 0.02922461,-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,   7.25548002,   4.68452629,   7.25548002,
        19.77789321, -17.25620486,   4.68452629, -17.25620486,
        35.36308944,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004197335710657682
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01000267, -0.12371996,  0.06162706])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16442840e-04, 5.52904854e-04, 2.10221192e-04,-2.79956516e-04,
  5.30314449e-05, 8.11858016e-04, 1.18709951e-04,-5.80987422e-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,
  2.35282821e-04, 8.94445615e-05,-4.90502230e+00, 6.42047351e-03,
  2.15013890e-03, 1.38698107e-04]


--- Step 2034 ---
qpos:
[-0.01435812, 1.06098362,-0.02146311, 0.93215424, 0.00428507, 1.04522641,
 -0.02882717, 0.91984477, 0.01635814, 1.07374701,-0.02257987, 0.92796869,
  1.37079379,-0.00139618, 1.15908294, 0.06319885,-0.03367783,-0.10272002,
  0.07866448, 0.6449434 ,-0.01245667,-0.00379892, 0.76411937]

qacc:
[ 1.77874156e-01,-1.71996901e+01, 6.95810588e+01,-1.35135525e+02,
 -4.50033100e-02,-9.42705351e+00, 6.00508636e+01,-1.70060511e+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,
 -7.50489744e-01,-6.90915836e-01,-1.16547698e+00,-2.36967100e+02,
 -2.05298917e+02,-9.73799895e+00]

qfrc_actuator:
[ 0.00240774, 0.10665741, 0.00960388, 0.01860941, 0.00012195, 0.1100297 ,
  0.01006032, 0.02873408,-0.00257389, 0.115321  , 0.00962505, 0.0292762 ,
  0.        ,-0.00171998, 0.        ,-0.00184302, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,  -4.23910114,  -7.52441349,  -4.23910114,
        65.08079487, -31.79964164,  -7.52441349, -31.79964164,
        26.55163334,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00421641936416664
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00191114, -0.07790604,  0.06162547])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.27279726e-05, 4.72146749e-05, 1.30875533e-04,-3.20085277e-04,
 -1.05264133e-05, 6.20408338e-04, 1.16668624e-04,-4.73964237e-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,
  8.34982431e-05, 7.47851800e-05,-4.90516877e+00, 6.48975845e-03,
  2.20195098e-03, 1.21247835e-04]


--- Step 2035 ---
qpos:
[-0.01436563, 1.06248111,-0.02147294, 0.93247893, 0.00428718, 1.046793  ,
 -0.0288302 , 0.92036683, 0.01636198, 1.07541688,-0.02258993, 0.9285053 ,
  1.37086776,-0.00139698, 1.1592538 , 0.06319646,-0.03376701,-0.1027512 ,
  0.07864988, 0.64521509,-0.01289847,-0.00342171, 0.76388442]

qacc:
[-1.82227812e-02,-2.15912727e+01, 7.71426529e+01,-1.34220991e+02,
 -2.00183454e-01,-1.91101695e+01, 8.61073923e+01,-1.94257501e+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,
 -3.25834003e+00,-1.10588434e+00, 5.72630005e-01, 2.81323747e+02,
  2.34546885e+02,-9.89624597e+00]

qfrc_actuator:
[ 2.38140640e-03, 1.06233672e-01, 9.63273687e-03, 1.82959517e-02,
  7.96167787e-05, 1.09870280e-01, 1.00425811e-02, 2.82150013e-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([ 8.63636364, -1.70946627,  8.46548888, -1.70946627,  4.68356078,
       -0.79820354,  8.46548888, -0.79820354,  8.47517956,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006552254305073824
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.68145726, -0.34072863,  0.64770364, -0.24697029,  0.94016169,
        0.23473747, -0.68892792,  0.        , -0.72482986])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0627493 , -0.1241533 ,  0.06162323])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.02890813e-06,-4.05441394e-04, 3.78492809e-05,-3.14072403e-04,
 -4.79896328e-05, 1.66559096e-04, 9.69054812e-05,-5.05981217e-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,
  2.60986369e-04, 6.67142710e-05,-4.90512656e+00, 6.41270854e-03,
  2.24504997e-03, 1.20574137e-04]


--- Step 2036 ---
qpos:
[-0.01437313, 1.06397143,-0.0214805 , 0.93279839, 0.00428898, 1.04835696,
 -0.02883169, 0.92087831, 0.01636559, 1.07707794,-0.02259844, 0.92903208,
  1.37094163,-0.00139769, 1.15942443, 0.06319498,-0.03382842,-0.10279243,
  0.07865326, 0.64552073,-0.01275507,-0.00314224, 0.76362976]

qacc:
[ 3.97861457e-03,-2.46234608e+01, 7.99117882e+01,-1.26305805e+02,
 -1.41154709e-01,-2.57895666e+01, 1.02618847e+02,-2.12282595e+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,
  6.94203662e+00,-2.51403024e+00, 4.49374949e+00, 1.51646748e+02,
 -2.54858627e+02,-2.09616265e+01]

qfrc_actuator:
[ 2.38638967e-03, 1.05631117e-01, 9.65251416e-03, 1.80170549e-02,
  7.13884241e-05, 1.09466689e-01, 1.00145782e-02, 2.76652509e-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([ 8.63636364,  4.69714866, -7.24731476,  4.69714866, 13.67343274,
        3.26463845, -7.24731476,  3.26463845, 10.75224967,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00425210879877283
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.61099393e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.61099393e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05749452, -0.08832123,  0.06162238])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.38044266e-07,-8.52620866e-04,-7.02506684e-05,-2.95747548e-04,
 -3.42757010e-05,-3.33638144e-04,-5.56834119e-06,-5.51856828e-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,
  1.08032122e-04, 1.24179599e-04,-4.90520083e+00, 6.51691229e-03,
  2.19083350e-03, 1.47132635e-04]


--- Step 2037 ---
qpos:
[-0.0143806 , 1.06545186,-0.02148627, 0.93311269, 0.00429056, 1.04991465,
 -0.02883141, 0.92138062, 0.0163691 , 1.07872974,-0.02260622, 0.92954535,
  1.37101518,-0.00139751, 1.1595946 , 0.06319711,-0.03389075,-0.10283818,
  0.07866132, 0.6458476 ,-0.0125017 ,-0.00350123, 0.76335596]

qacc:
[ 2.02466726e-02,-2.68156403e+01, 8.26302803e+01,-1.26372249e+02,
 -9.74522735e-02,-2.88041926e+01, 1.03656609e+02,-1.94327492e+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,
 -2.31001531e-01,-1.12892903e+00, 1.16983245e+00,-2.08177751e+02,
 -2.47899938e+02,-1.85284462e+01]

qfrc_actuator:
[ 2.39238092e-03, 1.04944043e-01, 9.66604229e-03, 1.77428153e-02,
  6.59187517e-05, 1.08920067e-01, 1.00152042e-02, 2.71904108e-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,  7.65369078,  4.00097416,  7.65369078, 13.27170624,
       -8.86721021,  4.00097416, -8.86721021, 25.5989538 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004253437314155577
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03172919e-06, -1.30508921e-14,  1.00000000e+00,  1.34649863e-20,
        1.00000000e+00,  1.30508921e-14, -1.00000000e+00,  0.00000000e+00,
        1.03172919e-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([-0.00997101, -0.08013878,  0.06162233])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.95145419e-06,-1.20498798e-03,-1.75782450e-04,-3.07315293e-04,
 -2.41224676e-05,-7.74938497e-04,-8.80789248e-05,-4.96326517e-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,
  1.67216021e-04, 5.54788126e-05,-4.90500864e+00, 6.40578798e-03,
  2.15715222e-03, 1.51036301e-04]


--- Step 2038 ---
qpos:
[-0.01438801, 1.06691999,-0.02148993, 0.93342045, 0.00429215, 1.05146528,
 -0.02883022, 0.92187315, 0.01637256, 1.08037314,-0.02261456, 0.93004643,
  1.37108878,-0.00139718, 1.15976507, 0.06319845,-0.03394519,-0.10289545,
  0.07868545, 0.64620878,-0.01190564,-0.00427324, 0.76305583]

qacc:
[ 3.20198102e-02,-3.32050112e+01, 1.02495818e+02,-1.58046442e+02,
  6.60323283e-03,-2.85903204e+01, 1.02967938e+02,-2.00381812e+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,
  1.97163276e+00,-2.87977523e+00, 4.02032549e+00,-4.68084465e+01,
 -2.63944356e+02,-2.47781150e+01]

qfrc_actuator:
[ 2.39894097e-03, 1.04176346e-01, 9.71090204e-03, 1.74023991e-02,
  7.98882335e-05, 1.08505357e-01, 1.00321563e-02, 2.66923320e-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, -8.47243758,  1.67468752, -8.47243758,  9.1593423 ,
        2.64580946,  1.67468752,  2.64580946, 22.02181929,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004224392441244763
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03282121, -0.08403008,  0.06162457])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.59997497e-06,-1.50136209e-03,-2.25748828e-04,-3.87474227e-04,
  7.89134204e-07,-9.01568365e-04,-1.66016816e-04,-5.34205604e-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,
  7.87006220e-05, 1.36785406e-04,-4.90493047e+00, 6.28257955e-03,
  2.20533768e-03, 1.54772257e-04]


--- Step 2039 ---
qpos:
[-0.01439534, 1.06837419,-0.02149176, 0.93372022, 0.00429366, 1.0530092 ,
 -0.02882923, 0.92235558, 0.01637568, 1.08200631,-0.02262189, 0.93053816,
  1.37116254,-0.00139708, 1.1599365 , 0.06319186,-0.03397429,-0.10293689,
  0.07871811, 0.64654993,-0.01135111,-0.00449263, 0.76277399]

qacc:
[ 3.96610904e-02,-3.71917811e+01, 1.15960131e+02,-1.85906484e+02,
 -3.74316967e-02,-2.56093009e+01, 9.44266018e+01,-1.96589898e+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,
  6.33712566e+00, 3.95511900e+00, 2.12923497e+00, 1.97341390e+02,
  1.94244404e+02, 1.69313306e+01]

qfrc_actuator:
[ 2.40580296e-03, 1.03366636e-01, 9.75577169e-03, 1.69901987e-02,
  6.98762967e-05, 1.08190858e-01, 1.00235514e-02, 2.61845949e-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,  -6.37830812,  -5.82271091,  -6.37830812,
        25.69068451, -18.68162697,  -5.82271091, -18.68162697,
        29.10057261,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004254303612522686
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14172052e-14,  1.63102931e-14,  1.00000000e+00, -1.86217964e-28,
        1.00000000e+00, -1.63102931e-14, -1.00000000e+00,  0.00000000e+00,
        1.14172052e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06308341, -0.12420259,  0.06162284])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.35376377e-06,-1.71931203e-03,-2.91756795e-04,-4.71502760e-04,
 -9.65234359e-06,-8.87711897e-04,-2.26376492e-04,-5.50901681e-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,
  5.78708822e-05, 4.15379544e-04,-4.90491795e+00, 6.12965780e-03,
  2.22120041e-03, 1.89660013e-04]


--- Step 2040 ---
qpos:
[-0.01440258, 1.06981665,-0.02149443, 0.93401234, 0.00429489, 1.05454756,
 -0.02882899, 0.92282814, 0.01637842, 1.0836302 ,-0.02262856, 0.93101937,
  1.37123613,-0.00139637, 1.16010765, 0.06318265,-0.03398199,-0.10296456,
  0.07875359, 0.64687713,-0.01082847,-0.00422068, 0.76250568]

qacc:
[ 4.25018695e-02,-2.64147118e+01, 8.34754047e+01,-1.54574071e+02,
 -1.21087354e-01,-2.22879093e+01, 8.49500717e+01,-1.86598369e+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,
  5.34935803e+00, 3.44373638e+00, 7.07080512e-01, 1.77032465e+02,
  1.70886477e+02, 1.25536134e+01]

qfrc_actuator:
[ 2.41280531e-03, 1.02893327e-01, 9.74681314e-03, 1.66100222e-02,
  4.55670448e-05, 1.08009955e-01, 1.00181143e-02, 2.56930296e-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,  1.10518098,  8.56535766,  1.10518098, 19.48609734,
       -1.39993213,  8.56535766, -1.39993213,  8.81699572,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004229431100020345
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.80468321e-14,  3.28124220e-15,  1.00000000e+00, -5.92160271e-29,
        1.00000000e+00, -3.28124220e-15, -1.00000000e+00,  0.00000000e+00,
        1.80468321e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06318437, -0.12423194,  0.06162518])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.46585347e-06,-1.51869115e-03,-3.98188301e-04,-4.49925724e-04,
 -2.96343793e-05,-7.58612725e-04,-2.27821474e-04,-5.36468332e-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,
  7.05026179e-05, 4.20944351e-05,-4.90488753e+00, 6.24324792e-03,
  2.17687951e-03, 8.44132089e-05]


--- Step 2041 ---
qpos:
[-0.01440973, 1.07125016,-0.0214987 , 0.93429814, 0.00429617, 1.0560838 ,
 -0.02883061, 0.92329228, 0.01638099, 1.08524727,-0.02263569, 0.93149039,
  1.37130972,-0.00139542, 1.16027771, 0.06317836,-0.03400026,-0.102977  ,
  0.07878134, 0.64711652,-0.01088037,-0.00397666, 0.7623031 ]

qacc:
[ 4.40944205e-02,-1.84031412e+01, 5.89923496e+01,-1.19537211e+02,
  1.88300897e-02,-1.22043117e+01, 5.43081646e+01,-1.44682091e+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,
 -2.64466506e+00, 3.80952392e+00,-1.93410418e+00,-1.96811572e+02,
  2.09477157e+02, 5.58001399e+01]

qfrc_actuator:
[ 2.41985107e-03, 1.02660744e-01, 9.74301090e-03, 1.63051555e-02,
  6.61535141e-05, 1.08159277e-01, 1.00151997e-02, 2.52860088e-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([ 8.63636364,  8.44422342,  1.81159261,  8.44422342, 10.45038194,
       -8.4555301 ,  1.81159261, -8.4555301 , 48.04941105,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004206913825369696
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00941618, -0.12426355,  0.06162737])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01622624e-05,-1.18690384e-03,-3.65192572e-04,-3.71218514e-04,
  4.37808802e-06,-3.56594187e-04,-1.99663251e-04,-4.47687320e-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,
  2.71431458e-04,-2.84549922e-05,-4.90495174e+00, 6.33214880e-03,
  2.13734504e-03, 7.41804592e-05]


--- Step 2042 ---
qpos:
[-0.01441678, 1.07267578,-0.02150358, 0.93457829, 0.00429741, 1.05761866,
 -0.02883255, 0.92374954, 0.0163835 , 1.08685607,-0.02264201, 0.93195218,
  1.37138358,-0.00139513, 1.16044756, 0.06317658,-0.03402843,-0.10297633,
  0.0787977 , 0.64728372,-0.01144119,-0.00375173, 0.76215405]

qacc:
[ 4.57363630e-02,-1.85421971e+01, 5.97332481e+01,-1.13084815e+02,
 -1.39424152e-02,-1.28334973e+01, 5.43281742e+01,-1.27349018e+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,
 -2.47109883e+00, 3.27441436e+00,-2.84660003e+00,-1.72231341e+02,
  1.87361976e+02, 4.57388138e+01]

qfrc_actuator:
[ 2.42688217e-03, 1.02396976e-01, 9.76115358e-03, 1.60294600e-02,
  6.02184574e-05, 1.08221488e-01, 1.00507318e-02, 2.49499488e-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([ 8.63636364, -6.4765492 ,  5.7132379 , -6.4765492 ,  9.63106009,
        1.12759186,  5.7132379 ,  1.12759186,  9.91460625,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004180197557167378
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.32795521e-14,  6.63977605e-15,  1.00000000e+00,  8.81732519e-29,
        1.00000000e+00, -6.63977605e-15, -1.00000000e+00,  0.00000000e+00,
       -1.32795521e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00944191, -0.12434292,  0.06162974])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05789541e-05,-1.02545042e-03,-2.72143919e-04,-3.29273822e-04,
 -3.57197880e-06,-2.12807890e-04,-7.64989467e-05,-3.61577230e-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,
  9.03508596e-05, 5.63109554e-05,-4.90504089e+00, 6.42478201e-03,
  2.18552607e-03, 1.26778383e-04]


--- Step 2043 ---
qpos:
[-0.01442358, 1.07409363,-0.02150877, 0.93485192, 0.00429828, 1.05915144,
 -0.02883299, 0.92419678, 0.01638614, 1.08845454,-0.02264728, 0.93240294,
  1.37145767,-0.00139563, 1.1606177 , 0.06317397,-0.0340658 ,-0.10296434,
  0.0787995 , 0.64739091,-0.01245501,-0.00353928, 0.76204813]

qacc:
[ 1.19113169e-01,-2.07000502e+01, 6.87933851e+01,-1.31180431e+02,
 -1.69938618e-01,-2.39789271e+01, 9.62253488e+01,-2.00058313e+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,
 -2.30423088e+00, 2.83048363e+00,-3.63960620e+00,-1.51624199e+02,
  1.68233741e+02, 3.76092650e+01]

qfrc_actuator:
[ 2.45161637e-03, 1.02046015e-01, 9.75660816e-03, 1.57021179e-02,
  2.06741039e-05, 1.08125020e-01, 1.01262671e-02, 2.44452764e-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([ 8.63636364, -6.49590168,  5.69122466, -6.49590168,  9.86614457,
        1.40365853,  5.69122466,  1.40365853, 10.23848416,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004105747639572027
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.70407030e-14,  6.76017575e-15,  1.00000000e+00,  1.82799905e-28,
        1.00000000e+00, -6.76017575e-15, -1.00000000e+00,  0.00000000e+00,
       -2.70407030e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00956023, -0.1244569 ,  0.0616354 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.85438110e-05,-1.00362154e-03,-2.51313106e-04,-3.72350756e-04,
 -4.15077769e-05,-2.64975832e-04, 8.35689497e-06,-5.20177552e-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,
  5.42934680e-05, 3.05461607e-05,-4.90516415e+00, 6.46762364e-03,
  2.20969558e-03, 9.14009134e-05]


--- Step 2044 ---
qpos:
[-0.01443025, 1.07550317,-0.02151394, 0.93512059, 0.00429888, 1.06068137,
 -0.02883206, 0.9246315 , 0.01638911, 1.09004306,-0.02265355, 0.9328456 ,
  1.37153172,-0.00139644, 1.16078768, 0.06317248,-0.03412174,-0.10295829,
  0.07879642, 0.64753615,-0.01344113,-0.00267295, 0.76191149]

qacc:
[ 5.72289466e-02,-1.95788459e+01, 6.10087016e+01,-1.05775553e+02,
 -1.16662364e-01,-2.89784385e+01, 1.16651926e+02,-2.46898088e+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,
 -4.63904322e+00,-1.48275906e+00,-1.22256096e+00, 2.58290355e+02,
  2.01356560e+02,-2.04202588e+01]

qfrc_actuator:
[ 2.45126717e-03, 1.01628006e-01, 9.75613883e-03, 1.54534327e-02,
  1.45786020e-05, 1.07934598e-01, 1.01708676e-02, 2.38098042e-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, -4.61955323,  7.29702027, -4.61955323,  4.09762647,
       -2.87335614,  7.29702027, -2.87335614,  6.8173168 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006065237223149656
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66053981, -0.33026991,  0.67424694, -0.23112569,  0.94388653,
        0.23592187, -0.71433051,  0.        , -0.69980849])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06353043, -0.12439666,  0.06163662])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.33624796e-05,-1.05563061e-03,-2.41807592e-04,-2.93421001e-04,
 -2.87805777e-05,-3.75947903e-04,-2.77926615e-05,-6.53719523e-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,
  1.15329790e-04,-7.07681244e-05,-4.90531417e+00, 6.47876967e-03,
  2.21820072e-03,-3.12826110e-06]


--- Step 2045 ---
qpos:
[-0.01443685, 1.07690621,-0.02152002, 0.93538584, 0.00429948, 1.06220721,
 -0.02883127, 0.92505683, 0.01639211, 1.09162329,-0.02266165, 0.93328161,
  1.37160563,-0.00139716, 1.16095795, 0.06316903,-0.03417024,-0.10296596,
  0.07882004, 0.64771599,-0.01400856,-0.00229429, 0.76174962]

qacc:
[ 3.33954171e-02,-1.20386555e+01, 3.60792493e+01,-6.73346877e+01,
 -5.28361944e-03,-2.11402395e+01, 8.24190525e+01,-1.79373966e+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,
  1.85943995e+00,-3.43271331e+00, 6.67864944e+00,-5.00237699e+01,
 -3.17175973e+02,-2.51870757e+01]

qfrc_actuator:
[ 2.45365378e-03, 1.01439711e-01, 9.75791150e-03, 1.52884877e-02,
  2.85870332e-05, 1.07636146e-01, 1.01254253e-02, 2.33331592e-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,  5.91798594, -6.29000948,  5.91798594, 44.52943542,
       33.77017073, -6.29000948, 33.77017073, 40.40919262,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004144597975152771
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.33936154e-14,  1.17194135e-14,  1.00000000e+00,  1.56965317e-28,
        1.00000000e+00, -1.17194135e-14, -1.00000000e+00,  0.00000000e+00,
       -1.33936154e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03296185, -0.08410763,  0.06163255])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.76517260e-06,-8.50230698e-04,-2.46261520e-04,-2.09133879e-04,
 -1.74458698e-06,-5.56490077e-04,-1.47652490e-04,-5.02422904e-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,
  2.19983766e-05, 4.18367558e-04,-4.90550961e+00, 6.55815480e-03,
  2.18615445e-03, 1.65407053e-04]


--- Step 2046 ---
qpos:
[-0.01444324, 1.07830532,-0.02152796, 0.93564654, 0.00430013, 1.06372763,
 -0.02883082, 0.92547469, 0.01639501, 1.09319482,-0.02266949, 0.93370992,
  1.37167954,-0.00139804, 1.16112836, 0.06316301,-0.03421276,-0.10298646,
  0.07886309, 0.64792494,-0.01420614,-0.0023419 , 0.7615681 ]

qacc:
[ 9.88365219e-02,-8.00671244e+00, 2.93189551e+01,-7.59945721e+01,
  3.16953686e-02,-1.90654979e+01, 6.94454857e+01,-1.44708863e+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,
  1.49287473e+00,-3.20389530e+00, 4.85554336e+00,-4.23918534e+01,
 -2.78746280e+02,-2.08605658e+01]

qfrc_actuator:
[ 2.47543649e-03, 1.01426270e-01, 9.72644854e-03, 1.50677272e-02,
  3.67641042e-05, 1.07293003e-01, 1.00801731e-02, 2.29536838e-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, -6.40464939,  5.79372446, -6.40464939, 16.98719024,
        9.23138767,  5.79372446,  9.23138767, 18.84116399,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004150488847820467
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.33746056e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.33746056e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0329945 , -0.08413885,  0.0616325 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.41146484e-05,-5.59881706e-04,-2.37259550e-04,-2.56954895e-04,
  7.18226697e-06,-7.19794368e-04,-1.92003683e-04,-4.10797776e-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,
  5.01451666e-05, 9.26549161e-05,-4.90520224e+00, 6.49109197e-03,
  2.19079995e-03, 1.48532547e-04]


--- Step 2047 ---
qpos:
[-0.01444954, 1.07970077,-0.02153661, 0.93590078, 0.00430087, 1.06524112,
 -0.02882994, 0.9258835 , 0.01639779, 1.09475644,-0.02267677, 0.93413042,
  1.37175359,-0.00139955, 1.16129805, 0.06316045,-0.03423771,-0.10301704,
  0.07891361, 0.64813976,-0.01391217,-0.00244067, 0.7613904 ]

qacc:
[ 3.83500278e-02,-1.41150359e+01, 5.36107241e+01,-1.19659848e+02,
  3.78265397e-02,-2.57904769e+01, 9.23508617e+01,-1.82204238e+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,
  4.39478212e+00,-2.52269829e+00, 1.86657182e+00, 1.39804478e+02,
 -2.03771898e+02,-1.93676666e+00]

qfrc_actuator:
[ 2.47317712e-03, 1.01304727e-01, 9.71186314e-03, 1.47449526e-02,
  4.13673570e-05, 1.06872762e-01, 1.00707948e-02, 2.24923289e-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([ 8.63636364, -8.57443587,  1.03238871, -8.57443587,  8.64526961,
        0.073968  ,  1.03238871,  0.073968  ,  9.25069992,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004115491661292069
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.34883401e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.34883401e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05802974, -0.08832799,  0.06163573])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.11800822e-06,-5.06913942e-04,-1.63910203e-04,-3.51088958e-04,
  8.47871584e-06,-8.92970831e-04,-1.90428144e-04,-4.96840428e-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,
  6.63066306e-05, 2.71923023e-05,-4.90503922e+00, 6.41037643e-03,
  2.19727764e-03, 1.61344832e-04]


--- Step 2048 ---
qpos:
[-0.0144558 , 1.08109088,-0.02154457, 0.93614894, 0.00430167, 1.06674577,
 -0.02882833, 0.92628345, 0.01640047, 1.09630732,-0.02268412, 0.93454234,
  1.37182758,-0.00140128, 1.16146767, 0.06315915,-0.03425882,-0.10305902,
  0.07897379, 0.64837466,-0.01330804,-0.00288793, 0.76119961]

qacc:
[ 1.94828381e-02,-1.94439247e+01, 6.76307503e+01,-1.26600669e+02,
  3.23116269e-02,-2.88268857e+01, 9.88084401e+01,-1.84386925e+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,
  9.59310331e-01,-2.84963500e+00, 2.41669626e+00,-3.20321074e+01,
 -2.30889645e+02,-1.46868347e+01]

qfrc_actuator:
[ 2.47429294e-03, 1.00977625e-01, 9.72475343e-03, 1.44357117e-02,
  4.37879862e-05, 1.06321171e-01, 1.00645654e-02, 2.20396701e-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([  8.63636364,   7.13644515,   4.86394156,   7.13644515,
        17.98574618, -13.71754881,   4.86394156, -13.71754881,
        28.76294894,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004048580474073735
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.74225258e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.74225258e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03304036, -0.08408595,  0.0616414 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.24907720e-06,-6.71541712e-04,-1.20452184e-04,-3.35984650e-04,
  6.99521440e-06,-1.12231320e-03,-2.23535181e-04,-4.95351607e-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,
  3.36301937e-05, 1.41232006e-05,-4.90495922e+00, 6.34312674e-03,
  2.17724370e-03, 1.51395605e-04]


--- Step 2049 ---
qpos:
[-0.01446203, 1.08247883,-0.02155377, 0.93639268, 0.00430236, 1.0682421 ,
 -0.02882703, 0.92667559, 0.01640307, 1.09784876,-0.02269265, 0.93494475,
  1.37190169,-0.00140364, 1.16163787, 0.06315388,-0.03427683,-0.10311179,
  0.07903885, 0.64862575,-0.01242442,-0.00364665, 0.76099735]

qacc:
[ 1.51199405e-02,-7.13097837e+00, 2.89681892e+01,-7.52296884e+01,
 -5.01330724e-02,-2.35430864e+01, 8.01273266e+01,-1.55980891e+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,
  7.74121753e-01,-2.69800170e+00, 1.22075967e+00,-2.78364251e+01,
 -2.07251414e+02,-1.23590656e+01]

qfrc_actuator:
[ 2.47744429e-03, 1.01080640e-01, 9.73525623e-03, 1.42255686e-02,
  2.71283219e-05, 1.05943995e-01, 1.00597456e-02, 2.16489183e-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, -6.93213062,  5.15095543, -6.93213062, 16.09766305,
       10.04138026,  5.15095543, 10.04138026, 22.15000407,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003955040123683445
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40355469e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.40355469e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03305616, -0.08401651,  0.06164917])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.60035877e-06,-3.23385967e-04,-1.49608239e-04,-2.40199602e-04,
 -1.29130344e-05,-1.08104450e-03,-2.70741973e-04,-4.41361377e-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,
 -1.15191973e-05, 1.19047287e-04,-4.90496091e+00, 6.25922964e-03,
  2.18502150e-03, 1.39189271e-04]


--- Step 2050 ---
qpos:
[-0.01446838, 1.08387139,-0.02156607, 0.93663084, 0.00430289, 1.06973157,
 -0.02882629, 0.92705991, 0.01640575, 1.09938437,-0.02270336, 0.93533845,
  1.37197588,-0.00140672, 1.16180767, 0.06314948,-0.03431039,-0.10317144,
  0.07909512, 0.64889666,-0.01153294,-0.00381004, 0.7607796 ]

qacc:
[-5.54929745e-02, 4.69037231e+00, 3.53815109e+00,-7.10022595e+01,
 -6.88462198e-02,-2.08912985e+01, 7.38452454e+01,-1.51635415e+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,
 -3.88782780e+00,-1.71850150e+00,-2.20002559e+00, 2.29162934e+02,
  1.90219874e+02,-8.87734113e+00]

qfrc_actuator:
[ 2.46405509e-03, 1.01777990e-01, 9.74598551e-03, 1.39691249e-02,
  1.69268692e-05, 1.05727745e-01, 1.00742616e-02, 2.12622927e-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([8.63636364, 4.31347283, 7.48202706, 4.31347283, 5.08661345,
       2.04647094, 7.48202706, 2.04647094, 7.4565501 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0057085728498210316
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65889553, -0.32944776,  0.67625502, -0.22990646,  0.9441738 ,
        0.23596366, -0.71623998,  0.        , -0.69785406])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06419421, -0.12471988,  0.06165713])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.32606284e-05, 4.60849904e-04,-8.17164521e-05,-2.74688045e-04,
 -1.73631122e-05,-9.04662889e-04,-2.47039041e-04,-4.36120354e-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,
 -5.72572047e-05, 3.27081267e-04,-4.90502468e+00, 6.17667833e-03,
  2.19401233e-03, 1.37452026e-04]


--- Step 2051 ---
qpos:
[-0.01447486, 1.08527039,-0.02157988, 0.93686176, 0.00430344, 1.07121303,
 -0.02882455, 0.92743666, 0.01640888, 1.10091793,-0.02271645, 0.93572613,
  1.37204971,-0.00140924, 1.16197689, 0.06314907,-0.03432169,-0.10321638,
  0.07914851, 0.64915677,-0.01066512,-0.0035732 , 0.76057148]

qacc:
[-6.03880805e-02, 8.43715638e-03, 2.51151292e+01,-1.10016611e+02,
  1.11139273e-02,-2.62573301e+01, 8.89780315e+01,-1.61153522e+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,
  5.56587218e+00, 3.67670352e+00,-7.17860035e-01, 1.44522372e+02,
  1.38774748e+02, 9.57777364e+00]

qfrc_actuator:
[ 2.45863313e-03, 1.02293462e-01, 9.74144173e-03, 1.36168401e-02,
  2.84392203e-05, 1.05308106e-01, 1.01185258e-02, 2.08812839e-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,  4.01717971, -7.64519745,  4.01717971,  7.73378767,
       -0.47425981, -7.64519745, -0.47425981,  8.38716316,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037996735660534436
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.13090794e-15,  7.30472635e-15,  1.00000000e+00, -6.66987838e-29,
        1.00000000e+00, -7.30472635e-15, -1.00000000e+00,  0.00000000e+00,
        9.13090794e-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([-0.0643625 , -0.12480583,  0.06166245])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.45389063e-05, 7.25063653e-04, 6.31853083e-05,-3.45792941e-04,
  1.91929542e-06,-1.00544094e-03,-1.79803486e-04,-4.24315303e-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,
  9.23636429e-05,-8.26771447e-05,-4.90494712e+00, 6.23156407e-03,
  2.15704322e-03, 9.52355648e-06]


--- Step 2052 ---
qpos:
[-0.01448144, 1.08667406,-0.02159338, 0.93708882, 0.00430406, 1.0726868 ,
 -0.02882275, 0.92780665, 0.01641249, 1.10245183,-0.02273162, 0.93610687,
  1.37212323,-0.00141099, 1.16214614, 0.06315015,-0.03434227,-0.10324638,
  0.07919306, 0.6493255 ,-0.01036637,-0.00336639, 0.76043251]

qacc:
[-4.27527224e-02,-1.37932338e+00, 1.98922127e+01,-6.51966842e+01,
  3.40487529e-02,-2.18649430e+01, 7.34020589e+01,-1.38152795e+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,
 -2.31927613e+00, 3.73337093e+00,-2.21021158e+00,-1.96491613e+02,
  2.06129029e+02, 5.80574868e+01]

qfrc_actuator:
[ 2.45805101e-03, 1.02483098e-01, 9.74514722e-03, 1.34239540e-02,
  3.51153262e-05, 1.04947870e-01, 1.01260312e-02, 2.05420276e-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([ 8.63636364, -8.1878529 , -2.74696955, -8.1878529 ,  8.62303671,
        0.03972339, -2.74696955,  0.03972339,  8.5179607 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038495407720170807
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.44202009e-14,  2.88404018e-14,  1.00000000e+00,  4.15884387e-28,
        1.00000000e+00, -2.88404018e-14, -1.00000000e+00,  0.00000000e+00,
       -1.44202009e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0097614 , -0.12522667,  0.06165956])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.03913673e-05, 5.71572786e-04, 1.37544512e-04,-1.75848469e-04,
  7.65309706e-06,-9.88053785e-04,-2.28223572e-04,-3.83367199e-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,
  3.42052467e-04,-1.58497899e-04,-4.90498945e+00, 6.28812106e-03,
  2.13431536e-03,-6.90389462e-06]


--- Step 2053 ---
qpos:
[-0.01448806, 1.08807957,-0.02160526, 0.93731236, 0.00430459, 1.07415404,
 -0.02882202, 0.92816899, 0.0164165 , 1.10398491,-0.02274658, 0.93647854,
  1.37219666,-0.00141219, 1.162316  , 0.06314741,-0.03437178,-0.10326348,
  0.07922543, 0.64941943,-0.01057333,-0.00318025, 0.76035024]

qacc:
[-2.05795949e-02,-8.07154339e+00, 3.65393500e+01,-7.40066332e+01,
 -3.84145713e-02,-1.88380441e+01, 6.72599694e+01,-1.44001180e+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,
 -2.23234052e+00, 3.22663963e+00,-3.04716252e+00,-1.72337675e+02,
  1.85147971e+02, 4.75912102e+01]

qfrc_actuator:
[ 2.46038783e-03, 1.02423164e-01, 9.77034245e-03, 1.32374669e-02,
  2.10779704e-05, 1.04697173e-01, 1.00942766e-02, 2.01590229e-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([ 8.63636364, -6.02030842,  6.19214529, -6.02030842,  9.01481455,
        0.3679486 ,  6.19214529,  0.3679486 ,  8.99410138,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038451896288020995
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.8873037e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.8873037e-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([ 0.00974372, -0.12528801,  0.06166054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.19949377e-06, 2.56795474e-04, 1.42511482e-04,-1.67924661e-04,
 -9.90874948e-06,-8.76929247e-04,-2.68328760e-04,-4.27064355e-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,
  1.02181584e-04,-7.62993993e-06,-4.90499441e+00, 6.37316576e-03,
  2.17829693e-03, 1.02375723e-04]


--- Step 2054 ---
qpos:
[-0.01449469, 1.08948354,-0.02161509, 0.93753189, 0.00430516, 1.07561429,
 -0.02882223, 0.9285233 , 0.01642047, 1.10551558,-0.02275999, 0.93684366,
  1.37227017,-0.00141327, 1.16248608, 0.0631409 ,-0.03440983,-0.10326936,
  0.07924269, 0.6494515 ,-0.01123216,-0.00300773, 0.76031411]

qacc:
[-9.86874152e-04,-1.45518838e+01, 5.33365999e+01,-9.22166898e+01,
  1.71967114e-02,-2.04451312e+01, 7.25462766e+01,-1.52742512e+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,
 -2.13681185e+00, 2.80600991e+00,-3.77500119e+00,-1.52155418e+02,
  1.67031443e+02, 3.91469673e+01]

qfrc_actuator:
[ 2.46446660e-03, 1.02125692e-01, 9.78924196e-03, 1.30205169e-02,
  3.02478417e-05, 1.04336575e-01, 1.00400644e-02, 1.97533686e-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([ 8.63636364, -6.02351013,  6.18903082, -6.02351013,  9.24192629,
        0.58936737,  6.18903082,  0.58936737,  9.20996884,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037942459539919704
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.92607026e-14,  2.92607026e-14,  1.00000000e+00,  8.56188717e-28,
        1.00000000e+00, -2.92607026e-14, -1.00000000e+00,  0.00000000e+00,
       -2.92607026e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00981879, -0.12538366,  0.06166476])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.12360928e-07,-1.53636520e-04, 7.54369081e-05,-2.07495918e-04,
  3.65892472e-06,-9.34362300e-04,-2.74827245e-04,-4.48525984e-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,
  1.41453779e-05, 2.43592812e-05,-4.90503756e+00, 6.40661434e-03,
  2.19779513e-03, 1.17881231e-04]


--- Step 2055 ---
qpos:
[-0.01450145, 1.09088345,-0.02162356, 0.93774811, 0.00430579, 1.07706659,
 -0.02882287, 0.92887112, 0.01642397, 1.10704396,-0.02277342, 0.9372028 ,
  1.37234382,-0.00141454, 1.16265553, 0.06313613,-0.03445536,-0.10328161,
  0.07925044, 0.64949494,-0.01189322,-0.00333809, 0.76026557]

qacc:
[-5.77798510e-02,-1.47357908e+01, 4.85396427e+01,-7.84586166e+01,
  3.19055952e-02,-2.04023367e+01, 6.76562473e+01,-1.29842373e+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,
 -1.86753399e+00,-1.59398980e+00,-2.37896201e+00,-1.91857464e+02,
 -1.62368127e+02,-1.11734889e+01]

qfrc_actuator:
[ 2.45181507e-03, 1.01741601e-01, 9.78552262e-03, 1.28404414e-02,
  3.55024650e-05, 1.03913121e-01, 1.00081864e-02, 1.94263290e-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([  8.63636364,  -1.21960095,  -8.54981581,  -1.21960095,
        79.86393292, -10.16036055,  -8.54981581, -10.16036055,
        10.08570309,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003714278955912982
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.42861729e-14,  7.47266857e-15,  1.00000000e+00, -1.81482521e-28,
        1.00000000e+00, -7.47266857e-15, -1.00000000e+00,  0.00000000e+00,
        2.42861729e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00234697, -0.07825558,  0.06167091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.48314370e-05,-4.81559536e-04,-3.62813244e-05,-1.85818312e-04,
  7.19736113e-06,-1.03074480e-03,-2.65062715e-04,-3.72340942e-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,
  2.90727674e-05,-2.66945585e-05,-4.90511302e+00, 6.40715182e-03,
  2.20145403e-03, 6.83870136e-05]


--- Step 2056 ---
qpos:
[-0.01450802, 1.09227677,-0.02163065, 0.93795971, 0.00430681, 1.07851124,
 -0.02882387, 0.92921336, 0.01642707, 1.10857002,-0.0227871 , 0.93755314,
  1.37241746,-0.00141571, 1.16282486, 0.06313156,-0.0345081 ,-0.10330005,
  0.07924567, 0.64954917,-0.01255769,-0.00411624, 0.76020473]

qacc:
[ 8.54589030e-02,-2.04126639e+01, 6.56931551e+01,-1.06875359e+02,
  1.74379818e-01,-1.87136287e+01, 6.06813107e+01,-1.13369083e+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,
 -1.80378944e+00,-1.54811537e+00,-3.13022201e+00,-1.71277484e+02,
 -1.44029483e+02,-1.07498549e+01]

qfrc_actuator:
[ 2.48251161e-03, 1.01237650e-01, 9.78586955e-03, 1.25946432e-02,
  7.38675869e-05, 1.03579964e-01, 1.00073330e-02, 1.91481297e-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, -7.08151191,  4.94357826, -7.08151191, 11.04823175,
        3.45492108,  4.94357826,  3.45492108, 13.58542352,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003654290426421583
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0024274 , -0.07821183,  0.0616755 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.06283591e-05,-8.03920147e-04,-1.08434733e-04,-2.64156397e-04,
  4.22481142e-05,-9.89322791e-04,-2.49485066e-04,-3.24376187e-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,
  2.76701139e-04,-5.74368137e-05,-4.90512577e+00, 6.40087640e-03,
  2.20837790e-03, 7.10947742e-05]


--- Step 2057 ---
qpos:
[-0.01451385, 1.09366108,-0.02163649, 0.93816767, 0.00430855, 1.07994789,
 -0.02882516, 0.92954999, 0.01642987, 1.11009276,-0.02279916, 0.93789507,
  1.37249109,-0.00141677, 1.162994  , 0.06312811,-0.03457288,-0.10331978,
  0.0792421 , 0.64964168,-0.01319452,-0.00418522, 0.76011451]

qacc:
[ 3.39012162e-01,-2.15442156e+01, 6.35681358e+01,-9.22255278e+01,
  3.32077349e-01,-1.93187004e+01, 6.21366470e+01,-1.14479431e+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,
 -3.01155952e+00,-3.22197210e-01, 3.00442128e-01, 2.78709807e+02,
  2.20072753e+02,-1.97005095e+01]

qfrc_actuator:
[ 0.00255671, 0.10063045, 0.00978809, 0.0124008 , 0.00013176, 0.10317962,
  0.00998968, 0.01886542,-0.00270163, 0.10819407, 0.00967935, 0.01910852,
  0.        ,-0.00174131, 0.        ,-0.00188016, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -2.69809965,  8.20408649, -2.69809965,  4.10289663,
       -1.4909333 ,  8.20408649, -1.4909333 ,  8.14603645,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005387805824743384
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.50388201e-01, -3.25194100e-01,  6.86472130e-01, -2.23658872e-01,
        9.45647290e-01,  2.36067601e-01, -7.25928300e-01,  2.77555756e-17,
       -6.87770385e-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([-0.06474651, -0.12502706,  0.06167218])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.37540099e-05,-1.10183700e-03,-1.80131858e-04,-2.25806972e-04,
  8.10773414e-05,-1.02886650e-03,-2.54910137e-04,-3.26055220e-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,
  6.76012915e-04, 1.23285244e-04,-4.90521577e+00, 6.39256755e-03,
  2.21652123e-03, 1.38837953e-04]


--- Step 2058 ---
qpos:
[-0.01451886, 1.09503674,-0.0216423 , 0.93837279, 0.00431036, 1.08137646,
 -0.02882691, 0.92987894, 0.01643245, 1.11161359,-0.02281081, 0.93822997,
  1.37256463,-0.0014175 , 1.16316318, 0.0631244 ,-0.03464545,-0.10333901,
  0.07923584, 0.64976584,-0.01380977,-0.0036372 , 0.76000027]

qacc:
[ 3.66832528e-01,-1.63746653e+01, 4.55900681e+01,-6.73821401e+01,
  3.18089060e-02,-2.25654818e+01, 7.69993225e+01,-1.51817229e+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,
 -1.94526272e+00, 1.27738221e-01,-6.72276559e-01, 2.41667664e+02,
  1.92438552e+02,-1.58033386e+01]

qfrc_actuator:
[ 2.60310452e-03, 1.00214884e-01, 9.79100094e-03, 1.22567485e-02,
  9.43478014e-05, 1.02777852e-01, 9.96202489e-03, 1.84757375e-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([ 8.63636364,  7.85961965, -3.57954687,  7.85961965, 20.46927081,
       25.9815427 , -3.57954687, 25.9815427 , 65.68409938,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005363749893980231
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.44048948e-01, -3.22024474e-01,  6.93902869e-01, -2.19069037e-01,
        9.46731344e-01,  2.36026522e-01, -7.32945912e-01,  2.77555756e-17,
       -6.80286917e-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([-0.0647651 , -0.12502787,  0.06167041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.09467229e-05,-1.08768361e-03,-2.44702744e-04,-1.86158242e-04,
  7.17898678e-06,-1.05307529e-03,-2.73263047e-04,-4.34429378e-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,
  1.28763732e-04,-5.57113817e-05,-4.90512858e+00, 6.42956064e-03,
  2.21110196e-03, 8.06339782e-05]


--- Step 2059 ---
qpos:
[-0.0145235 , 1.09640539,-0.0216485 , 0.93857381, 0.00431183, 1.08279791,
 -0.0288295 , 0.93020029, 0.01643504, 1.11313494,-0.02282375, 0.9385573 ,
  1.37263815,-0.00141797, 1.16333242, 0.06311985,-0.03469321,-0.1033671 ,
  0.07924293, 0.64992388,-0.01386491,-0.00318831, 0.75986614]

qacc:
[ 1.71838838e-01,-1.52994441e+01, 4.72850171e+01,-8.46223061e+01,
 -1.48071209e-01,-2.01558772e+01, 7.04486741e+01,-1.45764554e+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,
  6.20016297e+00,-2.21733400e+00, 3.33862682e+00, 1.44496419e+02,
 -2.44841939e+02,-2.10415557e+01]

qfrc_actuator:
[ 2.59695833e-03, 9.99885533e-02, 9.81280811e-03, 1.20544696e-02,
  5.33862091e-05, 1.02502785e-01, 9.94640756e-03, 1.80972046e-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([ 8.63636364,  4.56500311, -7.33127025,  4.56500311, 15.27860427,
        4.13596118, -7.33127025,  4.13596118, 11.21172575,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003729817043575126
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.44153809e-15,  2.97661524e-14,  1.00000000e+00,  2.21505957e-28,
        1.00000000e+00, -2.97661524e-14, -1.00000000e+00,  0.00000000e+00,
       -7.44153809e-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([-0.05889099, -0.08822815,  0.06166973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.24339984e-05,-9.01864206e-04,-2.29175451e-04,-2.44945889e-04,
 -3.70814712e-05,-9.46507659e-04,-2.71211722e-04,-4.27053461e-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,
  2.51558376e-05, 1.71590806e-04,-4.90522313e+00, 6.48108663e-03,
  2.18819606e-03, 1.60227995e-04]


--- Step 2060 ---
qpos:
[-0.01452812, 1.09776646,-0.021654  , 0.93876912, 0.00431307, 1.08421083,
 -0.02883167, 0.93051606, 0.01643755, 1.11465505,-0.02283664, 0.93887736,
  1.37271184,-0.00141878, 1.16350143, 0.06311614,-0.03471985,-0.10340349,
  0.07925756, 0.65010744,-0.01342032,-0.00282115, 0.75971854]

qacc:
[ 1.03262390e-02,-2.17132812e+01, 7.06066819e+01,-1.23060842e+02,
 -1.09397082e-01,-2.19129934e+01, 6.96932513e+01,-1.20379072e+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,
  5.28289577e+00,-2.07528560e+00, 1.88277303e+00, 1.31497037e+02,
 -2.16295023e+02,-1.54343801e+01]

qfrc_actuator:
[ 2.57714569e-03, 9.96113006e-02, 9.84635649e-03, 1.17663994e-02,
  4.61693259e-05, 1.02039735e-01, 9.95633406e-03, 1.78171231e-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([ 8.63636364, -5.14938043,  6.93330066, -5.14938043, 15.11427603,
        4.81116237,  6.93330066,  4.81116237, 12.20962644,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037216231081094453
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.86448055e-15,  1.49158444e-14,  1.00000000e+00,  2.78103018e-29,
        1.00000000e+00, -1.49158444e-14, -1.00000000e+00,  0.00000000e+00,
       -1.86448055e-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([-0.05895161, -0.08825302,  0.06167042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.90635844e-06,-9.48571236e-04,-1.81004454e-04,-3.26076296e-04,
 -2.77377060e-05,-1.07471041e-03,-2.24281604e-04,-3.25137813e-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,
  1.10570647e-04, 1.06309175e-04,-4.90507007e+00, 6.43430730e-03,
  2.16929688e-03, 1.90513349e-04]


--- Step 2061 ---
qpos:
[-0.01453299, 1.09911735,-0.02165777, 0.93896141, 0.00431428, 1.08561513,
 -0.02883362, 0.93082504, 0.01643996, 1.1161728 ,-0.02284926, 0.93919099,
  1.37278569,-0.00142012, 1.16367016, 0.06311433,-0.03474001,-0.10345047,
  0.07928498, 0.65032166,-0.01263947,-0.0028552 , 0.75954844]

qacc:
[-1.10487943e-01,-2.33293951e+01, 6.62674809e+01,-8.67544505e+01,
 -6.38771238e-03,-2.35711056e+01, 7.75119895e+01,-1.41477728e+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,
  1.61744091e+00,-2.64805139e+00, 3.19899636e+00,-4.29276862e+01,
 -2.57950383e+02,-2.21266237e+01]

qfrc_actuator:
[ 2.54934200e-03, 9.89693315e-02, 9.88602053e-03, 1.16076096e-02,
  5.92474864e-05, 1.01610160e-01, 9.96289849e-03, 1.74728459e-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([  8.63636364,   5.74925433,   6.44459863,   5.74925433,
        27.23388651, -16.59093065,   6.44459863, -16.59093065,
        23.43720467,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003675549867984733
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.51028154e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.51028154e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03342729, -0.08409284,  0.06167403])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.85597553e-05,-1.23198301e-03,-1.80885893e-04,-1.98659967e-04,
 -2.30878579e-06,-1.09964588e-03,-2.44322750e-04,-3.89480470e-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,
  2.33268719e-04,-1.23827449e-05,-4.90501712e+00, 6.37684747e-03,
  2.15201422e-03, 1.35194808e-04]


--- Step 2062 ---
qpos:
[-0.01453798, 1.10045586,-0.02165999, 0.93915261, 0.00431554, 1.08701332,
 -0.02883694, 0.93112703, 0.0164426 , 1.11768965,-0.02286251, 0.93949751,
  1.37285943,-0.00142134, 1.16383905, 0.06311205,-0.03476612,-0.10350146,
  0.07930224, 0.65053808,-0.01185155,-0.00340725, 0.75937351]

qacc:
[-5.40131843e-02,-2.23577475e+01, 5.55801946e+01,-5.34047567e+01,
  2.60329619e-02,-1.63518417e+01, 5.83477591e+01,-1.28602338e+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,
 -1.48458999e+00,-1.00117598e+00,-2.54090228e+00,-1.94417022e+02,
 -1.71085378e+02,-5.69452904e+00]

qfrc_actuator:
[ 2.55251170e-03, 9.82096764e-02, 9.91028684e-03, 1.15437589e-02,
  6.66210958e-05, 1.01470475e-01, 9.94974110e-03, 1.71290136e-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([8.63636364, 7.49423433, 4.29222887, 7.49423433, 7.21943415,
       2.47395979, 4.29222887, 2.47395979, 4.31682828, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0036469369310673516
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.52213083e-14,  2.28319624e-14,  1.00000000e+00,  3.47532338e-28,
        1.00000000e+00, -2.28319624e-14, -1.00000000e+00,  0.00000000e+00,
       -1.52213083e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00222914, -0.07847657,  0.06167654])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.45130117e-05,-1.50235775e-03,-2.47883737e-04,-1.09251333e-04,
  6.01797020e-06,-8.29252611e-04,-2.73060878e-04,-3.91867040e-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,
  1.16181216e-04,-9.96338949e-05,-4.90497916e+00, 6.29212102e-03,
  2.15776353e-03, 4.76673023e-05]


--- Step 2063 ---
qpos:
[-0.01454303, 1.10178134,-0.02166162, 0.93933996, 0.00431672, 1.08840605,
 -0.02884018, 0.93142313, 0.01644553, 1.1192067 ,-0.02287641, 0.93979804,
  1.37293284,-0.00142162, 1.16400832, 0.06310643,-0.03479826,-0.10355678,
  0.07930649, 0.65075756,-0.01105934,-0.00441972, 0.75919218]

qacc:
[-1.96279250e-02,-2.53471249e+01, 7.00018504e+01,-9.75444752e+01,
 -4.08169625e-02,-1.74885046e+01, 6.07516157e+01,-1.18207000e+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,
 -1.50984856e+00,-1.08307423e+00,-3.25091320e+00,-1.73415315e+02,
 -1.51344608e+02,-5.97433040e+00]

qfrc_actuator:
[ 2.55648832e-03, 9.74922061e-02, 9.90705099e-03, 1.13408581e-02,
  5.27529520e-05, 1.01310367e-01, 9.99724486e-03, 1.68416192e-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([ 8.63636364, -7.2373628 ,  4.71246821, -7.2373628 ,  9.44310071,
        1.23897894,  4.71246821,  1.23897894, 10.53917544,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0035950576588237443
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.54409627e-14,  1.54409627e-14,  1.00000000e+00,  2.38423329e-28,
        1.00000000e+00, -1.54409627e-14, -1.00000000e+00,  0.00000000e+00,
       -1.54409627e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00229597, -0.07845473,  0.06168066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.90856398e-06,-1.61990293e-03,-3.33200667e-04,-2.56295519e-04,
 -1.06027824e-05,-7.05595092e-04,-1.62734835e-04,-3.28135907e-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,
 -4.09181150e-05, 1.56258352e-04,-4.90500405e+00, 6.23706832e-03,
  2.18870736e-03, 1.01526732e-04]


--- Step 2064 ---
qpos:
[-0.0145484 , 1.10309411,-0.02166334, 0.93952278, 0.00431776, 1.08979119,
 -0.0288418 , 0.93171362, 0.0164484 , 1.12072314,-0.02289008, 0.94009414,
  1.3730062 ,-0.00142144, 1.16417714, 0.0631021 ,-0.03480947,-0.10359764,
  0.07931754, 0.65096993,-0.01028914,-0.00486559, 0.75901819]

qacc:
[-1.40211535e-01,-2.43559921e+01, 6.86836173e+01,-1.04703032e+02,
 -5.59861915e-02,-2.39660836e+01, 7.79511414e+01,-1.28622599e+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,
  5.23361263e+00, 3.61572407e+00, 1.69812983e+00, 2.07901336e+02,
  1.92658033e+02, 8.26792402e+00]

qfrc_actuator:
[ 2.52541794e-03, 9.68766415e-02, 9.90541178e-03, 1.11109718e-02,
  4.40190451e-05, 1.00838017e-01, 1.00447507e-02, 1.65542740e-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: -0.0036333113979960946
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.63919537e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.63919537e-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([-0.06524514, -0.12522184,  0.06167789])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.61613779e-05,-1.60391919e-03,-3.68600893e-04,-2.92722916e-04,
 -1.46458320e-05,-9.25683958e-04,-1.23994509e-04,-3.19617408e-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,
  4.61199800e-06, 6.04904560e-04,-4.90510904e+00, 6.18758567e-03,
  2.21639741e-03, 2.17403307e-04]


--- Step 2065 ---
qpos:
[-0.01455394, 1.10439602,-0.02166598, 0.93970133, 0.00431868, 1.09116619,
 -0.02884194, 0.93199972, 0.01645111, 1.12223797,-0.02290237, 0.94038705,
  1.37307966,-0.00142123, 1.16434544, 0.06310134,-0.03483285,-0.10362496,
  0.07932035, 0.65111599,-0.01010276,-0.00531691, 0.75889238]

qacc:
[-7.84231646e-02,-1.91782416e+01, 5.41715707e+01,-9.00685567e+01,
 -5.17746831e-02,-2.48609242e+01, 7.42860302e+01,-1.09637982e+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,
 -3.04420827e+00, 3.38399602e+00,-2.05735050e+00,-1.92324060e+02,
  2.19379907e+02, 4.22392381e+01]

qfrc_actuator:
[ 2.52686540e-03, 9.64691456e-02, 9.90516516e-03, 1.09026353e-02,
  3.84388334e-05, 1.00164879e-01, 1.00551791e-02, 1.63222936e-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([  8.63636364,   8.4604815 ,   1.7340789 ,   8.4604815 ,
        10.92672655, -11.17456248,   1.7340789 , -11.17456248,
        63.1564775 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003688020992616628
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50517449e-14,  1.50517449e-14,  1.00000000e+00, -2.26555025e-28,
        1.00000000e+00, -1.50517449e-14, -1.00000000e+00,  0.00000000e+00,
        1.50517449e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00956061, -0.12597157,  0.061674  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.04518180e-05,-1.39479469e-03,-3.69125262e-04,-2.72584845e-04,
 -1.37485911e-05,-1.24022405e-03,-1.99457082e-04,-2.69579400e-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,
 -2.64065804e-05, 8.53444609e-05,-4.90498948e+00, 6.25206914e-03,
  2.19266313e-03, 5.79533535e-05]


--- Step 2066 ---
qpos:
[-0.01455926, 1.10569027,-0.02167054, 0.93987544, 0.00431935, 1.09252953,
 -0.02884082, 0.93228168, 0.01645363, 1.12375098,-0.02291387, 0.94067447,
  1.37315337,-0.00142155, 1.16451376, 0.06310181,-0.03486745,-0.10364046,
  0.0793115 , 0.6512068 ,-0.01043436,-0.00576978, 0.75880665]

qacc:
[ 1.03192335e-01,-1.25883100e+01, 3.80658917e+01,-7.99565696e+01,
 -1.13109479e-01,-2.57944653e+01, 7.43386727e+01,-1.05581382e+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,
 -2.80437710e+00, 2.95544895e+00,-2.91881148e+00,-1.69388144e+02,
  1.95692347e+02, 3.53803675e+01]

qfrc_actuator:
[ 2.56556443e-03, 9.63139868e-02, 9.88887450e-03, 1.06910236e-02,
  1.70413887e-05, 9.94833639e-02, 1.00783537e-02, 1.61068103e-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([ 8.63636364, -5.43419235,  6.71240124, -5.43419235, 12.99190429,
        3.5261369 ,  6.71240124,  3.5261369 , 11.49103598,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003694094550585364
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.50269979e-14,  3.75674949e-14,  1.00000000e+00,  5.64526668e-28,
        1.00000000e+00, -3.75674949e-14, -1.00000000e+00,  0.00000000e+00,
       -1.50269979e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00952408, -0.12599363,  0.0616736 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.55680315e-05,-1.02604813e-03,-3.43667498e-04,-2.69153364e-04,
 -2.90975825e-05,-1.43568760e-03,-2.55380000e-04,-2.63668701e-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,
  4.19945314e-05, 1.29904983e-04,-4.90500158e+00, 6.34173530e-03,
  2.21576822e-03, 1.31355297e-04]


--- Step 2067 ---
qpos:
[-0.01456424, 1.10698158,-0.02167799, 0.94004427, 0.00431976, 1.09388372,
 -0.02884094, 0.93255812, 0.01645586, 1.12526322,-0.02292562, 0.94095384,
  1.3732271 ,-0.00142204, 1.16468242, 0.06310064,-0.0348842 ,-0.10364118,
  0.07930901, 0.65130772,-0.01076744,-0.00565895, 0.75871621]

qacc:
[ 1.49881221e-01,-5.17465120e+00, 2.30823919e+01,-7.95414859e+01,
 -1.14671776e-01,-1.81797343e+01, 5.63767924e+01,-1.07819220e+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,
  4.46475827e+00, 3.69601804e+00, 1.59312236e+00, 2.13423775e+02,
  1.84160670e+02,-2.42344374e+00]

qfrc_actuator:
[ 2.59077393e-03, 9.65066584e-02, 9.86432048e-03, 1.04438191e-02,
  4.09099464e-06, 9.91574598e-02, 1.00555534e-02, 1.58317064e-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: -0.0037324909248131963
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.85905178e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.85905178e-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([-0.0651883 , -0.12512396,  0.06167066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.77420132e-05,-4.68975873e-04,-2.76752794e-04,-2.92886116e-04,
 -2.91678445e-05,-1.19877288e-03,-3.45770470e-04,-3.30713132e-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,
  2.11236623e-04, 6.57990950e-05,-4.90507140e+00, 6.38929432e-03,
  2.22376882e-03, 1.11040134e-04]


--- Step 2068 ---
qpos:
[-0.0145689 , 1.10827357,-0.02168762, 0.94020918, 0.00431995, 1.09523186,
 -0.02884235, 0.93282817, 0.01645794, 1.12677714,-0.02293829, 0.94122741,
  1.37330082,-0.00142261, 1.16485086, 0.06310043,-0.0348854 ,-0.10362888,
  0.07930773, 0.65141816,-0.0111011 ,-0.00504645, 0.75862091]

qacc:
[ 1.43179635e-01,-3.67103332e-02, 9.25599681e+00,-5.40707893e+01,
 -9.46956717e-02,-1.54110083e+01, 5.40562166e+01,-1.17778051e+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,
  3.88587427e+00, 3.25430113e+00, 3.00662168e-01, 1.90162066e+02,
  1.63639156e+02,-2.49029410e+00]

qfrc_actuator:
[ 2.60769186e-03, 9.68531049e-02, 9.87206039e-03, 1.02666356e-02,
 -3.68743420e-06, 9.91003349e-02, 1.00781674e-02, 1.55238824e-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([ 8.63636364, -0.43863484,  8.62521747, -0.43863484, 68.75216005,
        3.05718471,  8.62521747,  3.05718471,  8.79183656,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037327199799338864
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.67304393e-14,  3.71787541e-15,  1.00000000e+00,  6.22016889e-29,
        1.00000000e+00, -3.71787541e-15, -1.00000000e+00,  0.00000000e+00,
       -1.67304393e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06520363, -0.12512615,  0.06167061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.62911598e-05, 5.43590901e-06,-1.28543321e-04,-2.04781402e-04,
 -2.40242906e-05,-8.18463198e-04,-2.66189210e-04,-3.60472022e-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,
  2.21311119e-05, 6.60458415e-06,-4.90505645e+00, 6.41990238e-03,
  2.20924446e-03, 9.37405937e-05]


--- Step 2069 ---
qpos:
[-0.01457329, 1.10956607,-0.02169734, 0.94037233, 0.00431983, 1.0965767 ,
 -0.02884482, 0.93309218, 0.01645996, 1.12829273,-0.02295126, 0.94149654,
  1.37337468,-0.00142374, 1.1650188 , 0.06310419,-0.03487297,-0.10360504,
  0.0793032 , 0.65153693,-0.01143462,-0.00398471, 0.75852027]

qacc:
[ 1.20416309e-01,-2.14217867e+00, 1.13996152e+01,-3.06380929e+01,
 -1.42208710e-01,-1.18404312e+01, 4.60232941e+01,-1.08329713e+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,
  3.40558584e+00, 2.88516104e+00,-8.10174053e-01, 1.70480814e+02,
  1.46323090e+02,-2.40586914e+00]

qfrc_actuator:
[ 2.61951476e-03, 9.69520827e-02, 9.89961709e-03, 1.01854842e-02,
 -2.60574640e-05, 9.91695304e-02, 1.01108340e-02, 1.52350031e-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([ 8.63636364, -0.71326425,  8.60685953, -0.71326425, 75.4124781 ,
        5.53384365,  8.60685953,  5.53384365,  9.09496213,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0036881976474128497
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.5051024e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.5051024e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06527801, -0.12517156,  0.06167386])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.04364065e-05, 5.21135253e-05, 3.57520039e-06,-8.81533513e-05,
 -3.57445869e-05,-4.66865057e-04,-1.73414246e-04,-3.28365925e-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,
  7.89997146e-05, 2.12042488e-04,-4.90514849e+00, 6.45152061e-03,
  2.18950736e-03, 1.65685288e-04]


--- Step 2070 ---
qpos:
[-0.01457763, 1.11085746,-0.02170637, 0.94053301, 0.00431973, 1.09792192,
 -0.02884964, 0.93334872, 0.0164618 , 1.12980719,-0.02296184, 0.94176039,
  1.3734485 ,-0.00142503, 1.16518713, 0.06310672,-0.03484853,-0.1035709 ,
  0.07929163, 0.65166247,-0.01176747,-0.00251807, 0.75841362]

qacc:
[ 2.56127633e-02,-7.60918108e+00, 2.81333201e+01,-5.24010099e+01,
  9.54686603e-03,-5.99298562e+00, 3.57844753e+01,-1.18662588e+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,
  3.00547448e+00, 2.57512274e+00,-1.76322846e+00, 1.53806998e+02,
  1.31694516e+02,-2.21268499e+00]

qfrc_actuator:
[ 2.61045164e-03, 9.68137160e-02, 9.90234006e-03, 1.00548350e-02,
 -3.73483848e-06, 9.94384485e-02, 1.00787933e-02, 1.48709239e-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([ 8.63636364, -1.20943312,  8.55126005, -1.20943312, 80.9737596 ,
       10.23091825,  8.55126005, 10.23091825, 10.0833564 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00360783993964172
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.92328208e-15,  1.92328208e-14,  1.00000000e+00,  3.69901396e-29,
        1.00000000e+00, -1.92328208e-14, -1.00000000e+00,  0.00000000e+00,
       -1.92328208e-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([-0.06539924, -0.12525125,  0.06167973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.30112930e-06,-1.29981329e-04, 6.39097934e-06,-1.29661646e-04,
  2.46739549e-06,-5.33209584e-05,-1.57703709e-04,-3.89456705e-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,
  3.10514897e-04, 6.01304615e-04,-4.90531673e+00, 6.48322493e-03,
  2.16596353e-03, 3.00449924e-04]


--- Step 2071 ---
qpos:
[-0.01458214, 1.11214604,-0.02171501, 0.94069005, 0.00431992, 1.09926921,
 -0.02885628, 0.93359735, 0.01646346, 1.13131774,-0.02296972, 0.94201849,
  1.37352218,-0.00142615, 1.16535583, 0.06310603,-0.0348418 ,-0.1035494 ,
  0.07928469, 0.65179522,-0.01209692,-0.00174126, 0.75829653]

qacc:
[-7.62277909e-02,-1.10407899e+01, 3.91027142e+01,-7.47649243e+01,
  1.29495454e-01,-5.94039593e+00, 3.91618025e+01,-1.27516330e+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,
 -4.42798790e+00,-3.16071333e+00, 1.15971982e+00,-2.60450382e+02,
 -2.25982893e+02,-1.01948294e+01]

qfrc_actuator:
[ 2.58896241e-03, 9.65521069e-02, 9.87165888e-03, 9.86038734e-03,
  2.74383995e-05, 9.97005789e-02, 1.00451592e-02, 1.44833431e-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: -0.0036971603813531345
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.50726849e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.50726849e-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([ 0.00209947, -0.0787682 ,  0.06167288])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.95897797e-05,-3.54588236e-04,-6.35126781e-05,-1.99784548e-04,
  3.25418240e-05, 1.69983423e-04,-7.83106386e-05,-4.01403283e-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,
  6.65517636e-04, 1.11712531e-03,-4.90554054e+00, 6.51423976e-03,
  2.13969296e-03, 4.79337233e-04]


--- Step 2072 ---
qpos:
[-0.01458701, 1.11343071,-0.02172341, 0.94084367, 0.00432011, 1.10061977,
 -0.02886459, 0.93384138, 0.01646512, 1.13282267,-0.02297599, 0.94227123,
  1.37359571,-0.00142684, 1.16552421, 0.06310568,-0.03485067,-0.10353926,
  0.07927734, 0.65193732,-0.01242592,-0.0015703 , 0.75816941]

qacc:
[-1.61557195e-01,-1.17228893e+01, 3.90737717e+01,-7.12651861e+01,
  3.05905385e-03, 8.69697392e-01, 1.19351711e+01,-6.60820193e+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,
 -3.90065752e+00,-2.83967219e+00,-1.02594127e-01,-2.29515867e+02,
 -1.97552128e+02,-1.04839372e+01]

qfrc_actuator:
[ 2.56022338e-03, 9.62896981e-02, 9.85648001e-03, 9.68309625e-03,
  1.03884754e-05, 9.99922998e-02, 1.00109725e-02, 1.42625967e-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, -8.5250508 , -1.38213084, -8.5250508 ,  9.26813845,
       -3.89681801, -1.38213084, -3.89681801, 32.6721282 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037738537035282987
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.67735183e-15,  2.94188146e-14,  1.00000000e+00, -1.08183332e-28,
        1.00000000e+00, -2.94188146e-14, -1.00000000e+00,  0.00000000e+00,
        3.67735183e-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([ 0.00198295, -0.07887221,  0.0616671 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.12973959e-05,-4.95339099e-04,-1.01949770e-04,-1.93027439e-04,
  1.03150801e-06, 3.38356882e-04,-2.64242641e-05,-2.25760049e-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,
  1.55257677e-04, 3.31742979e-04,-4.90521297e+00, 6.46823702e-03,
  2.16825966e-03, 2.33077533e-04]


--- Step 2073 ---
qpos:
[-0.01459208, 1.11471028,-0.02173056, 0.9409944 , 0.00432022, 1.10197506,
 -0.0288737 , 0.9340821 , 0.016467  , 1.13432156,-0.02298109, 0.94252012,
  1.37366916,-0.0014272 , 1.16569234, 0.06310626,-0.03487335,-0.10353937,
  0.07926519, 0.65208951,-0.01275665,-0.00193458, 0.75803218]

qacc:
[-8.48149327e-02,-1.50850952e+01, 4.70764886e+01,-7.14302477e+01,
 -3.99844810e-02, 2.71512454e+00, 5.58278625e+00,-4.65512779e+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,
 -3.45345791e+00,-2.56233278e+00,-1.20061348e+00,-2.03407526e+02,
 -1.73740679e+02,-1.04444812e+01]

qfrc_actuator:
[ 2.56289987e-03, 9.59935359e-02, 9.90384320e-03, 9.53507393e-03,
  7.45757324e-08, 1.00388516e-01, 1.00302824e-02, 1.41063065e-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, -8.53924182, -1.29155955, -8.53924182,  9.26022393,
       -4.1246986 , -1.29155955, -4.1246986 , 35.90711453,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003789115089208324
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.66254059e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.66254059e-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([ 0.00196223, -0.0789061 ,  0.06166587])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.20101999e-05,-6.14159420e-04,-7.10842669e-05,-1.68941583e-04,
 -9.71377285e-06, 5.51562179e-04, 7.11594767e-05,-1.50624299e-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,
  3.22310210e-05, 2.52427648e-05,-4.90507526e+00, 6.42679948e-03,
  2.19311620e-03, 1.38645730e-04]


--- Step 2074 ---
qpos:
[-0.01459692, 1.11598325,-0.02173585, 0.94114266, 0.00432055, 1.10333547,
 -0.02888233, 0.93431795, 0.01646913, 1.13581609,-0.02298674, 0.94276367,
  1.37374261,-0.00142734, 1.16586091, 0.06310305,-0.03490832,-0.10354876,
  0.07924443, 0.65225154,-0.01309072,-0.0027745 , 0.75788446]

qacc:
[ 1.02160905e-01,-1.80162427e+01, 5.34334707e+01,-7.12029621e+01,
  9.46592920e-02,-2.92576162e+00, 2.78108766e+01,-8.41305391e+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,
 -3.07232738e+00,-2.32102528e+00,-2.15304179e+00,-1.81311523e+02,
 -1.53736493e+02,-1.01784487e+01]

qfrc_actuator:
[ 2.60215333e-03, 9.55911205e-02, 9.96988351e-03, 9.40545492e-03,
  2.93997505e-05, 1.00720380e-01, 1.00815047e-02, 1.38649804e-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, -8.53952036, -1.28971658, -8.53952036,  9.3477573 ,
       -4.71030674, -1.28971658, -4.71030674, 39.82442524,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037545127718374635
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.10888858e-14, -1.47851811e-14,  1.00000000e+00, -1.63951185e-28,
        1.00000000e+00,  1.47851811e-14, -1.00000000e+00,  0.00000000e+00,
       -1.10888858e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00201768, -0.07888444,  0.06166825])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.53328462e-05,-7.79245495e-04,-7.13831046e-05,-1.52624874e-04,
  2.39692469e-05, 6.26581275e-04, 1.58165769e-04,-2.24605728e-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,
  1.78374544e-04, 5.17406788e-05,-4.90507049e+00, 6.38808463e-03,
  2.21610585e-03, 1.49402442e-04]


--- Step 2075 ---
qpos:
[-0.01460143, 1.11724887,-0.02174015, 0.94128905, 0.00432114, 1.1046989 ,
 -0.02888946, 0.93454855, 0.01647132, 1.13730715,-0.02299349, 0.94300106,
  1.37381609,-0.00142734, 1.16602962, 0.06309613,-0.03495315,-0.10357022,
  0.07922199, 0.65242934,-0.01335062,-0.00407478, 0.757721  ]

qacc:
[ 1.51281473e-01,-1.55527300e+01, 4.29605031e+01,-5.46096055e+01,
  1.22284797e-01,-9.09350929e+00, 4.54566860e+01,-1.02776676e+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,
 -2.46256022e+00,-3.01720552e+00,-4.18240968e-01,-1.50179751e+02,
 -1.78120422e+02,-1.42239025e+01]

qfrc_actuator:
[ 2.62750755e-03, 9.51639861e-02, 9.99274438e-03, 9.30536887e-03,
  4.67392805e-05, 1.00762824e-01, 1.01154017e-02, 1.35932549e-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([ 8.63636364, -8.49596433, -1.55092453, -8.49596433,  9.71291392,
       -5.89734228, -1.55092453, -5.89734228, 40.94200385,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0036797677210328437
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.64293658e-07,  1.50855042e-14,  1.00000000e+00, -3.98700307e-21,
        1.00000000e+00, -1.50855042e-14, -1.00000000e+00,  0.00000000e+00,
        2.64293658e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01009423, -0.08067957,  0.06167352])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.78899838e-05,-8.94702239e-04,-1.46363672e-04,-1.27657800e-04,
  3.07136726e-05, 3.93438361e-04, 1.63255047e-04,-2.51889851e-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,
  5.10802927e-04, 3.08882725e-04,-4.90515657e+00, 6.35121823e-03,
  2.23823928e-03, 2.32536135e-04]


--- Step 2076 ---
qpos:
[-0.01460577, 1.11850988,-0.02174522, 0.94143194, 0.00432181, 1.10606412,
 -0.02889552, 0.93477529, 0.01647335, 1.13879832,-0.023003  , 0.94323306,
  1.37388967,-0.0014275 , 1.16619795, 0.06308864,-0.03500534,-0.10359264,
  0.07920642, 0.65262534,-0.01360651,-0.00459322, 0.75754468]

qacc:
[ 7.43619210e-02,-1.00662976e+01, 3.27146875e+01,-6.62309960e+01,
  3.73921050e-02,-7.15817643e+00, 3.42185953e+01,-7.57809464e+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,
 -1.84192624e+00,-2.39208474e-01, 1.71602997e+00, 2.97610264e+02,
  2.53651022e+02,-5.88182131e+00]

qfrc_actuator:
[ 2.62656930e-03, 9.50982164e-02, 1.00075928e-02, 9.13462743e-03,
  3.89901696e-05, 1.00773678e-01, 1.01376920e-02, 1.33943922e-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, -1.12119816,  8.56327575, -1.12119816,  4.08982198,
       -0.5952832 ,  8.56327575, -0.5952832 ,  8.55842262,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005026832158123842
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.59769057, -0.29884529,  0.74394723, -0.1871704 ,  0.95430157,
        0.23297155, -0.77957246,  0.        , -0.62631205])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06527142, -0.12503933,  0.0616688 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.86312618e-05,-6.10965885e-04,-1.84720748e-04,-2.03390252e-04,
  9.36610186e-06, 2.33022283e-04, 1.05773069e-04,-1.86551878e-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,
  9.38545355e-04, 7.97890033e-04,-4.90529664e+00, 6.30164218e-03,
  2.26055331e-03, 3.89592908e-04]


--- Step 2077 ---
qpos:
[-0.01460971, 1.11977036,-0.02175149, 0.94156997, 0.00432265, 1.10743031,
 -0.02890113, 0.93499838, 0.01647515, 1.14029571,-0.02301681, 0.94345972,
  1.37396332,-0.0014278 , 1.16636642, 0.0630779 ,-0.03506168,-0.10361432,
  0.07919294, 0.65283805,-0.01385873,-0.00443377, 0.75735775]

qacc:
[ 1.78353399e-01,-5.85617242e+00, 2.82283072e+01,-8.06302915e+01,
  7.16660892e-02,-6.22236812e+00, 2.94942971e+01,-6.90127482e+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,
 -1.03758710e+00, 1.84468850e-01, 5.23074455e-01, 2.58052742e+02,
  2.19928876e+02,-5.18909619e+00]

qfrc_actuator:
[ 2.66314961e-03, 9.53737416e-02, 1.00544915e-02, 8.90611582e-03,
  5.17734973e-05, 1.00765614e-01, 1.01350941e-02, 1.32044365e-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,  4.713264  , -7.23684457,  4.713264  ,  6.97686467,
       -1.08081038, -7.23684457, -1.08081038,  7.9324457 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005052815718898849
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.58827092, -0.29413546,  0.75327395, -0.18103987,  0.95576374,
        0.23181941, -0.78813824,  0.        , -0.61549827])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06521946, -0.12497053,  0.0616637 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.54171984e-05,-1.22399699e-04,-1.03759242e-04,-2.55566832e-04,
  1.80141314e-05, 1.16106879e-04, 4.48609034e-05,-1.82666771e-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,
  2.42634289e-04, 1.38573382e-04,-4.90507117e+00, 6.37330369e-03,
  2.23222096e-03, 1.74963902e-04]


--- Step 2078 ---
qpos:
[-0.01461355, 1.1210318 ,-0.0217591 , 0.94170339, 0.00432364, 1.10879476,
 -0.02890549, 0.93521699, 0.01647706, 1.1418024 ,-0.02303257, 0.94368166,
  1.37403688,-0.00142793, 1.16653442, 0.06306789,-0.03511947,-0.10363388,
  0.07917739, 0.65306494,-0.01410778,-0.00368384, 0.75716153]

qacc:
[ 4.53859278e-02,-3.10360071e+00, 2.11284383e+01,-7.25084051e+01,
  6.96853204e-02,-1.33302816e+01, 5.00689430e+01,-9.45678877e+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,
 -3.62850247e-01, 5.31332469e-01,-5.17707047e-01, 2.24717107e+02,
  1.91637258e+02,-4.31273416e+00]

qfrc_actuator:
[ 2.65092982e-03, 9.55500145e-02, 1.00326086e-02, 8.68120656e-03,
  5.90139624e-05, 1.00515512e-01, 1.01355111e-02, 1.29679239e-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([ 8.63636364,  4.46397038, -7.39322293,  4.46397038,  6.58847076,
       -1.23650176, -7.39322293, -1.23650176,  7.88977351,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005013822448493394
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.58108732, -0.29054366,  0.76021175, -0.17644267,  0.95686174,
        0.23083241, -0.79448443,  0.        , -0.60728452])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06527359, -0.12497684,  0.0616631 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16552898e-05, 6.29233067e-05,-6.92999264e-05,-2.36196625e-04,
  1.72809815e-05,-2.02391978e-04, 1.81681590e-05,-2.34453840e-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,
  6.23361820e-05, 4.07188991e-05,-4.90507388e+00, 6.44643074e-03,
  2.19478954e-03, 1.48031719e-04]


--- Step 2079 ---
qpos:
[-0.01461802, 1.12229284,-0.02176755, 0.94183492, 0.00432459, 1.11015472,
 -0.02890874, 0.93543171, 0.01647903, 1.14331891,-0.02304793, 0.94390154,
  1.37411049,-0.00142816, 1.16670179, 0.0630618 ,-0.0351535 ,-0.10366321,
  0.07917429, 0.65331895,-0.01381319,-0.00302485, 0.75695072]

qacc:
[-2.81489294e-01,-1.53519956e+00, 8.21611889e+00,-2.87488384e+01,
 -1.51821229e-02,-1.55613583e+01, 5.17940684e+01,-8.76779025e+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,
  5.94149543e+00,-2.44300061e+00, 3.11262980e+00, 1.43248975e+02,
 -2.35357482e+02,-1.66778699e+01]

qfrc_actuator:
[ 2.57406214e-03, 9.54701612e-02, 9.97006623e-03, 8.58442338e-03,
  4.51185085e-05, 1.00104755e-01, 1.01190005e-02, 1.27590044e-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([ 8.63636364,  4.93705578, -7.08606076,  4.93705578, 16.15881241,
        5.24109946, -7.08606076,  5.24109946, 12.28798353,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038085474974483835
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.10963288e-15,  2.91508252e-14,  1.00000000e+00,  2.65553316e-28,
        1.00000000e+00, -2.91508252e-14, -1.00000000e+00,  0.00000000e+00,
       -9.10963288e-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([-0.05912157, -0.08837477,  0.06166306])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.18699028e-05,-8.33290660e-05,-6.92079097e-05,-1.01071618e-04,
 -4.28123157e-06,-5.45997417e-04,-6.56652031e-05,-2.18459629e-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,
  2.25900368e-04, 3.13271663e-04,-4.90522599e+00, 6.51793859e-03,
  2.15205678e-03, 2.45854773e-04]


--- Step 2080 ---
qpos:
[-0.01462294, 1.12355024,-0.02177543, 0.94196624, 0.00432544, 1.11150773,
 -0.02891118, 0.93564218, 0.01648054, 1.1448423 ,-0.02306203, 0.94411955,
  1.37418411,-0.0014285 , 1.16686927, 0.06305623,-0.03516728,-0.10370154,
  0.07917788, 0.65359288,-0.01303284,-0.00244135, 0.75673016]

qacc:
[-1.95496814e-01,-6.70384061e+00, 1.65570070e+01,-1.46576562e+01,
 -4.16642001e-02,-1.86425690e+01, 5.86489667e+01,-9.61146608e+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,
  5.06316016e+00,-2.25264051e+00, 1.67098827e+00, 1.30234100e+02,
 -2.08406040e+02,-1.19818205e+01]

qfrc_actuator:
[ 2.56561415e-03, 9.51133620e-02, 9.93642591e-03, 8.56363301e-03,
  3.64230954e-05, 9.95832985e-02, 1.00919817e-02, 1.25323532e-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, -4.62391727,  7.29425568, -4.62391727, 16.81963157,
        5.18747294,  7.29425568,  5.18747294, 11.92476574,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037847262618296434
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.83339386e-15,  1.46671509e-14,  1.00000000e+00,  2.68906645e-29,
        1.00000000e+00, -1.46671509e-14, -1.00000000e+00,  0.00000000e+00,
       -1.83339386e-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([-0.05919355, -0.08838366,  0.06166474])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.02450811e-05,-4.37021645e-04,-6.48824630e-05,-2.63090503e-05,
 -1.11196400e-05,-8.62622442e-04,-1.52491258e-04,-2.48657451e-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,
  4.11429563e-04, 1.43563770e-04,-4.90509114e+00, 6.43250760e-03,
  2.12326285e-03, 2.01993341e-04]


--- Step 2081 ---
qpos:
[-0.01462767, 1.12480141,-0.02178231, 0.9420955 , 0.00432619, 1.11285263,
 -0.02891297, 0.9358481 , 0.01648169, 1.14636812,-0.02307434, 0.94433224,
  1.37425781,-0.00142917, 1.16703658, 0.06305262,-0.03518872,-0.10374449,
  0.07917838, 0.65386643,-0.01224267,-0.00249881, 0.75650682]

qacc:
[ 8.29187681e-02,-1.44715358e+01, 4.15858223e+01,-5.63280890e+01,
 -4.39111438e-02,-2.01824526e+01, 6.24915971e+01,-1.02280757e+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,
 -1.91740910e+00,-1.15182470e+00,-7.70058040e-01,-2.39316365e+02,
 -2.13165423e+02,-4.94722052e+00]

qfrc_actuator:
[ 2.61603240e-03, 9.46292886e-02, 9.91904712e-03, 8.44550095e-03,
  3.09224874e-05, 9.91062038e-02, 1.00940030e-02, 1.22969699e-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([  8.63636364,   8.13750114,   2.89272398,   8.13750114,
        13.17843992, -12.7772823 ,   2.89272398, -12.7772823 ,
        44.58004505,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003779805841051198
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.46862441e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.46862441e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0017736 , -0.07922999,  0.06166513])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.07054648e-05,-7.56728326e-04,-1.15051111e-04,-1.32353101e-04,
 -1.17619568e-05,-1.01121421e-03,-1.96180039e-04,-2.70197423e-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,
  6.26326056e-04,-6.75010601e-05,-4.90505598e+00, 6.34533247e-03,
  2.09853357e-03, 8.40950116e-05]


--- Step 2082 ---
qpos:
[-0.01463218, 1.12604571,-0.02178885, 0.94222142, 0.0043267 , 1.11418831,
 -0.02891391, 0.93604971, 0.01648255, 1.14789261,-0.02308415, 0.94454047,
  1.37433169,-0.00143059, 1.16720366, 0.06305193,-0.03521771,-0.10379234,
  0.07917195, 0.65414175,-0.01144649,-0.00311937, 0.75627893]

qacc:
[ 9.70147246e-02,-1.57081648e+01, 4.72228635e+01,-7.55551334e+01,
 -1.07344326e-01,-2.17613314e+01, 6.53527300e+01,-1.01136190e+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,
 -1.88777681e+00,-1.22518977e+00,-1.73362215e+00,-2.11027075e+02,
 -1.86333927e+02,-5.61920233e+00]

qfrc_actuator:
[ 2.63031282e-03, 9.42326764e-02, 9.91077136e-03, 8.27090023e-03,
  9.63035118e-06, 9.85886430e-02, 1.01132993e-02, 1.20761037e-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([ 8.63636364, -7.48538885,  4.30763631, -7.48538885,  9.59031624,
        1.65768548,  4.30763631,  1.65768548, 11.51692725,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003795544354275829
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.65633662e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.65633662e-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([ 0.00172481, -0.07929569,  0.06166396])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.43267504e-05,-8.58982465e-04,-1.77273680e-04,-2.02307944e-04,
 -2.79252580e-05,-1.14293175e-03,-2.13560541e-04,-2.61948034e-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,
  1.28515979e-04,-9.11244075e-05,-4.90493826e+00, 6.25684117e-03,
  2.14865851e-03, 4.20145631e-05]


--- Step 2083 ---
qpos:
[-0.01463665, 1.12728384,-0.02179542, 0.94234357, 0.00432696, 1.11551346,
 -0.02891433, 0.93624832, 0.01648321, 1.14941291,-0.02309221, 0.94474559,
  1.37440545,-0.00143206, 1.16737067, 0.06305372,-0.03525406,-0.10384522,
  0.0791552 , 0.65441963,-0.01064718,-0.00423766, 0.75604473]

qacc:
[ 1.96389221e-02,-1.45478246e+01, 4.54372055e+01,-7.95499148e+01,
 -1.09364704e-01,-2.04096630e+01, 5.61627383e+01,-7.72774836e+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,
 -1.83649624e+00,-1.26055121e+00,-2.57986258e+00,-1.87177767e+02,
 -1.63940073e+02,-5.87796623e+00]

qfrc_actuator:
[ 2.62280568e-03, 9.39804261e-02, 9.92597206e-03, 8.08226570e-03,
 -3.20072771e-06, 9.79801468e-02, 1.01069954e-02, 1.19187755e-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([ 8.63636364, -7.40155862,  4.4501356 , -7.40155862,  9.95385022,
        2.19127125,  4.4501356 ,  2.19127125, 12.28093181,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00376095813299597
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.84498036e-14,  7.37992145e-15,  1.00000000e+00,  1.36158102e-28,
        1.00000000e+00, -7.37992145e-15, -1.00000000e+00,  0.00000000e+00,
       -1.84498036e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00175897, -0.07929909,  0.06166643])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.58171978e-06,-7.85320500e-04,-1.82907658e-04,-2.22850969e-04,
 -2.84995984e-05,-1.30970542e-03,-2.66629415e-04,-2.02705466e-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,
 -3.00060686e-05, 2.18504116e-04,-4.90496359e+00, 6.18011471e-03,
  2.19118639e-03, 1.08982816e-04]


--- Step 2084 ---
qpos:
[-0.01464114, 1.12851783,-0.02180281, 0.94246273, 0.00432701, 1.11682795,
 -0.02891531, 0.93644428, 0.01648389, 1.15092753,-0.02309924, 0.94494796,
  1.37447894,-0.00143297, 1.16753781, 0.06305633,-0.03530089,-0.10388442,
  0.07913155, 0.65462295,-0.0104686 ,-0.00536164, 0.75586404]

qacc:
[-5.68547787e-03,-8.41878138e+00, 2.70151076e+01,-5.55242746e+01,
 -9.05331168e-02,-1.70247370e+01, 4.41351400e+01,-6.23851869e+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,
 -2.62215230e+00, 3.42230835e+00,-1.72571122e+00,-2.05546325e+02,
  2.32348694e+02, 4.69749304e+01]

qfrc_actuator:
[ 2.62006613e-03, 9.39233610e-02, 9.93774701e-03, 7.94024441e-03,
 -1.08525708e-05, 9.74286099e-02, 1.00675632e-02, 1.17822482e-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([ 8.63636364, -0.91014278, -8.58827206, -0.91014278, 83.30620913,
       -7.91314253, -8.58827206, -7.91314253,  9.47495951,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003827555005344832
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.45030316e-14,  7.25151580e-15,  1.00000000e+00,  1.05168963e-28,
        1.00000000e+00, -7.25151580e-15, -1.00000000e+00,  0.00000000e+00,
       -1.45030316e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00858004, -0.12646865,  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:
[-1.70818531e-06,-5.50978544e-04,-1.73142389e-04,-1.74683774e-04,
 -2.36608845e-05,-1.35339450e-03,-3.36643150e-04,-1.87124986e-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,
  4.91307416e-05, 7.49404896e-04,-4.90508364e+00, 6.11217775e-03,
  2.22866734e-03, 2.48190632e-04]


--- Step 2085 ---
qpos:
[-0.0146455 , 1.1297524 ,-0.02181237, 0.94257963, 0.00432675, 1.11813249,
 -0.02891652, 0.936636  , 0.01648483, 1.15243933,-0.0231067 , 0.9451472 ,
  1.37455239,-0.0014337 , 1.16770535, 0.0630567 ,-0.03532569,-0.10390827,
  0.07912114, 0.65482232,-0.01030736,-0.0058349 , 0.75569004]

qacc:
[ 5.94762881e-02, 2.69089480e+00,-3.22667698e+00,-2.38219675e+01,
 -1.37204725e-01,-1.97441688e+01, 5.74832814e+01,-9.31794136e+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,
  5.50668748e+00, 3.83843590e+00, 3.31093902e+00, 2.40253356e+02,
  2.19492779e+02, 7.13721127e+00]

qfrc_actuator:
[ 2.63797873e-03, 9.42856424e-02, 9.94825389e-03, 7.84465910e-03,
 -3.30925546e-05, 9.70043514e-02, 1.00801343e-02, 1.15702708e-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: -0.0038813080941331735
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.25144039e-14,  7.15108797e-15,  1.00000000e+00,  8.94916035e-29,
        1.00000000e+00, -7.15108797e-15, -1.00000000e+00,  0.00000000e+00,
       -1.25144039e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06556378, -0.12492511,  0.06165705])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.54397082e-05, 1.46062266e-06,-1.26024619e-04,-1.19847735e-04,
 -3.55558056e-05,-1.26331112e-03,-3.00648356e-04,-2.65591094e-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,
  3.99494057e-04, 7.04806111e-04,-4.90514148e+00, 6.25540752e-03,
  2.25191320e-03, 3.08978062e-04]


--- Step 2086 ---
qpos:
[-0.01464952, 1.1309925 ,-0.02182382, 0.94269334, 0.0043262 , 1.11942824,
 -0.02891765, 0.9368236 , 0.01648621, 1.15395299,-0.02311643, 0.94534141,
  1.37462593,-0.00143458, 1.16787266, 0.06305765,-0.03533156,-0.1039186 ,
  0.07911778, 0.65502105,-0.01015838,-0.00573428, 0.75552058]

qacc:
[ 1.43662510e-01, 6.84442889e+00,-7.05962955e+00,-3.42181341e+01,
 -1.27295077e-01,-1.88011853e+01, 5.59793514e+01,-9.11505382e+01,
  1.93592892e-01,-1.17877169e-01, 1.35971121e+01,-7.11342148e+01,
  2.21696560e-01,-3.56258421e-01,-2.06343370e+00, 6.69370677e+00,
  4.73297892e+00, 3.37752275e+00, 1.76273059e+00, 2.12828560e+02,
  1.92504104e+02, 4.71802962e+00]

qfrc_actuator:
[ 2.66813891e-03, 9.49497264e-02, 9.99518744e-03, 7.70640439e-03,
 -4.61453539e-05, 9.66777653e-02, 1.01237986e-02, 1.13689459e-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([  8.63636364,   3.76338823,   7.77326739,   3.76338823,
        31.20858203, -10.92822579,   7.77326739, -10.92822579,
        13.92720908,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003929384110107653
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.58930874e-14,  2.47225804e-14,  1.00000000e+00, -3.92918132e-28,
        1.00000000e+00, -2.47225804e-14, -1.00000000e+00,  0.00000000e+00,
        1.58930874e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06552339, -0.12486925,  0.06165339])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.73615748e-05, 6.19751602e-04, 2.54219685e-05,-1.43365175e-04,
 -3.30177270e-05,-1.11093763e-03,-2.50078605e-04,-2.52983439e-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,
  6.78648425e-05, 1.52848700e-04,-4.90498916e+00, 6.32541052e-03,
  2.22321841e-03, 1.34919329e-04]


--- Step 2087 ---
qpos:
[-0.01465352, 1.13224018,-0.02183639, 0.94280465, 0.00432573, 1.12071739,
 -0.02891965, 0.93700651, 0.01648771, 1.15546801,-0.02312528, 0.94553014,
  1.37469943,-0.00143532, 1.1680397 , 0.06306031,-0.03532105,-0.10391697,
  0.07911614, 0.65522089,-0.01001777,-0.0051245 , 0.75535354]

qacc:
[ 1.19008032e-02, 8.84542322e+00,-1.19277127e+01,-2.21949154e+01,
  3.90671981e-02,-1.43841954e+01, 4.62106942e+01,-9.05731698e+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,
  4.09516582e+00, 2.99134814e+00, 4.28809733e-01, 1.89612171e+02,
  1.69904046e+02, 2.98504227e+00]

qfrc_actuator:
[ 2.65214475e-03, 9.55234240e-02, 1.00113071e-02, 7.59763179e-03,
 -1.80783197e-05, 9.65013699e-02, 1.01326590e-02, 1.11400821e-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([  8.63636364,   3.76156511,   7.77414978,   3.76156511,
        33.88351309, -12.21597208,   7.77414978, -12.21597208,
        14.54712889,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003920902600332066
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.76971851e-15,  1.76971851e-14,  1.00000000e+00,  3.13190360e-29,
        1.00000000e+00, -1.76971851e-14, -1.00000000e+00,  0.00000000e+00,
       -1.76971851e-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([-0.0655571 , -0.12487027,  0.06165395])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.57051122e-06, 9.00256323e-04, 1.32055337e-04,-9.15174134e-05,
  9.52297546e-06,-8.65971461e-04,-2.48870544e-04,-2.74152388e-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,
  5.86813112e-05, 1.02518893e-05,-4.90498751e+00, 6.38427307e-03,
  2.19375284e-03, 9.55180238e-05]


--- Step 2088 ---
qpos:
[-0.01465758, 1.13349397,-0.02184843, 0.94291523, 0.00432546, 1.12200192,
 -0.02892268, 0.93718545, 0.01648904, 1.15698072,-0.02313086, 0.94571403,
  1.37477281,-0.00143569, 1.16820663, 0.06306436,-0.03532445,-0.10390133,
  0.07910633, 0.65536133,-0.01044155,-0.00451264, 0.75522986]

qacc:
[-3.00560695e-02, 5.34191622e+00,-6.26749902e+00,-6.73013051e+00,
  8.83293190e-02,-1.00561558e+01, 3.37227895e+01,-7.25513712e+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,
 -3.47840207e+00, 3.50329759e+00,-2.04226611e+00,-1.84296401e+02,
  2.13470814e+02, 3.80957623e+01]

qfrc_actuator:
[ 2.64412892e-03, 9.57900839e-02, 1.00266845e-02, 7.56029870e-03,
 -1.10305566e-06, 9.64341624e-02, 1.01392883e-02, 1.09501650e-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,  8.61013585,  0.67256045,  8.61013585,  8.95559938,
       -4.08686407,  0.67256045, -4.08686407, 60.95650072,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003915163073857128
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.83570059e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.83570059e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00829051, -0.12649575,  0.06165432])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.42345446e-06, 7.70742047e-04, 1.99825532e-04,-7.36303377e-06,
  2.22447769e-05,-6.21506438e-04,-2.03597381e-04,-2.28278006e-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,
  2.76269095e-04, 1.52040527e-04,-4.90509109e+00, 6.43556882e-03,
  2.16319978e-03, 1.50443432e-04]


--- Step 2089 ---
qpos:
[-0.01466157, 1.13475118,-0.02185843, 0.94302435, 0.00432524, 1.12328152,
 -0.02892551, 0.93736106, 0.01649015, 1.15848803,-0.02313437, 0.9458928 ,
  1.37484633,-0.00143629, 1.16837437, 0.06306252,-0.03534035,-0.10387353,
  0.07908475, 0.65545177,-0.01136624,-0.00389557, 0.75514145]

qacc:
[ 3.48435624e-02,-3.55968161e+00, 2.00595408e+01,-3.66399283e+01,
  2.04329985e-02,-1.27562116e+01, 4.07393530e+01,-7.11501188e+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,
 -3.12420800e+00, 3.04061077e+00,-2.94219159e+00,-1.62354670e+02,
  1.90563447e+02, 3.15956427e+01]

qfrc_actuator:
[ 2.65873663e-03, 9.58177027e-02, 1.00759145e-02, 7.47634620e-03,
 -8.68092566e-06, 9.62200957e-02, 1.01628568e-02, 1.07847685e-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([ 8.63636364, -7.06787597,  4.96305411, -7.06787597, 11.7557217 ,
        4.44227191,  4.96305411,  4.44227191, 14.96259466,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003892887414207652
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42596344e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.42596344e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00831292, -0.12654345,  0.06165578])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.00489340e-06, 4.75823148e-04, 2.18552845e-04,-5.38973053e-05,
  4.83328396e-06,-6.22724051e-04,-1.32258807e-04,-1.93997784e-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,
  7.34089668e-05, 2.16326611e-04,-4.90518827e+00, 6.47310207e-03,
  2.19113728e-03, 1.50548155e-04]


--- Step 2090 ---
qpos:
[-0.01466574, 1.13601037,-0.02186745, 0.94313114, 0.00432531, 1.12455584,
 -0.02892855, 0.93753374, 0.01649104, 1.15998792,-0.02313717, 0.94606718,
  1.37491994,-0.0014371 , 1.16854226, 0.06305594,-0.03536751,-0.10383511,
  0.07904828, 0.65549946,-0.01273776,-0.00327113, 0.75508113]

qacc:
[-8.36018478e-02,-4.10176437e+00, 2.12694058e+01,-4.67624715e+01,
  1.33277798e-01,-1.13748280e+01, 3.48036644e+01,-6.09261342e+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,
 -2.81323376e+00, 2.65278144e+00,-3.72340044e+00,-1.43846898e+02,
  1.70882591e+02, 2.62622840e+01]

qfrc_actuator:
[ 2.63354298e-03, 9.57908966e-02, 1.00727204e-02, 7.34770205e-03,
  2.23417547e-05, 9.59378242e-02, 1.01424984e-02, 1.06350417e-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, -7.17952593,  4.80012336, -7.17952593, 11.8238562 ,
        4.7675203 ,  4.80012336,  4.7675203 , 15.7671253 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038246663300949696
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.45139854e-14,  1.45139854e-14,  1.00000000e+00, -2.10655772e-28,
        1.00000000e+00, -1.45139854e-14, -1.00000000e+00,  0.00000000e+00,
        1.45139854e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00842082, -0.12663071,  0.06166046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.15764343e-05, 2.60532120e-04, 1.09225242e-04,-1.07915232e-04,
  3.36872424e-05,-6.76463488e-04,-1.67247251e-04,-1.75475946e-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,
 -6.25430291e-06, 1.79606558e-04,-4.90533751e+00, 6.48159212e-03,
  2.20424273e-03, 7.37760147e-05]


--- Step 2091 ---
qpos:
[-0.0146703 , 1.1372697 ,-0.0218755 , 0.94323541, 0.00432571, 1.12582526,
 -0.02893177, 0.93770398, 0.01649208, 1.16148102,-0.02314022, 0.94623813,
  1.37499356,-0.00143804, 1.16870921, 0.06305253,-0.03539363,-0.10381677,
  0.0790425 , 0.65555976,-0.01367138,-0.00311172, 0.75501312]

qacc:
[-1.72569167e-01,-6.78968236e+00, 2.75495882e+01,-5.33522934e+01,
  1.46905316e-01,-1.01481675e+01, 3.04273044e+01,-5.19179048e+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,
  2.58018572e-01,-5.01939564e+00, 7.67565782e+00,-3.19735124e+01,
 -3.17673692e+02,-1.09612055e+01]

qfrc_actuator:
[ 2.60245673e-03, 9.56782698e-02, 1.00738231e-02, 7.21144417e-03,
  4.07487356e-05, 9.57412241e-02, 1.01493789e-02, 1.05133890e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038453670886644253
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.44358523e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.44358523e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03380994, -0.08468888,  0.06165838])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.46922078e-05, 3.26301383e-05, 5.73865123e-05,-1.26415986e-04,
  3.72370349e-05,-6.26680624e-04,-1.53929229e-04,-1.49621187e-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,
  2.17049053e-07, 7.30458700e-05,-4.90552384e+00, 6.47220607e-03,
  2.20734946e-03,-5.40099914e-05]


--- Step 2092 ---
qpos:
[-0.01467509, 1.13852654,-0.02188228, 0.94333851, 0.00432639, 1.12709029,
 -0.02893436, 0.93787102, 0.01649321, 1.16296984,-0.02314422, 0.94640622,
  1.37506725,-0.00143932, 1.1688761 , 0.06304924,-0.03540368,-0.1038118 ,
  0.07905316, 0.65560961,-0.01399593,-0.00299767, 0.75496435]

qacc:
[-9.74870563e-02,-8.74042787e+00, 2.69602183e+01,-3.53912958e+01,
  1.24597611e-01,-1.29498426e+01, 4.19308625e+01,-7.08384799e+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,
  4.01817236e+00,-3.34149985e+00, 4.10734098e+00, 1.82471157e+02,
 -2.44936759e+02, 8.99218442e+00]

qfrc_actuator:
[ 2.60361703e-03, 9.53909188e-02, 1.00771283e-02, 7.14275450e-03,
  5.14366750e-05, 9.55977633e-02, 1.02081671e-02, 1.03560242e-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([ 8.63636364, -8.61120264, -0.65876086, -8.61120264,  8.67853188,
       -0.55121566, -0.65876086, -0.55121566, 15.84175493,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003907583315439653
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.87875362e-15,  1.42060058e-14,  1.00000000e+00,  1.26131625e-28,
        1.00000000e+00, -1.42060058e-14, -1.00000000e+00,  0.00000000e+00,
       -8.87875362e-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([-0.05917721, -0.08848629,  0.06165373])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.54787402e-05,-2.78805852e-04, 8.59267846e-06,-6.75985302e-05,
  3.15200127e-05,-5.42479699e-04,-8.99616982e-05,-1.82843717e-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,
  1.03288132e-04,-8.90435079e-05,-4.90523125e+00, 6.44140057e-03,
  2.20499549e-03, 2.91387351e-05]


--- Step 2093 ---
qpos:
[-0.01467983, 1.13977845,-0.02188775, 0.94344128, 0.00432743, 1.1283507 ,
 -0.02893705, 0.93803461, 0.01649439, 1.16445673,-0.02315009, 0.94657023,
  1.37514078,-0.00144034, 1.16904318, 0.06304397,-0.03539949,-0.10381871,
  0.07907398, 0.65565015,-0.01378082,-0.00292353, 0.75493339]

qacc:
[ 1.95491709e-02,-1.05912168e+01, 2.74427070e+01,-2.47880707e+01,
  1.62756330e-01,-1.16970524e+01, 3.79910402e+01,-7.01859271e+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,
  3.56023976e+00,-2.97181332e+00, 2.54033145e+00, 1.61801992e+02,
 -2.16937120e+02, 8.26450580e+00]

qfrc_actuator:
[ 2.62411308e-03, 9.49835512e-02, 1.00810508e-02, 7.11425087e-03,
  7.51652045e-05, 9.53456054e-02, 1.01908352e-02, 1.01789514e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003917807873838615
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.77111643e-15,  1.41689315e-14,  1.00000000e+00, -2.50948273e-29,
        1.00000000e+00, -1.41689315e-14, -1.00000000e+00,  0.00000000e+00,
        1.77111643e-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([-0.05917027, -0.08849345,  0.06165314])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.65476802e-06,-5.78773071e-04,-5.54791219e-05,-3.67711581e-05,
  4.13696851e-05,-5.92964007e-04,-1.43263627e-04,-1.98905857e-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,
  9.30910123e-06, 4.57906120e-07,-4.90503952e+00, 6.40692178e-03,
  2.19017082e-03, 1.47320809e-04]


--- Step 2094 ---
qpos:
[-0.01468429, 1.14102644,-0.02189272, 0.94354117, 0.00432879, 1.12960863,
 -0.02894145, 0.93819405, 0.01649576, 1.16594396,-0.02315833, 0.94673078,
  1.37521438,-0.00144162, 1.16920976, 0.06304118,-0.03538259,-0.10383628,
  0.07909959, 0.65568196,-0.01308421,-0.00288471, 0.7549183 ]

qacc:
[ 1.28831449e-01,-1.14929838e+01, 3.71882007e+01,-6.33976079e+01,
  1.43729770e-01,-5.78586839e+00, 2.35741114e+01,-6.73699040e+01,
  8.19088087e-02, 8.13847216e-01, 4.91703061e+00,-4.45318239e+01,
  4.32819629e-01,-7.06718458e-01,-8.25376311e+00, 2.76949862e+01,
  3.17716887e+00,-2.66345161e+00, 1.19662327e+00, 1.44479448e+02,
 -1.93454226e+02, 7.55207451e+00]

qfrc_actuator:
[ 2.65603610e-03, 9.48449166e-02, 1.01203166e-02, 6.96748200e-03,
  8.87683073e-05, 9.53497633e-02, 1.01460667e-02, 9.97382973e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003881606979465338
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.78763433e-15,  2.86021493e-14,  1.00000000e+00,  5.11301841e-29,
        1.00000000e+00, -2.86021493e-14, -1.00000000e+00,  0.00000000e+00,
       -1.78763433e-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([-0.05921667, -0.08846858,  0.06165611])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.30468327e-05,-4.87445099e-04,-8.51394091e-05,-1.65151347e-04,
  3.67756301e-05,-3.75388175e-04,-1.87094851e-04,-2.30414020e-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,
  2.23972516e-05,-1.00329343e-05,-4.90500378e+00, 6.38888623e-03,
  2.18526905e-03, 1.50482052e-04]


--- Step 2095 ---
qpos:
[-0.01468857, 1.14227299,-0.0218983 , 0.94363699, 0.00433024, 1.13086796,
 -0.02894835, 0.93834915, 0.01649718, 1.1674333 ,-0.0231681 , 0.94688863,
  1.37528792,-0.00144287, 1.16937595, 0.06304201,-0.03536501,-0.10386909,
  0.07913677, 0.65572294,-0.01207457,-0.00317841, 0.75489835]

qacc:
[ 7.81836604e-02,-7.27009946e+00, 2.97511724e+01,-7.20300299e+01,
  3.92790409e-02, 1.15048197e+00, 7.42469103e+00,-5.76704578e+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,
  1.68699522e-01,-3.81153099e+00, 2.89367371e+00,-2.28362880e+01,
 -2.27120519e+02,-7.68103752e+00]

qfrc_actuator:
[ 2.65904627e-03, 9.49394968e-02, 1.01455695e-02, 6.77018767e-03,
  7.84388969e-05, 9.57027018e-02, 1.01219916e-02, 9.77173016e-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: -0.0038177085172533265
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.45404373e-14,  1.45404373e-14,  1.00000000e+00,  2.11424316e-28,
        1.00000000e+00, -1.45404373e-14, -1.00000000e+00,  0.00000000e+00,
       -1.45404373e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03381451, -0.08467751,  0.06166118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.01586844e-05,-2.13283494e-04,-8.84384317e-05,-2.16805295e-04,
  1.02903140e-05, 8.43132422e-05,-1.29715883e-04,-2.22857969e-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,
  1.10830074e-04,-9.06739911e-05,-4.90507890e+00, 6.38281573e-03,
  2.18788191e-03, 7.13751979e-05]


--- Step 2096 ---
qpos:
[-0.01469288, 1.1435194 ,-0.02190475, 0.94373136, 0.00433153, 1.13212922,
 -0.02895685, 0.93850159, 0.01649874, 1.16892625,-0.02317887, 0.94704257,
  1.37536116,-0.00144328, 1.16954211, 0.06304507,-0.03535897,-0.10391144,
  0.07916448, 0.65577919,-0.01107741,-0.00393167, 0.75486123]

qacc:
[-1.71758911e-02,-4.00214535e-01, 4.05471448e+00,-2.03597675e+01,
 -7.39132386e-02, 2.30852766e+00, 1.05976822e+00,-3.31586942e+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,
 -2.88435917e+00,-2.38249261e+00,-2.36748499e+00,-1.77484692e+02,
 -1.45832972e+02,-1.41502945e+01]

qfrc_actuator:
[ 2.64470607e-03, 9.50488132e-02, 1.01455646e-02, 6.70467680e-03,
  5.38536455e-05, 9.58892182e-02, 1.00762989e-02, 9.64428401e-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,  8.35968036,  2.16852972,  8.35968036, 10.15663206,
       -5.86063359,  2.16852972, -5.86063359, 31.22910149,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003769828729029867
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.47251123e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.47251123e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00170748, -0.07956001,  0.06166527])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.42774071e-06,-4.90389781e-05,-6.19787892e-05,-7.81416529e-05,
 -1.87983679e-05, 1.83719850e-04,-5.45932137e-05,-1.32502224e-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,
  3.60918047e-05,-6.81213543e-05,-4.90518457e+00, 6.37170777e-03,
  2.19288848e-03, 3.31866082e-07]


--- Step 2097 ---
qpos:
[-0.0146973 , 1.14476752,-0.02191225, 0.94382545, 0.00433259, 1.13339123,
 -0.02896534, 0.93865205, 0.01650061, 1.17042348,-0.02318985, 0.94719228,
  1.37543445,-0.00144356, 1.16970832, 0.06304944,-0.03536841,-0.10394185,
  0.0791846 , 0.65580026,-0.01067292,-0.00465674, 0.75484464]

qacc:
[-4.22416687e-02, 4.66152486e+00,-1.19275128e+01, 6.17592016e+00,
 -9.99994046e-02,-2.46335023e+00, 1.33218403e+01,-3.50505125e+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,
 -3.86943656e+00, 2.98282422e+00,-1.89752719e+00,-1.83847284e+02,
  2.32748365e+02, 2.13343012e+01]

qfrc_actuator:
[ 2.63785225e-03, 9.52905306e-02, 1.01486548e-02, 6.69951062e-03,
  3.86863093e-05, 9.59037731e-02, 1.00710036e-02, 9.54394762e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037773329864630445
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.46958585e-14,  2.93917171e-14,  1.00000000e+00, -4.31936517e-28,
        1.00000000e+00, -2.93917171e-14, -1.00000000e+00,  0.00000000e+00,
        1.46958585e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00849576, -0.12676447,  0.06166514])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07947179e-05, 1.83612794e-04,-1.96514146e-05,-8.90064860e-06,
 -2.57145008e-05, 8.42401388e-05, 1.64958303e-05,-9.80996938e-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,
 -6.89079510e-05, 2.72707331e-04,-4.90525270e+00, 6.35133156e-03,
  2.19837479e-03, 8.39497811e-05]


--- Step 2098 ---
qpos:
[-0.01470195, 1.14601859,-0.02192067, 0.94391728, 0.0043336 , 1.13465604,
 -0.02897442, 0.93879862, 0.01650294, 1.17192321,-0.02319914, 0.94734013,
  1.37550771,-0.00144355, 1.16987476, 0.06305322,-0.03539167,-0.10396169,
  0.07919357, 0.65579079,-0.01079344,-0.00535668, 0.7548465 ]

qacc:
[-1.06776956e-01, 2.41288230e+00, 1.41799651e+00,-2.93445210e+01,
 -2.42140665e-02,-1.35552172e+00, 1.69151537e+01,-6.16153114e+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,
 -3.45498838e+00, 2.64174695e+00,-2.78745611e+00,-1.62791385e+02,
  2.06224619e+02, 1.89307605e+01]

qfrc_actuator:
[ 2.61780870e-03, 9.55388654e-02, 1.01363942e-02, 6.58792585e-03,
  4.70485422e-05, 9.61883700e-02, 1.00889611e-02, 9.35373791e-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([  8.63636364,   2.32304955,   8.31806574,   2.32304955,
        70.48280329, -17.27232606,   8.31806574, -17.27232606,
        13.46013764,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003784163906690119
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.46693306e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.46693306e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00848679, -0.12676533,  0.06166495])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.75614404e-05, 3.29307845e-04, 1.73570352e-05,-1.05526413e-04,
 -6.08418510e-06, 3.14254286e-04, 2.94090018e-05,-1.88081618e-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,
  5.86909924e-05, 2.92661704e-04,-4.90512337e+00, 6.38209203e-03,
  2.20147637e-03, 1.80307306e-04]


--- Step 2099 ---
qpos:
[-0.01470668, 1.14727211,-0.02192918, 0.94400673, 0.00433462, 1.13592698,
 -0.02898496, 0.93894224, 0.01650569, 1.17342392,-0.02320792, 0.94748699,
  1.37558091,-0.00144306, 1.17004143, 0.06305489,-0.03539971,-0.10396746,
  0.07920861, 0.65579971,-0.0109017 ,-0.0054866 , 0.75483627]

qacc:
[-3.59423364e-02,-6.55117550e-01, 1.08808404e+01,-3.84997736e+01,
  3.16208656e-03, 6.88667099e+00,-6.63086635e+00,-3.25200401e+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,
  3.80662502e+00, 3.52111966e+00, 1.51826440e+00, 2.19234298e+02,
  1.82392136e+02,-7.86285015e+00]

qfrc_actuator:
[ 2.62554017e-03, 9.56649975e-02, 1.01329572e-02, 6.46785320e-03,
  5.16944844e-05, 9.67391501e-02, 1.01037284e-02, 9.21881520e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038273276790958682
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.35688262e-14,  1.08779198e-14,  1.00000000e+00, -2.56379800e-28,
        1.00000000e+00, -1.08779198e-14, -1.00000000e+00,  0.00000000e+00,
        2.35688262e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06580425, -0.12497914,  0.06166194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.24575826e-06, 2.92032257e-04, 5.60351128e-05,-1.10823184e-04,
  1.24767321e-06, 7.07495734e-04, 7.00516246e-05,-1.27574926e-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,
  2.64632903e-04, 2.13429683e-04,-4.90509689e+00, 6.39511921e-03,
  2.19904513e-03, 1.79669217e-04]


--- Step 2100 ---
qpos:
[-0.01471126, 1.14852652,-0.02193704, 0.94409384, 0.00433551, 1.13720515,
 -0.02899586, 0.93908333, 0.01650862, 1.17492406,-0.02321701, 0.94763218,
  1.37565436,-0.00144299, 1.17020791, 0.06305656,-0.03539426,-0.10396077,
  0.07922464, 0.65582501,-0.01099934,-0.00511006, 0.75481551]

qacc:
[ 6.80784659e-02,-4.64165442e+00, 2.13454334e+01,-4.63779984e+01,
 -5.83294812e-02, 6.12421735e+00,-3.28825887e+00,-3.10778458e+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,
  3.36868356e+00, 3.11137639e+00, 2.44983298e-01, 1.94685516e+02,
  1.62163206e+02,-6.89974045e+00]

qfrc_actuator:
[ 2.64987334e-03, 9.56283509e-02, 1.01343474e-02, 6.34369920e-03,
  3.63159029e-05, 9.72321681e-02, 1.01354281e-02, 9.09994370e-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: -0.003825972506504474
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.26703599e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.26703599e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06581325, -0.12498748,  0.06166227])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.76957656e-05, 1.16061341e-04, 5.78309262e-05,-1.15000629e-04,
 -1.46275627e-05, 8.77055190e-04, 1.70345709e-04,-9.70904729e-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,
  1.85754304e-05, 3.47114635e-06,-4.90500585e+00, 6.39298700e-03,
  2.20384059e-03, 1.09218633e-04]


--- Step 2101 ---
qpos:
[-0.01471562, 1.149779  ,-0.02194383, 0.94417869, 0.00433624, 1.13848918,
 -0.0290059 , 0.93922164, 0.01651177, 1.1764206 ,-0.02322466, 0.94777706,
  1.37572802,-0.00144356, 1.17037438, 0.06305723,-0.03537682,-0.10394301,
  0.07923726, 0.65586443,-0.01108768,-0.0042807 , 0.75478513]

qacc:
[ 9.64666277e-02,-9.33564756e+00, 3.20193241e+01,-5.28056038e+01,
 -6.93886613e-02, 6.34428795e-01, 1.30088037e+01,-4.74045018e+01,
  9.55677214e-02,-9.19255809e+00, 2.49177436e+01,-2.31197004e+01,
  5.43026590e-01,-1.03536018e+00, 2.94035763e+00,-1.04125922e+01,
  3.00031801e+00, 2.76850689e+00,-8.50404288e-01, 1.73995744e+02,
  1.45064222e+02,-6.02124474e+00]

qfrc_actuator:
[ 2.66621290e-03, 9.53526104e-02, 1.01201921e-02, 6.21802288e-03,
  2.68101341e-05, 9.74739434e-02, 1.01590200e-02, 8.95594749e-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: -0.003779500672514688
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.83592874e-15,  1.10155724e-14,  1.00000000e+00, -2.02238060e-29,
        1.00000000e+00, -1.10155724e-14, -1.00000000e+00,  0.00000000e+00,
        1.83592874e-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([-0.06588476, -0.12503816,  0.06166591])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.49177759e-05,-2.20099436e-04, 7.97665538e-06,-1.21812064e-04,
 -1.76778264e-05, 7.40134416e-04, 2.07731671e-04,-1.13457624e-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,
  4.05951233e-05, 7.41154245e-05,-4.90503452e+00, 6.39910583e-03,
  2.19920013e-03, 1.34558088e-04]


--- Step 2102 ---
qpos:
[-0.01471978, 1.15102606,-0.0219488 , 0.94426237, 0.00433668, 1.139777  ,
 -0.02901436, 0.93935732, 0.0165151 , 1.17791019,-0.02322891, 0.9479197 ,
  1.37580151,-0.00144381, 1.17054102, 0.06305525,-0.03534862,-0.10391533,
  0.07924272, 0.65591558,-0.01116779,-0.00304386, 0.7547455 ]

qacc:
[ 9.40493107e-02,-1.40830838e+01, 3.97710946e+01,-4.48499490e+01,
 -1.30061553e-01,-3.82291284e+00, 2.39027633e+01,-5.36768422e+01,
  8.24847638e-02,-2.21528855e+01, 6.58200764e+01,-7.87366516e+01,
 -5.42760835e-01, 8.46590339e-01, 8.27874353e+00,-2.84816525e+01,
  2.68911442e+00, 2.48028759e+00,-1.79089341e+00, 1.56531961e+02,
  1.30596617e+02,-5.21776615e+00]

qfrc_actuator:
[ 2.67763184e-03, 9.48648565e-02, 1.01315245e-02, 6.14553386e-03,
  3.15336031e-06, 9.75456889e-02, 1.01944346e-02, 8.81589862e-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: -0.003696932308961391
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.00309265e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.00309265e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06600573, -0.12512232,  0.06167217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.40681414e-05,-6.27929010e-04,-3.81110138e-05,-8.02687680e-05,
 -3.35592212e-05, 5.01146833e-04, 1.96529016e-04,-1.12907594e-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,
  2.51626894e-04, 3.42018630e-04,-4.90514812e+00, 6.41053230e-03,
  2.18777001e-03, 2.27792285e-04]


--- Step 2103 ---
qpos:
[-0.01472375, 1.15226726,-0.02195311, 0.94434432, 0.00433699, 1.1410679 ,
 -0.02902214, 0.93949006, 0.01651827, 1.17939647,-0.02323336, 0.9480579 ,
  1.3758748 ,-0.00144349, 1.17070733, 0.06305365,-0.03533552,-0.10387562,
  0.07923799, 0.65592879,-0.0117804 ,-0.001786  , 0.75472873]

qacc:
[ 8.02652699e-02,-1.24526739e+01, 3.48937268e+01,-4.68086169e+01,
 -5.94991708e-02,-2.78098370e+00, 2.00596615e+01,-5.35558624e+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,
 -3.77491872e+00, 3.00797075e+00,-2.54696410e+00,-1.66884694e+02,
  2.07660039e+02, 2.27457589e+01]

qfrc_actuator:
[ 2.68601870e-03, 9.45204439e-02, 1.01392137e-02, 6.05151800e-03,
  6.71150775e-06, 9.76394295e-02, 1.02003604e-02, 8.66141805e-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: -0.0037127358530248955
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.47577439e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.47577439e-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([ 0.00863028, -0.12689367,  0.06167103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.05436697e-05,-7.17806726e-04,-1.25473075e-04,-1.14343067e-04,
 -1.53100959e-05, 3.88744637e-04, 1.19013003e-04,-1.34841238e-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,
  5.95412478e-04, 7.47834867e-04,-4.90532328e+00, 6.42512358e-03,
  2.17147132e-03, 3.69129614e-04]


--- Step 2104 ---
qpos:
[-1.47277340e-02, 1.15350396e+00,-2.19575676e-02, 9.44424452e-01,
  4.33755106e-03, 1.14236036e+00,-2.90294128e-02, 9.39620788e-01,
  1.65210062e-02, 1.18088733e+00,-2.32412623e-02, 9.48192577e-01,
  1.37594810e+00,-1.44301589e-03, 1.17087354e+00, 6.30516621e-02,
 -3.53390324e-02,-1.03849074e-01, 7.92360925e-02, 6.55960562e-01,
 -1.24068500e-02,-1.17584535e-03, 7.54692274e-01]

qacc:
[-2.97892232e-03,-8.69431155e+00, 2.49299259e+01,-3.99185534e+01,
  1.11874889e-01,-2.81623513e+00, 1.58407465e+01,-3.82135898e+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,
 -4.15237710e+00,-3.29091215e+00, 7.08187314e-01,-2.48869029e+02,
 -2.07071313e+02,-1.72671569e+01]

qfrc_actuator:
[ 2.67478040e-03, 9.43889119e-02, 1.01629155e-02, 5.96336743e-03,
  4.43091943e-05, 9.76212756e-02, 1.01888789e-02, 8.55290094e-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: -0.003818638993382764
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.26844713e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -7.26844713e-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([ 0.00166474, -0.07964795,  0.06166312])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.06478236e-06,-5.72627986e-04,-1.37952689e-04,-1.14515720e-04,
  2.89973757e-05, 1.98830607e-04, 7.01358594e-05,-9.50393936e-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,
  2.43901754e-04, 8.67787851e-04,-4.90540408e+00, 6.41267621e-03,
  2.17991641e-03, 3.62712705e-04]


--- Step 2105 ---
qpos:
[-1.47316245e-02, 1.15473652e+00,-2.19618112e-02, 9.44504608e-01,
  4.33829186e-03, 1.14365200e+00,-2.90355973e-02, 9.39748030e-01,
  1.65234635e-02, 1.18238570e+00,-2.32507982e-02, 9.48324773e-01,
  1.37602143e+00,-1.44246043e-03, 1.17103921e+00, 6.30531228e-02,
 -3.53572267e-02,-1.03834236e-01, 7.92321808e-02, 6.56010342e-01,
 -1.30467242e-02,-1.13613176e-03, 7.54638274e-01]

qacc:
[ 4.13830176e-02,-5.96422874e+00, 1.28677828e+01,-8.39363586e+00,
  8.09166194e-02,-9.96900928e+00, 3.84451346e+01,-7.33976336e+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,
 -3.67108372e+00,-2.92739543e+00,-5.03752202e-01,-2.19554880e+02,
 -1.81907242e+02,-1.60789149e+01]

qfrc_actuator:
[ 2.68738824e-03, 9.42440832e-02, 1.01967534e-02, 5.96827442e-03,
  4.87398744e-05, 9.74297634e-02, 1.01845850e-02, 8.36570074e-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([ 8.63636364, -8.62874402,  0.36270297, -8.62874402,  8.72330278,
        2.06829186,  0.36270297,  2.06829186, 57.84125718,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038645742448104384
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07730789e-14,  2.87282105e-14,  1.00000000e+00,  3.09491280e-28,
        1.00000000e+00, -2.87282105e-14, -1.00000000e+00,  0.00000000e+00,
       -1.07730789e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00159326, -0.07970446,  0.06165971])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05732300e-05,-5.07965089e-04,-1.00833828e-04,-1.75030415e-05,
  2.07912712e-05,-8.79200436e-05, 3.57779900e-05,-1.79944329e-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,
 -5.12718456e-06, 1.99189851e-04,-4.90517911e+00, 6.41510027e-03,
  2.18641858e-03, 1.62918897e-04]


--- Step 2106 ---
qpos:
[-0.0147354 , 1.15596436,-0.02196541, 0.94458356, 0.004339  , 1.14493981,
 -0.02904038, 0.93987336, 0.01652588, 1.18389036,-0.0232601 , 0.94845402,
  1.37609478,-0.00144186, 1.17120447, 0.06305909,-0.03538847,-0.10382987,
  0.07922205, 0.65607682,-0.01369958,-0.00160169, 0.75456806]

qacc:
[ 5.33679086e-02,-1.00383610e+01, 2.77186549e+01,-3.50988739e+01,
 -1.31559876e-02,-1.20949861e+01, 3.73399292e+01,-5.22318925e+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,
 -3.26139443e+00,-2.61746668e+00,-1.55569277e+00,-1.94810029e+02,
 -1.60718656e+02,-1.49070225e+01]

qfrc_actuator:
[ 2.69645375e-03, 9.39861901e-02, 1.02186278e-02, 5.90363832e-03,
  3.32406223e-05, 9.70472257e-02, 1.01838321e-02, 8.25783191e-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([ 8.63636364, -8.62610219,  0.42087755, -8.62610219,  8.76588396,
        2.65458583,  0.42087755,  2.65458583, 63.04346793,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038539888046634357
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.4403558e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.4403558e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00161031, -0.07970064,  0.06166044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.36340879e-05,-5.74979332e-04,-9.30396963e-05,-8.17761001e-05,
 -3.77836639e-06,-4.46828426e-04,-2.31900386e-05,-1.12211590e-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,
  7.42962532e-05,-5.50063792e-05,-4.90511042e+00, 6.41006895e-03,
  2.19554822e-03, 9.46063844e-05]


--- Step 2107 ---
qpos:
[-0.01473936, 1.15718714,-0.02196851, 0.94466016, 0.00433961, 1.14622044,
 -0.02904291, 0.93999741, 0.0165282 , 1.18539942,-0.02326909, 0.948581  ,
  1.37616815,-0.00144125, 1.17137053, 0.06306144,-0.03543135,-0.10383491,
  0.07920205, 0.65615823,-0.01436498,-0.00251746, 0.7544824 ]

qacc:
[-8.37164557e-02,-1.20498595e+01, 3.61390069e+01,-5.56608708e+01,
 -4.27701569e-02,-1.76967464e+01, 4.90197013e+01,-5.30281894e+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,
 -2.91082513e+00,-2.35165111e+00,-2.46619894e+00,-1.73875633e+02,
 -1.42836359e+02,-1.37758796e+01]

qfrc_actuator:
[ 2.66782518e-03, 9.37159614e-02, 1.02328024e-02, 5.78073555e-03,
  2.36770641e-05, 9.64824061e-02, 1.02199556e-02, 8.17962837e-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, -8.63137417,  0.29352482, -8.63137417,  8.70757182,
        2.09394375,  0.29352482,  2.09394375, 70.21075379,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003797743261216513
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.46168783e-14,  7.30843917e-15,  1.00000000e+00,  1.06826566e-28,
        1.00000000e+00, -7.30843917e-15, -1.00000000e+00,  0.00000000e+00,
       -1.46168783e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0016977 , -0.07964902,  0.06166444])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.23180869e-05,-6.24680462e-04,-1.14818311e-04,-1.43304750e-04,
 -1.17243860e-05,-8.37053305e-04,-6.12320033e-05,-9.34993126e-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,
  3.79445401e-04,-1.89546318e-05,-4.90515068e+00, 6.39949791e-03,
  2.20704358e-03, 1.17849967e-04]


--- Step 2108 ---
qpos:
[-0.01474343, 1.1584048 ,-0.02197173, 0.9447358 , 0.00434011, 1.14749226,
 -0.0290442 , 0.94011806, 0.01653042, 1.18691204,-0.02327849, 0.94870568,
  1.37624165,-0.00144089, 1.17153726, 0.06305705,-0.03545791,-0.10385497,
  0.07919893, 0.65622118,-0.0144267 ,-0.00346737, 0.7544227 ]

qacc:
[-4.37264269e-02,-8.11142396e+00, 2.03018455e+01,-2.56551496e+01,
 -4.58657921e-02,-2.07556591e+01, 6.07954209e+01,-8.67554253e+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,
  4.08026178e+00,-3.75677919e+00, 4.21965141e+00, 1.85069550e+02,
 -2.39139585e+02, 1.44763928e+01]

qfrc_actuator:
[ 2.67010172e-03, 9.34582966e-02, 1.02245008e-02, 5.73102782e-03,
  1.77564465e-05, 9.59018632e-02, 1.02235434e-02, 7.99509611e-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: -0.00378904075974585
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.32522487e-15,  2.93008995e-14,  1.00000000e+00,  2.14635678e-28,
        1.00000000e+00, -2.93008995e-14, -1.00000000e+00,  0.00000000e+00,
       -7.32522487e-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([-0.05935295, -0.08839823,  0.06166483])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.17788687e-05,-6.45607040e-04,-1.51275360e-04,-7.36616439e-05,
 -1.25934920e-05,-1.07539126e-03,-1.73864176e-04,-2.12244100e-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,
  8.38524372e-04, 2.19686142e-04,-4.90526473e+00, 6.38497935e-03,
  2.22053802e-03, 2.04422998e-04]


--- Step 2109 ---
qpos:
[-0.01474769, 1.15961586,-0.02197441, 0.94480968, 0.00434036, 1.14875532,
 -0.02904587, 0.94023602, 0.01653269, 1.18842698,-0.02328727, 0.94882629,
  1.37631519,-0.00144073, 1.17170364, 0.06305081,-0.03547002,-0.10388826,
  0.07920634, 0.65626818,-0.01395236,-0.00444921, 0.75438558]

qacc:
[-8.50131047e-02,-1.31489175e+01, 3.60381655e+01,-4.75635824e+01,
 -1.07934492e-01,-1.50606934e+01, 4.07915595e+01,-6.11386652e+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,
  3.61257927e+00,-3.30552338e+00, 2.63228938e+00, 1.63770189e+02,
 -2.12880510e+02, 1.22672471e+01]

qfrc_actuator:
[ 2.65540171e-03, 9.30505021e-02, 1.02208746e-02, 5.63602304e-03,
 -3.68345832e-06, 9.54406454e-02, 1.01899523e-02, 7.85590692e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038060426954915835
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.82312561e-15,  1.45850049e-14,  1.00000000e+00,  2.65902959e-29,
        1.00000000e+00, -1.45850049e-14, -1.00000000e+00,  0.00000000e+00,
       -1.82312561e-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([-0.05933471, -0.08840227,  0.06166357])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.27764661e-05,-8.12230579e-04,-1.52757073e-04,-1.19037647e-04,
 -2.86209060e-05,-1.11340956e-03,-2.73962753e-04,-1.80127170e-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,
  4.11763095e-04, 4.32991283e-04,-4.90515694e+00, 6.36639415e-03,
  2.20079795e-03, 3.02880602e-04]


--- Step 2110 ---
qpos:
[-0.01475198, 1.16081853,-0.02197626, 0.94488168, 0.00434036, 1.15001122,
 -0.02904815, 0.94035164, 0.01653491, 1.18994331,-0.02329595, 0.94894185,
  1.37638856,-0.00144017, 1.1718694 , 0.06304627,-0.03548823,-0.10392046,
  0.07921519, 0.65634142,-0.01345864,-0.00475905, 0.75432894]

qacc:
[-1.13581087e-02,-1.65145756e+01, 4.44459193e+01,-5.53005623e+01,
 -1.09956643e-01,-1.17935830e+01, 3.19681650e+01,-5.05029022e+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,
 -1.52396176e+00, 2.72712253e-01, 3.62074105e-01, 2.59968904e+02,
  2.13393367e+02,-1.16607801e+01]

qfrc_actuator:
[ 2.66615631e-03, 9.25206347e-02, 1.02194470e-02, 5.53276446e-03,
 -1.64998610e-05, 9.52142839e-02, 1.02062075e-02, 7.74457293e-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, -1.266981  ,  8.54292315, -1.266981  , 87.07911396,
       11.63366129,  8.54292315, 11.63366129, 10.3617248 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004675360162666921
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51931025, -0.25965513,  0.8141843 , -0.13963071,  0.96570141,
        0.21891562, -0.84310149,  0.        , -0.53775447])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06588164, -0.12498271,  0.06166367])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.56139305e-06,-1.02798547e-03,-1.84601012e-04,-1.33357487e-04,
 -2.90569203e-05,-9.18037844e-04,-2.41962113e-04,-1.55612532e-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,
  1.37171972e-04, 5.34171246e-04,-4.90519989e+00, 6.36668646e-03,
  2.19385848e-03, 2.89131354e-04]


--- Step 2111 ---
qpos:
[-0.01475592, 1.162011  ,-0.02197751, 0.94495209, 0.00434046, 1.15126116,
 -0.02905095, 0.94046459, 0.0165369 , 1.19145941,-0.02330431, 0.94905562,
  1.37646176,-0.00143904, 1.17203502, 0.06304218,-0.03550969,-0.10395042,
  0.07922143, 0.65643738,-0.01294857,-0.00448209, 0.75425607]

qacc:
[ 1.55587161e-01,-1.77942311e+01, 4.51537867e+01,-5.14212408e+01,
  4.53955658e-02,-1.09566343e+01, 3.18275494e+01,-5.48871480e+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,
 -8.13869488e-01, 5.59328509e-01,-6.54872910e-01, 2.26803889e+02,
  1.86566682e+02,-9.98282740e+00]

qfrc_actuator:
[ 2.70984825e-03, 9.18864501e-02, 1.02010828e-02, 5.44313859e-03,
  1.14659398e-05, 9.50242218e-02, 1.02172339e-02, 7.61517930e-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,  4.06562108, -7.61954737,  4.06562108,  6.81874456,
       -0.96984113, -7.61954737, -0.96984113,  8.11887797,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004665275500391247
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.15141206e-01, -2.57570603e-01,  8.17488179e-01, -1.37318426e-01,
        9.66259481e-01,  2.17913436e-01, -8.46033798e-01,  1.38777878e-17,
       -5.33129264e-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([-0.06590191, -0.12498493,  0.06166327])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.02730074e-05,-1.25814029e-03,-2.47721405e-04,-1.27426512e-04,
  1.14849268e-05,-7.66497015e-04,-2.04556746e-04,-1.66296212e-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,
 -1.64127034e-05, 3.90348805e-05,-4.90503017e+00, 6.36725275e-03,
  2.19179394e-03, 1.27421840e-04]


--- Step 2112 ---
qpos:
[-0.01475943, 1.16319154,-0.0219781 , 0.94502106, 0.00434076, 1.15250682,
 -0.02905512, 0.94057538, 0.01653864, 1.19297396,-0.02331166, 0.94916923,
  1.37653508,-0.00143802, 1.172201  , 0.0630347 ,-0.03553204,-0.10397719,
  0.07922151, 0.65655222,-0.01242469,-0.00369014, 0.7541692 ]

qacc:
[ 1.89144215e-01,-1.99512404e+01, 4.91131567e+01,-5.19840820e+01,
  8.93084996e-02,-5.67927094e+00, 1.61919380e+01,-3.64934261e+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,
 -2.21137119e-01, 7.95185984e-01,-1.53840626e+00, 1.98840689e+02,
  1.63953098e+02,-8.41323763e+00]

qfrc_actuator:
[ 2.73743020e-03, 9.11770909e-02, 1.01902008e-02, 5.36215495e-03,
  2.81443889e-05, 9.49286008e-02, 1.01897833e-02, 7.51171511e-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([ 8.63636364,  3.95242812, -7.67887289,  3.95242812,  6.50687599,
       -1.09607842, -7.67887289, -1.09607842,  8.07219605,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0046009081099450625
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.12044367e-01, -2.56022184e-01,  8.19916586e-01, -1.35614630e-01,
        9.66670907e-01,  2.17154394e-01, -8.48185851e-01,  2.77555756e-17,
       -5.29698746e-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([-0.06600779, -0.12504372,  0.0616664 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.90439794e-05,-1.47260085e-03,-2.92195923e-04,-1.27364460e-04,
  2.31231751e-05,-5.81088095e-04,-2.09402704e-04,-1.34965672e-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,
  1.80634732e-04,-4.76988240e-05,-4.90503265e+00, 6.38072254e-03,
  2.17738014e-03, 1.03620264e-04]


--- Step 2113 ---
qpos:
[-0.01476272, 1.16435926,-0.02197837, 0.94508934, 0.00434111, 1.15375022,
 -0.02906071, 0.94068357, 0.01654031, 1.19448613,-0.02331833, 0.94928022,
  1.37660857,-0.00143739, 1.17236677, 0.06302647,-0.03555331,-0.10400003,
  0.07921238, 0.65668209,-0.01188914,-0.00244372, 0.75406983]

qacc:
[ 1.03100744e-01,-1.88888379e+01, 4.27530192e+01,-3.72588841e+01,
  1.96079847e-02,-3.54812215e+00, 1.33696635e+01,-4.04106970e+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,
  2.69226552e-01, 9.86621478e-01,-2.30465310e+00, 1.75272044e+02,
  1.44896883e+02,-6.96818482e+00]

qfrc_actuator:
[ 2.73737792e-03, 9.04817079e-02, 1.01835163e-02, 5.32234337e-03,
  2.01568328e-05, 9.49791302e-02, 1.01757927e-02, 7.38886686e-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([ 8.63636364,  3.85230909, -7.72958547,  3.85230909,  6.28377876,
       -1.1724929 , -7.72958547, -1.1724929 ,  8.05201081,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004493369835743233
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50979739, -0.25489869,  0.82166494, -0.13438575,  0.96696776,
        0.21659597, -0.84973354,  0.        , -0.52721239])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06618111, -0.12514699,  0.0616723 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.64024176e-05,-1.58574038e-03,-3.34931733e-04,-9.38949581e-05,
  5.05499365e-06,-3.32252885e-04,-1.59262887e-04,-1.48196081e-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,
  6.06868920e-04, 1.41863947e-04,-4.90515140e+00, 6.40189365e-03,
  2.15498458e-03, 1.73435463e-04]


--- Step 2114 ---
qpos:
[-0.01476588, 1.16551378,-0.02197851, 0.94515669, 0.00434144, 1.15499133,
 -0.02906616, 0.94078904, 0.01654199, 1.19599534,-0.02332405, 0.94938874,
  1.37668212,-0.00143706, 1.17253192, 0.06302156,-0.03558078,-0.10402882,
  0.07920507, 0.65682857,-0.01136478,-0.00192818, 0.75395183]

qacc:
[ 5.89120957e-02,-1.93252411e+01, 4.40418654e+01,-4.09432972e+01,
 -7.38503924e-03,-8.07266373e+00, 2.83209695e+01,-5.47144131e+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,
 -1.54837009e+00,-1.49119919e+00, 4.56625702e-01,-2.79166454e+02,
 -2.35627586e+02,-1.67114574e+01]

qfrc_actuator:
[ 2.73852309e-03, 8.98003521e-02, 1.01794232e-02, 5.27155800e-03,
  1.51988845e-05, 9.49217521e-02, 1.02060040e-02, 7.25569153e-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([ 8.63636364,  1.00146447,  8.57810269,  1.00146447, 45.24301411,
       -4.27370258,  8.57810269, -4.27370258,  9.13530395,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003772985835129125
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.67819770e-15,  1.47127908e-14,  1.00000000e+00,  5.41165532e-29,
        1.00000000e+00, -1.47127908e-14, -1.00000000e+00,  0.00000000e+00,
       -3.67819770e-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([ 0.00157801, -0.0797881 ,  0.06166612])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.47600319e-05,-1.64143502e-03,-3.58281879e-04,-1.08725872e-04,
 -2.11771540e-06,-2.93004956e-04,-6.10308108e-05,-1.49882552e-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,
  1.17825872e-03, 5.15143847e-04,-4.90534925e+00, 6.42704386e-03,
  2.12769422e-03, 3.05975142e-04]


--- Step 2115 ---
qpos:
[-0.01476911, 1.16665487,-0.02197889, 0.94522263, 0.00434173, 1.15622973,
 -0.02907062, 0.94089315, 0.01654355, 1.19750198,-0.02332941, 0.94949491,
  1.37675557,-0.00143668, 1.1726967 , 0.06302047,-0.03561475,-0.10406368,
  0.07919511, 0.65699135,-0.01085126,-0.00205108, 0.75381722]

qacc:
[-3.06580863e-02,-1.94569536e+01, 4.50967977e+01,-4.72440915e+01,
 -1.55227995e-02,-8.55254226e+00, 2.64236156e+01,-3.70609709e+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,
 -1.62647483e+00,-1.51447732e+00,-6.62812703e-01,-2.44157508e+02,
 -2.05473748e+02,-1.52170135e+01]

qfrc_actuator:
[ 2.72264264e-03, 8.91151805e-02, 1.01591919e-02, 5.19695464e-03,
  1.21032458e-05, 9.48005650e-02, 1.02617222e-02, 7.18848540e-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([ 8.63636364, -5.97911936,  6.23192655, -5.97911936, 10.74100327,
        2.01926186,  6.23192655,  2.01926186, 10.57371119,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003847705140311679
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.44270804e-14,  1.44270804e-14,  1.00000000e+00,  2.08140647e-28,
        1.00000000e+00, -1.44270804e-14, -1.00000000e+00,  0.00000000e+00,
       -1.44270804e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00141291, -0.07991232,  0.0616605 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.86046066e-06,-1.68085604e-03,-3.88348446e-04,-1.35243060e-04,
 -4.31236125e-06,-3.15843001e-04,-1.66855420e-05,-7.98920104e-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,
  3.63891756e-04, 3.90437732e-06,-4.90506516e+00, 6.37738312e-03,
  2.15500778e-03, 1.17798457e-04]


--- Step 2116 ---
qpos:
[-0.01477246, 1.16778234,-0.02197944, 0.94528686, 0.00434183, 1.15746596,
 -0.02907513, 0.94099464, 0.01654482, 1.19900629,-0.02333545, 0.94959926,
  1.37682879,-0.00143571, 1.17286111, 0.06302475,-0.03565534,-0.10410456,
  0.07917855, 0.65716911,-0.01034817,-0.00273488, 0.75366717]

qacc:
[-5.22149633e-02,-2.03607069e+01, 4.83354880e+01,-5.33902865e+01,
 -8.40116508e-02,-7.18108221e+00, 2.53957436e+01,-5.11030130e+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,
 -1.65635167e+00,-1.50777201e+00,-1.65027846e+00,-2.14768321e+02,
 -1.80224659e+02,-1.37505308e+01]

qfrc_actuator:
[ 2.71445140e-03, 8.84332205e-02, 1.01473405e-02, 5.10891060e-03,
 -7.60147451e-06, 9.47134382e-02, 1.02608386e-02, 7.05407625e-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([ 8.63636364, -5.8841153 ,  6.32170578, -5.8841153 , 11.33450744,
        2.51137744,  6.32170578,  2.51137744, 10.97390273,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003859721156681789
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.98885389e-15,  3.59554155e-15,  1.00000000e+00,  3.23197977e-29,
        1.00000000e+00, -3.59554155e-15, -1.00000000e+00,  0.00000000e+00,
       -8.98885389e-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([ 0.00135606, -0.07996207,  0.06165946])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.45787400e-05,-1.70591235e-03,-3.91824239e-04,-1.51367823e-04,
 -2.21668003e-05,-2.83529152e-04,-7.06210527e-05,-1.44857117e-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,
  2.55828000e-05,-2.17642748e-05,-4.90497887e+00, 6.32594448e-03,
  2.18174911e-03, 8.77211231e-05]


--- Step 2117 ---
qpos:
[-0.01477577, 1.16889596,-0.02198011, 0.94534958, 0.00434172, 1.15870008,
 -0.02907975, 0.9410941 , 0.01654594, 1.20050784,-0.02334154, 0.94970205,
  1.376902  ,-0.00143455, 1.17302549, 0.06303299,-0.03570548,-0.10413257,
  0.07915389, 0.65727736,-0.01044662,-0.00341964, 0.7535686 ]

qacc:
[ 2.05392060e-02,-2.05368387e+01, 4.81476565e+01,-5.08008830e+01,
 -9.22244245e-02,-5.98206848e+00, 2.03592462e+01,-3.99326890e+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,
 -2.38538567e+00, 3.22094697e+00,-2.02363965e+00,-1.98306754e+02,
  2.26003479e+02, 4.39262538e+01]

qfrc_actuator:
[ 2.72870526e-03, 8.77410050e-02, 1.01405636e-02, 5.03141684e-03,
 -1.93495812e-05, 9.46295396e-02, 1.02621485e-02, 6.95215714e-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: -0.00387982581476623
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.43076401e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.43076401e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00788004, -0.12702845,  0.06165776])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.63018858e-06,-1.73097535e-03,-3.92463682e-04,-1.42052543e-04,
 -2.43233671e-05,-2.74877817e-04,-7.01408694e-05,-1.14484616e-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,
  1.61543537e-05, 2.79351424e-04,-4.90502770e+00, 6.27432064e-03,
  2.20822917e-03, 1.63806491e-04]


--- Step 2118 ---
qpos:
[-0.01477929, 1.16999559,-0.0219814 , 0.9454106 , 0.00434174, 1.15993035,
 -0.02908371, 0.94119344, 0.01654713, 1.20200814,-0.02334888, 0.94980305,
  1.37697532,-0.00143357, 1.17319051, 0.06303953,-0.03576468,-0.10414926,
  0.07911763, 0.65732764,-0.01107646,-0.004102  , 0.75351235]

qacc:
[-8.90745731e-02,-1.96035365e+01, 4.52677892e+01,-5.03358017e+01,
  5.75246230e-02,-7.01802042e+00, 1.70472581e+01,-1.38192007e+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,
 -2.26510742e+00, 2.82591921e+00,-2.90183551e+00,-1.73963077e+02,
  2.00687748e+02, 3.66718965e+01]

qfrc_actuator:
[ 2.70305218e-03, 8.70305607e-02, 1.01013192e-02, 4.94298659e-03,
  9.27676441e-06, 9.43531098e-02, 1.02648404e-02, 6.94120180e-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([ 8.63636364, -3.94051665,  7.68499222, -3.94051665, 12.80096963,
        2.13542171,  7.68499222,  2.13542171,  9.73131137,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038747569855620417
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.86527137e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.86527137e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00784256, -0.12705312,  0.06165779])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.43352974e-05,-1.76269361e-03,-4.29573910e-04,-1.53550429e-04,
  1.48243379e-05,-4.61530689e-04,-6.60947098e-05,-2.25430534e-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,
  2.43030408e-04, 2.29832914e-04,-4.90507601e+00, 6.35406248e-03,
  2.22023159e-03, 1.83804660e-04]


--- Step 2119 ---
qpos:
[-0.01478291, 1.17108105,-0.02198285, 0.94546977, 0.00434183, 1.16115466,
 -0.02908683, 0.94129071, 0.01654847, 1.20350911,-0.0233574 , 0.9499031 ,
  1.3770488 ,-0.00143301, 1.17335603, 0.06304219,-0.03583242,-0.104156  ,
  0.07906669, 0.65732882,-0.01217811,-0.00477968, 0.75349033]

qacc:
[-3.94242751e-02,-2.14264319e+01, 5.12368093e+01,-5.73173791e+01,
  3.10246269e-02,-1.36760926e+01, 3.94563299e+01,-5.46293241e+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,
 -2.13651288e+00, 2.48966387e+00,-3.67077162e+00,-1.53506474e+02,
  1.79001023e+02, 3.07402336e+01]

qfrc_actuator:
[ 2.70694541e-03, 8.63326040e-02, 1.00964206e-02, 4.84878267e-03,
  8.61495248e-06, 9.39104876e-02, 1.02499009e-02, 6.82395676e-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([ 8.63636364, -4.09239412,  7.60520133, -4.09239412, 13.61562974,
        2.67936619,  7.60520133,  2.67936619, 10.07814301,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003820023475758376
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.17974385e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.17974385e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00790204, -0.12712222,  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:
[-1.12535674e-05,-1.77513602e-03,-4.05936335e-04,-1.61638445e-04,
  7.71363232e-06,-7.27297304e-04,-1.17044348e-04,-1.32188978e-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,
  5.55107079e-04, 7.42990932e-05,-4.90518007e+00, 6.39061795e-03,
  2.21795883e-03, 1.11232234e-04]


--- Step 2120 ---
qpos:
[-0.0147861 , 1.17215245,-0.02198425, 0.94552839, 0.0043418 , 1.16237114,
 -0.02908853, 0.94138494, 0.01655011, 1.20501059,-0.02336489, 0.9500015 ,
  1.37712235,-0.00143275, 1.17352122, 0.06304508,-0.03587849,-0.10414437,
  0.07903164, 0.65734655,-0.01327029,-0.00478726, 0.75345636]

qacc:
[ 1.89497959e-01,-1.95480988e+01, 4.26533859e+01,-3.47714428e+01,
 -5.06032059e-02,-1.92765398e+01, 5.67346944e+01,-7.95063024e+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,
  5.41849557e+00, 4.59239942e+00, 3.97536888e+00, 2.55640750e+02,
  2.16789977e+02,-6.10192131e+00]

qfrc_actuator:
[ 2.76404197e-03, 8.56656847e-02, 1.01119097e-02, 4.82296751e-03,
 -9.61005628e-06, 9.34073053e-02, 1.02771797e-02, 6.66269216e-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: -0.003936910167885742
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.16882977e-15,  7.05009117e-15,  1.00000000e+00,  4.34908123e-29,
        1.00000000e+00, -7.05009117e-15, -1.00000000e+00,  0.00000000e+00,
       -6.16882977e-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([-0.06611827, -0.12496503,  0.061652  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.94098561e-05,-1.74638186e-03,-3.85473184e-04,-9.31278530e-05,
 -1.38955512e-05,-9.48054103e-04,-1.35817581e-04,-1.88229296e-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,
  9.17744850e-04,-1.50371435e-04,-4.90532274e+00, 6.39904493e-03,
  2.20666461e-03,-2.25007088e-05]


--- Step 2121 ---
qpos:
[-0.01478875, 1.173211  ,-0.02198551, 0.94558719, 0.00434176, 1.16357875,
 -0.0290893 , 0.94147632, 0.01655203, 1.20651337,-0.02337235, 0.9500975 ,
  1.37719579,-0.00143244, 1.17368599, 0.06305015,-0.03592334,-0.10412651,
  0.07900161, 0.6573916 ,-0.01434031,-0.00413715, 0.75340131]

qacc:
[ 2.37132987e-01,-1.69436532e+01, 3.45324346e+01,-1.99261832e+01,
 -1.62211371e-03,-1.90758753e+01, 5.40848404e+01,-7.46152702e+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,
  3.03890488e-01, 1.55945784e+00, 1.25293018e+00, 2.55188258e+02,
  2.08019927e+02,-1.29102190e+01]

qfrc_actuator:
[ 2.79931863e-03, 8.51294407e-02, 1.01572376e-02, 4.83762015e-03,
 -2.70824569e-06, 9.28897895e-02, 1.02933804e-02, 6.51230235e-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([ 8.63636364, -3.50307097,  7.89400219, -3.50307097,  9.53151671,
        0.39723637,  7.89400219,  0.39723637,  8.81264268,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004572070833222866
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.34261598e-01, -2.17130799e-01,  8.74225990e-01, -9.65961074e-02,
        9.76142518e-01,  1.94460731e-01, -8.95592573e-01,  1.38777878e-17,
       -4.44875199e-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([-0.06604368, -0.12491204,  0.06164709])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.21517517e-05,-1.59352533e-03,-3.45611953e-04,-4.96239063e-05,
 -1.04183930e-06,-1.08973997e-03,-1.93834764e-04,-1.85838588e-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,
  2.46011307e-04,-1.98958673e-04,-4.90525309e+00, 6.41908424e-03,
  2.20719493e-03,-4.67088390e-05]


--- Step 2122 ---
qpos:
[-0.01479107, 1.1742587 ,-0.02198719, 0.94564489, 0.00434175, 1.16477701,
 -0.0290899 , 0.94156598, 0.01655404, 1.20801766,-0.02338009, 0.95019131,
  1.37726927,-0.00143232, 1.17385086, 0.06305489,-0.03594696,-0.10412141,
  0.0789927 , 0.65744512,-0.01475912,-0.00356598, 0.75334943]

qacc:
[ 1.46656241e-01,-1.50441517e+01, 3.41556361e+01,-3.57419444e+01,
  1.54573436e-02,-1.56455352e+01, 3.97421256e+01,-4.84538601e+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,
  5.30852841e+00,-3.19130944e+00, 5.28151315e+00, 1.84379064e+02,
 -2.71268096e+02,-4.05990107e+00]

qfrc_actuator:
[ 2.80347062e-03, 8.47292938e-02, 1.01848599e-02, 4.78727520e-03,
  1.45333346e-06, 9.23855974e-02, 1.02850914e-02, 6.42273997e-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([ 8.63636364,  4.71507697, -7.23566348,  4.71507697, 21.54219325,
        8.41000692, -7.23566348,  8.41000692, 14.11669451,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00400406864316985
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.93184310e-15,  1.38636862e-14,  1.00000000e+00,  9.61008977e-29,
        1.00000000e+00, -1.38636862e-14, -1.00000000e+00,  0.00000000e+00,
       -6.93184310e-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([-0.0594758 , -0.08873651,  0.0616461 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.83213978e-05,-1.36358440e-03,-3.27570298e-04,-1.07897850e-04,
  3.50226112e-06,-1.16592083e-03,-2.52538247e-04,-1.30918082e-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,
 -2.82258250e-05, 1.69820010e-04,-4.90536685e+00, 6.45862950e-03,
  2.19607832e-03, 7.42970892e-05]


--- Step 2123 ---
qpos:
[-0.01479318, 1.17529691,-0.02199015, 0.94570113, 0.00434178, 1.1659655 ,
 -0.02909076, 0.94165535, 0.01655605, 1.20952174,-0.0233872 , 0.95028287,
  1.37734284,-0.00143262, 1.17401605, 0.06305665,-0.03595224,-0.10412774,
  0.07899789, 0.65750436,-0.01460336,-0.00306126, 0.75330299]

qacc:
[ 9.15636205e-02,-1.15119656e+01, 2.54878897e+01,-3.30666831e+01,
  1.87292772e-02,-1.26489512e+01, 2.63903892e+01,-2.02424891e+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,
  4.58592827e+00,-2.86046294e+00, 3.52402077e+00, 1.63896710e+02,
 -2.38294843e+02,-1.88541565e+00]

qfrc_actuator:
[ 2.80669126e-03, 8.43429200e-02, 1.01490922e-02, 4.71689667e-03,
  3.93450756e-06, 9.18756780e-02, 1.02625080e-02, 6.40517037e-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([ 8.63636364, -6.12199733,  6.0916275 , -6.12199733, 25.32582461,
       16.77266633,  6.0916275 , 16.77266633, 25.49265014,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0040356895764735445
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.71938247e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.71938247e-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([-0.05946196, -0.08877389,  0.06164365])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.38530957e-05,-1.22068559e-03,-3.45635743e-04,-1.21915881e-04,
  4.39721894e-06,-1.22344954e-03,-2.86758324e-04,-6.16673052e-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,
  3.07547223e-05, 1.80628796e-04,-4.90512967e+00, 6.42963723e-03,
  2.18221351e-03, 2.00632198e-04]


--- Step 2124 ---
qpos:
[-0.01479517, 1.17632643,-0.02199404, 0.94575535, 0.00434185, 1.16714293,
 -0.02909141, 0.94174532, 0.01655789, 1.21102296,-0.02339361, 0.95037221,
  1.37741634,-0.00143298, 1.17418138, 0.06305519,-0.03594155,-0.10414441,
  0.07901114, 0.65756678,-0.01393728,-0.00261284, 0.75326281]

qacc:
[ 5.84057376e-02,-1.24379914e+01, 3.09474247e+01,-4.51023289e+01,
  1.70725582e-02,-1.40617149e+01, 2.71241634e+01,-9.67993957e+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,
  3.99055899e+00,-2.58209998e+00, 2.01573790e+00, 1.46593367e+02,
 -2.10761521e+02,-3.32475123e-01]

qfrc_actuator:
[ 2.80934529e-03, 8.39855435e-02, 1.01295834e-02, 4.61753447e-03,
  5.38698885e-06, 9.12599686e-02, 1.02494570e-02, 6.43007184e-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, -6.27571007,  5.93314756, -6.27571007, 25.55743424,
       17.89804351,  5.93314756, 17.89804351, 27.56778759,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004014837929468329
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.38264987e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.38264987e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05950398, -0.08877188,  0.06164522])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.50697845e-05,-1.11645167e-03,-3.03874779e-04,-1.47508771e-04,
  3.87398150e-06,-1.36548895e-03,-2.90288816e-04,-2.03271560e-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,
  1.70837388e-04, 9.52559351e-05,-4.90505539e+00, 6.40410051e-03,
  2.17462212e-03, 1.99922444e-04]


--- Step 2125 ---
qpos:
[-0.01479722, 1.17734713,-0.02199803, 0.94580863, 0.0043421 , 1.16830791,
 -0.02909152, 0.94183467, 0.01655935, 1.21251722,-0.02339926, 0.95045907,
  1.37748979,-0.00143332, 1.17434656, 0.06305174,-0.03591687,-0.10417047,
  0.07902729, 0.65763008,-0.01281489,-0.00221247, 0.75322876]

qacc:
[-2.82779158e-02,-1.29167993e+01, 3.00895683e+01,-3.15165973e+01,
  8.12236326e-02,-1.88584125e+01, 4.30213832e+01,-3.65601570e+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,
  3.49871421e+00,-2.34669377e+00, 7.24061242e-01, 1.31948711e+02,
 -1.87705112e+02, 7.55115888e-01]

qfrc_actuator:
[ 2.79389982e-03, 8.35775658e-02, 1.01377475e-02, 4.57295932e-03,
  2.39634589e-05, 9.05504698e-02, 1.02417600e-02, 6.39091759e-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([ 8.63636364, -6.4248947 ,  5.77126545, -6.4248947 , 25.73236698,
       19.03222477,  5.77126545, 19.03222477, 29.82409813,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003951795415940283
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.26765167e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.26765167e-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([-0.05959046, -0.08873859,  0.06164999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.01411329e-06,-1.10186026e-03,-2.51790152e-04,-8.89951370e-05,
  2.06925913e-05,-1.53710285e-03,-3.11853747e-04,-8.77980162e-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,
  3.67588736e-04,-5.63970010e-05,-4.90509889e+00, 6.38342857e-03,
  2.17260998e-03, 1.09387665e-04]


--- Step 2126 ---
qpos:
[-0.01479954, 1.17835849,-0.02200208, 0.94586206, 0.00434269, 1.1694593 ,
 -0.02909048, 0.94192089, 0.0165606 , 1.21400018,-0.02340273, 0.95054387,
  1.37756319,-0.00143366, 1.17451123, 0.0630498 ,-0.03590484,-0.10420689,
  0.07904181, 0.65771135,-0.01170779,-0.0024066 , 0.75317522]

qacc:
[-1.17892172e-01,-1.18560673e+01, 2.35648685e+01,-1.28986512e+01,
  1.56136870e-01,-2.62964848e+01, 7.07384713e+01,-8.93017140e+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,
 -3.16078621e+00,-2.59318643e+00,-4.08476106e-01,-2.28837478e+02,
 -1.89575729e+02,-1.69674609e+01]

qfrc_actuator:
[ 2.76774060e-03, 8.30895586e-02, 1.01265520e-02, 4.57871996e-03,
  5.26551002e-05, 8.98082798e-02, 1.02723676e-02, 6.22553093e-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: -0.003953307962098529
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00094927, -0.08030585,  0.0616501 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.18777671e-05,-1.16173456e-03,-2.60607036e-04,-3.53443398e-05,
  4.03594006e-05,-1.67078988e-03,-3.11509207e-04,-2.21386965e-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,
  6.03130316e-04,-2.52985431e-04,-4.90522803e+00, 6.36784457e-03,
  2.17541405e-03,-4.47435426e-05]


--- Step 2127 ---
qpos:
[-0.014802  , 1.17936084,-0.02200633, 0.94591377, 0.00434348, 1.17059742,
 -0.0290886 , 0.94200482, 0.01656173, 1.21546935,-0.02340354, 0.95062854,
  1.37763656,-0.00143399, 1.17467577, 0.06304819,-0.03590425,-0.10425275,
  0.07905045, 0.65780865,-0.01061428,-0.003126  , 0.75310381]

qacc:
[-5.88384224e-02,-1.42712834e+01, 3.58193201e+01,-4.55630318e+01,
  8.58534254e-02,-2.36571428e+01, 6.08513671e+01,-7.10548373e+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,
 -2.86321572e+00,-2.35647766e+00,-1.46754500e+00,-2.02201577e+02,
 -1.67496690e+02,-1.49743166e+01]

qfrc_actuator:
[ 2.77089009e-03, 8.26641066e-02, 1.01214879e-02, 4.48969783e-03,
  5.16689300e-05, 8.91768440e-02, 1.03251345e-02, 6.11144572e-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, -5.77761596,  6.41918458, -5.77761596, 24.58600294,
       14.3555446 ,  6.41918458, 14.3555446 , 21.55713613,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003951035480307757
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00094935, -0.08031322,  0.06165048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.61756861e-05,-1.13225977e-03,-2.65562742e-04,-1.30929735e-04,
  2.18627175e-05,-1.63775557e-03,-3.19343721e-04,-1.77196694e-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,
  1.04931559e-04,-1.52706079e-04,-4.90517386e+00, 6.33934100e-03,
  2.18361255e-03,-4.56052527e-05]


--- Step 2128 ---
qpos:
[-0.01480452, 1.18035467,-0.02201032, 0.94596363, 0.00434421, 1.17172505,
 -0.02908767, 0.94208764, 0.01656279, 1.21692579,-0.02340389, 0.95071276,
  1.37770991,-0.0014343 , 1.17484004, 0.06304845,-0.03591891,-0.1042853 ,
  0.07905447, 0.65785934,-0.01016918,-0.00382021, 0.75306247]

qacc:
[-2.58308459e-02,-1.51263568e+01, 3.96312668e+01,-5.07008168e+01,
 -2.23086543e-02,-1.30793902e+01, 2.83450198e+01,-3.09390701e+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,
 -3.81189521e+00, 3.32417806e+00,-1.15746453e+00,-2.03982105e+02,
  2.52216367e+02, 2.85912101e+01]

qfrc_actuator:
[ 2.77384629e-03, 8.22973380e-02, 1.01557773e-02, 4.39888354e-03,
  3.28956660e-05, 8.88300242e-02, 1.03377744e-02, 6.06405337e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003966799790563316
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.79878765e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.79878765e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00739693, -0.12712799,  0.06164947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.39870608e-06,-1.06096809e-03,-2.23792477e-04,-1.34218584e-04,
 -6.43614771e-06,-1.33485240e-03,-3.52547763e-04,-1.08727242e-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,
 -8.06262557e-05, 2.18294701e-04,-4.90523269e+00, 6.30669415e-03,
  2.19494589e-03, 4.18831129e-05]


--- Step 2129 ---
qpos:
[-0.01480737, 1.18133869,-0.02201264, 0.94601379, 0.00434481, 1.1728442 ,
 -0.02908828, 0.94216877, 0.01656381, 1.21837037,-0.02340447, 0.95079395,
  1.37778314,-0.00143435, 1.17500388, 0.0630529 ,-0.03594724,-0.10430617,
  0.07904984, 0.65787048,-0.01029524,-0.00449127, 0.75304732]

qacc:
[-1.40154325e-01,-1.68819290e+01, 3.89192614e+01,-2.41817357e+01,
 -5.61937830e-02,-9.85330394e+00, 2.21661601e+01,-3.34456652e+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,
 -3.41665423e+00, 2.92226988e+00,-2.16176446e+00,-1.79306575e+02,
  2.22463152e+02, 2.47172890e+01]

qfrc_actuator:
[ 2.74116100e-03, 8.17736260e-02, 1.02310490e-02, 4.41433151e-03,
  2.13707588e-05, 8.85499742e-02, 1.03100584e-02, 5.98540689e-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, -1.6779466 ,  8.47179273, -1.6779466 , 40.12818162,
        6.23735621,  8.47179273,  6.23735621,  9.87175159,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003995537928527609
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00733268, -0.12710844,  0.06164747])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.80165439e-05,-1.17027549e-03,-1.64184537e-04,-2.46917819e-05,
 -1.52686466e-05,-1.10476894e-03,-3.35368313e-04,-1.30282547e-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,
  3.30452367e-05, 2.69930692e-04,-4.90510397e+00, 6.36066831e-03,
  2.20346822e-03, 1.65676388e-04]


--- Step 2130 ---
qpos:
[-0.01481041, 1.18231205,-0.02201352, 0.94606352, 0.00434528, 1.17396055,
 -0.02909225, 0.94224725, 0.01656496, 1.2198057 ,-0.02340581, 0.95087351,
  1.37785625,-0.00143393, 1.17516797, 0.06305756,-0.03598785,-0.10431671,
  0.07903305, 0.6578474 ,-0.01092693,-0.00514116, 0.75305442]

qacc:
[-8.48860411e-02,-1.86239320e+01, 4.47682989e+01,-3.74043426e+01,
 -5.99081663e-02, 8.17029761e-01,-1.63525084e+00,-2.76633333e+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,
 -3.07063980e+00, 2.58127445e+00,-3.03792092e+00,-1.58473070e+02,
  1.97153789e+02, 2.14415653e+01]

qfrc_actuator:
[ 2.74063588e-03, 8.11781873e-02, 1.02761286e-02, 4.38559412e-03,
  1.42926616e-05, 8.87914987e-02, 1.02768492e-02, 5.87127060e-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, -1.83526473,  8.43911016, -1.83526473, 43.40291553,
        7.56072919,  8.43911016,  7.56072919, 10.28060567,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003967622798008816
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.39910355e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.39910355e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0073732 , -0.12714392,  0.06164945])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.33354589e-05,-1.28736781e-03,-2.05693393e-04,-6.78442851e-05,
 -1.58366398e-05,-4.53052618e-04,-2.94489966e-04,-1.58869288e-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,
  2.46516017e-04, 1.96135052e-04,-4.90508765e+00, 6.38586224e-03,
  2.20306699e-03, 1.71293160e-04]


--- Step 2131 ---
qpos:
[-0.01481327, 1.18327481,-0.02201457, 0.94611193, 0.00434563, 1.17508115,
 -0.02910032, 0.94232317, 0.01656628, 1.22123695,-0.02340791, 0.9509529 ,
  1.3779294 ,-0.00143343, 1.175332  , 0.06306359,-0.03601099,-0.10431137,
  0.07902703, 0.65784454,-0.01154314,-0.00517202, 0.75304752]

qacc:
[ 8.49924492e-02,-1.57702807e+01, 3.73340735e+01,-4.11444560e+01,
 -5.23313359e-02, 1.22481182e+01,-2.79659579e+01,-8.06944068e+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,
  4.36798102e+00, 3.97233660e+00, 2.69029716e+00, 2.38246926e+02,
  1.97915986e+02,-8.87424011e+00]

qfrc_actuator:
[ 2.77716325e-03, 8.06155028e-02, 1.02494155e-02, 4.31321667e-03,
  9.94031463e-06, 8.95212058e-02, 1.02605233e-02, 5.77299377e-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: -0.003974402119766705
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.72948143e-16,  1.57130666e-14,  1.00000000e+00,  1.37166923e-29,
        1.00000000e+00, -1.57130666e-14, -1.00000000e+00,  0.00000000e+00,
       -8.72948143e-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([-0.06626358, -0.12500475,  0.06164874])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.21031617e-05,-1.32862858e-03,-3.06332088e-04,-1.17199571e-04,
 -1.33966953e-05, 4.02871312e-04,-1.46283353e-04,-1.22917399e-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,
  5.23610470e-04, 3.83606156e-05,-4.90514928e+00, 6.39155284e-03,
  2.19647526e-03, 9.69305362e-05]


--- Step 2132 ---
qpos:
[-0.01481598, 1.18422623,-0.02201593, 0.94615954, 0.0043459 , 1.17620653,
 -0.02910962, 0.94239782, 0.0165676 , 1.22266594,-0.02340957, 0.95103029,
  1.3780026 ,-0.00143291, 1.17549623, 0.06306874,-0.03601885,-0.10429212,
  0.0790259 , 0.65785927,-0.01214648,-0.00465552, 0.75302853]

qacc:
[ 6.49193135e-02,-1.54308678e+01, 3.40363287e+01,-3.18572129e+01,
 -4.00063869e-02, 7.43900113e+00,-1.40895278e+01,-5.44006539e+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,
  3.81992823e+00, 3.47434559e+00, 1.22368988e+00, 2.10396627e+02,
  1.75303537e+02,-7.47478598e+00]

qfrc_actuator:
[ 2.78235426e-03, 8.00056712e-02, 1.02161545e-02, 4.26896804e-03,
  7.25769818e-06, 8.98988012e-02, 1.02564123e-02, 5.72070079e-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: -0.003996964948825989
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73604072e-15,  1.04162443e-14,  1.00000000e+00, -1.80830243e-29,
        1.00000000e+00, -1.04162443e-14, -1.00000000e+00,  0.00000000e+00,
        1.73604072e-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([-0.06623714, -0.12499007,  0.06164701])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.67360511e-05,-1.41959565e-03,-3.33816983e-04,-9.44100541e-05,
 -1.02877794e-05, 5.54338687e-04, 5.12978165e-05,-4.60647873e-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,
  8.75089208e-05,-6.82335119e-05,-4.90507389e+00, 6.39577839e-03,
  2.20270811e-03, 5.75757607e-05]


--- Step 2133 ---
qpos:
[-0.01481858, 1.18516573,-0.02201772, 0.94620634, 0.00434625, 1.17733601,
 -0.02911814, 0.94247366, 0.01656855, 1.22409257,-0.02341116, 0.95110532,
  1.37807585,-0.00143238, 1.17566065, 0.06307193,-0.03601327,-0.10426064,
  0.07902461, 0.65788874,-0.012739  ,-0.00365222, 0.75299853]

qacc:
[ 4.95003681e-02,-1.59349933e+01, 3.47560045e+01,-3.22787126e+01,
  3.79289214e-02, 5.31616664e+00,-1.32835144e+01, 2.27047714e+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,
  3.36129994e+00, 3.05922461e+00,-4.03289659e-02, 1.86912768e+02,
  1.56149987e+02,-6.23692565e+00]

qfrc_actuator:
[ 2.78646566e-03, 7.93725135e-02, 1.01791759e-02, 4.22385517e-03,
  2.33492240e-05, 9.01339072e-02, 1.03116629e-02, 5.78449008e-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: -0.003966888344571151
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.1222113e-15,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        6.1222113e-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([-0.06628366, -0.12502413,  0.06164917])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.26019369e-05,-1.49775695e-03,-3.57729751e-04,-9.82712025e-05,
  1.02634954e-05, 5.36621446e-04, 1.65046218e-04, 8.21422597e-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,
 -1.42893240e-05, 1.36644271e-04,-4.90513618e+00, 6.40906095e-03,
  2.19753567e-03, 1.26167915e-04]


--- Step 2134 ---
qpos:
[-0.01482124, 1.18609281,-0.02201974, 0.94625194, 0.00434673, 1.17847056,
 -0.02912657, 0.94254792, 0.01656909, 1.22551571,-0.02341372, 0.95117816,
  1.37814911,-0.00143184, 1.17582481, 0.06307553,-0.03601155,-0.10422707,
  0.07901488, 0.65794131,-0.01330929,-0.00215505, 0.75294851]

qacc:
[-2.80296831e-02,-1.77465014e+01, 4.06647986e+01,-4.14778920e+01,
  5.67890080e-02, 3.71235944e+00,-8.07312408e-01,-2.08459081e+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,
 -9.66620647e-01, 5.22329940e-01,-2.11192171e+00, 1.93364643e+02,
  1.54261863e+02,-1.21761327e+01]

qfrc_actuator:
[ 2.77215402e-03, 7.87304940e-02, 1.01579597e-02, 4.16080635e-03,
  3.28116064e-05, 9.04420617e-02, 1.03300029e-02, 5.70295394e-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([ 8.63636364, -3.57460137,  7.86187013, -3.57460137,  9.96398936,
        0.60363917,  7.86187013,  0.60363917,  8.9108237 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004371716007025779
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.06367855e-01, -2.03183927e-01,  8.90831891e-01, -8.43264161e-02,
        9.79140588e-01,  1.84858767e-01, -9.09809992e-01, -1.38777878e-17,
       -4.15025033e-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([-0.06638812, -0.12509699,  0.06165442])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.17099492e-06,-1.55446593e-03,-3.60036221e-04,-1.19337830e-04,
  1.53448729e-05, 6.26004300e-04, 1.41394509e-04,-5.73993992e-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,
  1.18074206e-04, 5.54446649e-04,-4.90529418e+00, 6.42757836e-03,
  2.18441392e-03, 2.69461707e-04]


--- Step 2135 ---
qpos:
[-1.48243272e-02, 1.18700744e+00,-2.20217383e-02, 9.46296446e-01,
  4.34717689e-03, 1.17961061e+00,-2.91354834e-02, 9.42618910e-01,
  1.65697190e-02, 1.22693418e+00,-2.34171077e-02, 9.51248802e-01,
  1.37822238e+00,-1.43130254e-03, 1.17598872e+00, 6.30803976e-02,
 -3.60243170e-02,-1.04204984e-01, 7.90101195e-02, 6.58011067e-01,
 -1.38945244e-02,-1.36379839e-03, 7.52878820e-01]

qacc:
[-1.79414953e-01,-1.83158472e+01, 4.22739363e+01,-4.17557492e+01,
 -1.44513900e-02, 2.92444110e+00, 5.89441489e+00,-4.64622740e+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,
 -3.62112359e+00,-2.87078689e+00, 1.24531421e+00,-2.70586324e+02,
 -2.26454163e+02,-1.76271172e+01]

qfrc_actuator:
[ 2.72916982e-03, 7.81239197e-02, 1.01639311e-02, 4.10545137e-03,
  2.04653842e-05, 9.07381721e-02, 1.03088201e-02, 5.53651452e-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: -0.003956654637985918
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.01490986e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.01490986e-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([ 0.00087706, -0.08041218,  0.06164967])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.87075287e-05,-1.55129065e-03,-3.44771272e-04,-1.13902228e-04,
 -3.55806094e-06, 6.54530539e-04, 1.12550650e-04,-1.43544176e-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,
  4.79187100e-04, 1.20153497e-03,-4.90556199e+00, 6.46223646e-03,
  2.16075207e-03, 4.94177821e-04]


--- Step 2136 ---
qpos:
[-1.48278631e-02, 1.18790942e+00,-2.20236173e-02, 9.46339978e-01,
  4.34754391e-03, 1.18075510e+00,-2.91437332e-02, 9.42688452e-01,
  1.65705928e-02, 1.22834714e+00,-2.34205706e-02, 9.51320670e-01,
  1.37829583e+00,-1.43128944e-03, 1.17615308e+00, 6.30816672e-02,
 -3.60501209e-02,-1.04193292e-01, 7.90052252e-02, 6.58098106e-01,
 -1.44944406e-02,-1.19070002e-03, 7.52791722e-01]

qacc:
[-1.96043153e-01,-1.86381633e+01, 4.27535960e+01,-4.06245228e+01,
 -3.65605577e-02, 1.55453810e+00, 4.96110923e+00,-2.39523634e+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,
 -3.25948029e+00,-2.59875225e+00,-3.46535947e-02,-2.37417822e+02,
 -1.97716326e+02,-1.65158371e+01]

qfrc_actuator:
[ 2.70486131e-03, 7.74903554e-02, 1.01683011e-02, 4.05509433e-03,
  1.28965762e-05, 9.09358432e-02, 1.03354702e-02, 5.46346971e-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([ 8.63636364, -7.7996519 ,  3.70839684, -7.7996519 , 12.65270427,
        8.44733188,  3.70839684,  8.44733188, 26.40313754,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004024718385605162
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.37925554e-14,  2.06888331e-14,  1.00000000e+00,  2.85351876e-28,
        1.00000000e+00, -2.06888331e-14, -1.00000000e+00,  0.00000000e+00,
       -1.37925554e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00075756, -0.08050322,  0.06164462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.32032742e-05,-1.57320144e-03,-3.43811330e-04,-1.08247807e-04,
 -9.55784511e-06, 5.63590716e-04, 1.60138599e-04,-5.21333795e-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,
  5.59869081e-05, 3.45409944e-04,-4.90524969e+00, 6.45065159e-03,
  2.17560001e-03, 2.31189443e-04]


--- Step 2137 ---
qpos:
[-0.01483178, 1.18879828,-0.02202521, 0.94638159, 0.00434782, 1.18190521,
 -0.02915237, 0.94275586, 0.01657143, 1.22975298,-0.02342316, 0.95139459,
  1.37836927,-0.00143143, 1.17631748, 0.06308029,-0.03608769,-0.10419104,
  0.07899572, 0.65820148,-0.01510867,-0.00156189, 0.75268858]

qacc:
[-1.62734490e-01,-2.13493639e+01, 5.27865721e+01,-6.00370769e+01,
 -3.88823593e-02, 4.77850623e+00,-2.28239097e+00,-2.63189737e+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,
 -2.94218203e+00,-2.35952698e+00,-1.15172879e+00,-2.09469624e+02,
 -1.73584842e+02,-1.53643860e+01]

qfrc_actuator:
[ 2.69196242e-03, 7.68102746e-02, 1.01716022e-02, 3.95479404e-03,
  8.25808769e-06, 9.12863382e-02, 1.03366094e-02, 5.35719151e-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([ 8.63636364, -7.75392603,  3.80307874, -7.75392603, 13.35714685,
        9.62499236,  3.80307874,  9.62499236, 28.26032726,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004029507201699409
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.37761638e-14,  6.88808190e-15,  1.00000000e+00,  9.48913445e-29,
        1.00000000e+00, -6.88808190e-15, -1.00000000e+00,  0.00000000e+00,
       -1.37761638e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00074038, -0.0805249 ,  0.06164419])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.43591295e-05,-1.63130067e-03,-3.48843874e-04,-1.58696572e-04,
 -1.00579763e-05, 6.78173822e-04, 1.24945465e-04,-8.45752200e-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,
  3.86114946e-05,-1.18185506e-05,-4.90512865e+00, 6.43300207e-03,
  2.19183567e-03, 1.27909787e-04]


--- Step 2138 ---
qpos:
[-0.01483596, 1.18967336,-0.02202652, 0.94642279, 0.00434818, 1.18306196,
 -0.0291621 , 0.94282144, 0.01657199, 1.23115083,-0.02342459, 0.95146608,
  1.37844267,-0.00143163, 1.17648128, 0.063081  ,-0.03610822,-0.10420318,
  0.07900292, 0.65829312,-0.01512929,-0.00197539, 0.75260705]

qacc:
[-1.17784876e-01,-1.95762216e+01, 4.28778096e+01,-3.34765588e+01,
  3.30118196e-02, 8.52321014e+00,-1.35139161e+01,-1.36725694e+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,
  4.26096140e+00,-3.59922830e+00, 4.17510322e+00, 1.79364142e+02,
 -2.37498470e+02, 1.07440760e+01]

qfrc_actuator:
[ 2.68601474e-03, 7.60900620e-02, 1.01740464e-02, 3.93238120e-03,
  2.31678874e-05, 9.16900647e-02, 1.03054769e-02, 5.26774115e-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: -0.004036159633625205
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.37534578e-14,  1.37534578e-14,  1.00000000e+00,  1.89157602e-28,
        1.00000000e+00, -1.37534578e-14, -1.00000000e+00,  0.00000000e+00,
       -1.37534578e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05960635, -0.08885528,  0.06164359])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.23421647e-05,-1.70588044e-03,-3.63072105e-04,-8.38728291e-05,
  9.21025152e-06, 7.86894060e-04, 1.10119768e-04,-6.60888760e-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,
  2.97703216e-04,-2.38333532e-05,-4.90514033e+00, 6.41089883e-03,
  2.20957494e-03, 1.34635710e-04]


--- Step 2139 ---
qpos:
[-0.01484033, 1.19053582,-0.02202859, 0.94646407, 0.00434866, 1.18422491,
 -0.02917153, 0.94288439, 0.01657224, 1.23254173,-0.02342574, 0.95153508,
  1.37851595,-0.00143162, 1.17664542, 0.0630787 ,-0.03611378,-0.10422802,
  0.07902042, 0.65837425,-0.01462312,-0.00242688, 0.75254476]

qacc:
[-7.68634528e-02,-1.43767488e+01, 2.67706047e+01,-1.45883998e+01,
  5.16589647e-02, 2.82976426e+00, 6.01223018e+00,-3.96265991e+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,
  3.74224147e+00,-3.17478626e+00, 2.57396176e+00, 1.59036352e+02,
 -2.10891380e+02, 9.48631873e+00]

qfrc_actuator:
[ 2.68428582e-03, 7.55292011e-02, 1.01581130e-02, 3.93820250e-03,
  3.19237793e-05, 9.20159470e-02, 1.03268467e-02, 5.13567848e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00403454652491711
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.87947839e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.87947839e-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([-0.05961701, -0.08884935,  0.06164383])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.12397013e-05,-1.58812579e-03,-3.95397700e-04,-5.65522384e-05,
  1.40623723e-05, 7.66814507e-04, 1.82738237e-04,-1.05440396e-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,
  7.96569232e-05, 9.13510933e-05,-4.90502189e+00, 6.37385762e-03,
  2.19149287e-03, 2.05812416e-04]


--- Step 2140 ---
qpos:
[-0.0148448 , 1.19138789,-0.02203164, 0.94650458, 0.00434925, 1.18539401,
 -0.02918044, 0.94294633, 0.01657237, 1.23392792,-0.02342697, 0.9516019 ,
  1.37858917,-0.00143142, 1.17680919, 0.06307718,-0.0361061 ,-0.10426416,
  0.07904272, 0.65844548,-0.01364633,-0.00291262, 0.75249906]

qacc:
[-4.40348367e-02,-1.23340705e+01, 2.53338818e+01,-2.44293904e+01,
  4.78812795e-02, 4.94656299e+00,-4.29991586e+00,-1.19500521e+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,
  3.31091531e+00,-2.82303947e+00, 1.20256299e+00, 1.41976987e+02,
 -1.88490582e+02, 8.36007059e+00]

qfrc_actuator:
[ 2.68510311e-03, 7.51748156e-02, 1.01675943e-02, 3.90738696e-03,
  3.69145564e-05, 9.23461644e-02, 1.03610118e-02, 5.08609511e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003987224024473671
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.39222554e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.39222554e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05967859, -0.08881292,  0.06164756])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.23187061e-05,-1.32184688e-03,-3.49800132e-04,-9.00098891e-05,
  1.30688479e-05, 7.73029401e-04, 1.98707301e-04,-2.23419682e-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,
 -1.96027967e-05, 1.06583434e-04,-4.90504646e+00, 6.35465050e-03,
  2.18424278e-03, 1.71220139e-04]


--- Step 2141 ---
qpos:
[-0.01484932, 1.19223157,-0.02203567, 0.9465439 , 0.00434977, 1.18656721,
 -0.02918869, 0.94300946, 0.01657248, 1.23531259,-0.02342916, 0.95166749,
  1.37866253,-0.00143163, 1.17697287, 0.06307552,-0.03608661,-0.10431041,
  0.07906515, 0.65850702,-0.01224623,-0.00342943, 0.75246712]

qacc:
[-1.95883519e-02,-1.04630331e+01, 2.32648455e+01,-2.88117645e+01,
 -2.89583023e-02, 5.62966083e+00,-1.43275276e+01, 2.37403763e+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,
  2.95118880e+00,-2.53042238e+00, 3.02829177e-02, 1.27632575e+02,
 -1.69605586e+02, 7.34771441e+00]

qfrc_actuator:
[ 2.68744406e-03, 7.49116346e-02, 1.01750914e-02, 3.85539864e-03,
  2.18543591e-05, 9.24280225e-02, 1.03492661e-02, 5.13869817e-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: -0.0039033906532294077
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.42212646e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.42212646e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05978047, -0.08875222,  0.06165403])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.65970131e-06,-1.07530649e-03,-2.95498434e-04,-1.02705001e-04,
 -7.54742944e-06, 5.33715981e-04, 1.58269151e-04, 8.24333295e-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,
 -3.37660940e-05, 5.15258056e-05,-4.90517145e+00, 6.34800348e-03,
  2.18509101e-03, 6.11743712e-05]


--- Step 2142 ---
qpos:
[-0.01485369, 1.19306987,-0.0220417 , 0.94658175, 0.00435003, 1.18774176,
 -0.02919592, 0.94307195, 0.01657231, 1.23669697,-0.02343181, 0.95173254,
  1.3787358 ,-0.00143165, 1.17713744, 0.06306607,-0.03606816,-0.10435349,
  0.07908396, 0.65858655,-0.01083109,-0.00339097, 0.75241939]

qacc:
[ 6.32787327e-02,-4.18166417e+00, 8.12946887e+00,-2.07702878e+01,
 -1.16786563e-01,-2.07627742e+00, 1.02430885e+01,-1.71677135e+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,
 -2.59325355e-01, 7.93869635e-01,-9.04076895e-01, 2.13940819e+02,
  1.77293918e+02,-8.59229487e+00]

qfrc_actuator:
[ 2.70843672e-03, 7.48473560e-02, 1.01462783e-02, 3.79143941e-03,
 -5.10458893e-06, 9.23071929e-02, 1.03273643e-02, 5.09103199e-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([ 8.63636364, -2.77891473,  8.17706609, -2.77891473, 81.85828531,
       24.88392227,  8.17706609, 24.88392227, 17.09297845,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004258108707148797
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.93298655e-01, -1.96649328e-01,  8.98134294e-01, -7.88821785e-02,
        9.80473886e-01,  1.80134838e-01, -9.16020616e-01,  1.38777878e-17,
       -4.01131188e-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([-0.06662345, -0.12516585,  0.06166018])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.68305777e-05,-7.29686060e-04,-2.77784553e-04,-1.06046563e-04,
 -3.12414531e-05, 1.93896795e-04, 9.97880651e-05,-2.37610098e-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,
  1.28443487e-05,-5.25747983e-05,-4.90536718e+00, 6.35003038e-03,
  2.19201628e-03,-1.02897952e-04]


--- Step 2143 ---
qpos:
[-0.01485757, 1.19390456,-0.02204889, 0.94661835, 0.0043503 , 1.18891482,
 -0.02920161, 0.94313364, 0.01657181, 1.23807967,-0.02343347, 0.95179692,
  1.37880885,-0.00143096, 1.17730151, 0.06305547,-0.03606542,-0.10438177,
  0.07910056, 0.65860918,-0.01011091,-0.00333145, 0.75240988]

qacc:
[ 2.18152335e-01,-3.77670575e+00, 9.13945608e+00,-2.01393946e+01,
  6.46839696e-03,-7.44467639e+00, 2.35632880e+01,-2.87498665e+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,
 -3.92791722e+00, 3.70048647e+00,-5.52556655e-01,-2.21162544e+02,
  2.68077303e+02, 3.52815919e+01]

qfrc_actuator:
[ 2.75820033e-03, 7.48317441e-02, 1.01503614e-02, 3.73880868e-03,
  1.42835255e-05, 9.20481019e-02, 1.03342513e-02, 5.03781951e-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([ 8.63636364,  5.62674965, -6.55182915,  5.62674965, 23.98564714,
       13.18205551, -6.55182915, 13.18205551, 19.95719091,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0039012899342613927
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.84578445e-14,  2.84578445e-14,  1.00000000e+00,  8.09848916e-28,
        1.00000000e+00, -2.84578445e-14, -1.00000000e+00,  0.00000000e+00,
       -2.84578445e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00733298, -0.12739188,  0.06165479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.85160015e-05,-4.86409660e-04,-1.75396220e-04,-8.39936179e-05,
  1.53821689e-06,-1.46977553e-04, 5.23372234e-05,-4.36714228e-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,
  4.17027377e-04,-3.70358307e-04,-4.90530627e+00, 6.34011848e-03,
  2.18440022e-03,-2.01857564e-04]


--- Step 2144 ---
qpos:
[-0.01486105, 1.194735  ,-0.02205542, 0.94665401, 0.00435067, 1.19008468,
 -0.02920565, 0.94319474, 0.01657135, 1.23945985,-0.0234351 , 0.95185982,
  1.37888196,-0.00143025, 1.17746461, 0.0630497 ,-0.0360768 ,-0.1043971 ,
  0.07911064, 0.65858438,-0.01000162,-0.00325143, 0.75243339]

qacc:
[ 1.72145403e-01,-9.01621519e+00, 2.45887113e+01,-2.96161308e+01,
  4.73267235e-02,-9.69349373e+00, 2.77738028e+01,-2.89877260e+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,
 -3.53145803e+00, 3.23634913e+00,-1.63006429e+00,-1.93642159e+02,
  2.36331904e+02, 2.98417699e+01]

qfrc_actuator:
[ 2.77155550e-03, 7.46326890e-02, 1.01918877e-02, 3.69333879e-03,
  2.58007542e-05, 9.17793704e-02, 1.03752502e-02, 4.99944379e-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([ 8.63636364, -3.76465627,  7.77265335, -3.76465627, 24.45899705,
        7.66363472,  7.77265335,  7.66363472, 12.34821713,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003969373976159173
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.79697260e-14,  1.39848630e-14,  1.00000000e+00,  3.91152786e-28,
        1.00000000e+00, -1.39848630e-14, -1.00000000e+00,  0.00000000e+00,
       -2.79697260e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00719402, -0.12733947,  0.06165006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.60203223e-05,-5.14552339e-04,-7.80834327e-05,-6.60777661e-05,
  1.23882802e-05,-3.55008360e-04, 1.38054905e-05,-4.09080282e-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,
  1.29253581e-04,-9.89633892e-05,-4.90509069e+00, 6.38040078e-03,
  2.19965390e-03, 2.60794050e-05]


--- Step 2145 ---
qpos:
[-0.01486453, 1.19555967,-0.02206017, 0.9466886 , 0.00435101, 1.19125146,
 -0.02920844, 0.94325426, 0.01657118, 1.2408366 ,-0.02343806, 0.95192004,
  1.37895513,-0.00142959, 1.17762741, 0.06304738,-0.03610093,-0.10440106,
  0.07911043, 0.65851937,-0.01043207,-0.00315173, 0.75248486]

qacc:
[-1.42186959e-03,-1.42076626e+01, 3.94175629e+01,-4.31442363e+01,
 -1.38805154e-02,-1.01316086e+01, 3.14241900e+01,-4.37271097e+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,
 -3.18458619e+00, 2.84445194e+00,-2.57139279e+00,-1.70483474e+02,
  2.09330304e+02, 2.53078876e+01]

qfrc_actuator:
[ 2.74521975e-03, 7.42723975e-02, 1.02545187e-02, 3.63460224e-03,
  1.47444925e-05, 9.16314296e-02, 1.04359756e-02, 4.91682879e-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([ 8.63636364, -3.87980991,  7.71581829, -3.87980991, 25.26976056,
        8.36391109,  7.71581829,  8.36391109, 12.84205951,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003974028778207107
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.39684824e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.39684824e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00717468, -0.1273488 ,  0.06164987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.21831287e-07,-6.71719938e-04,-5.08572320e-05,-7.69135237e-05,
 -3.98980749e-06,-3.56671694e-04,-1.14417127e-05,-9.24501388e-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,
  1.15268430e-05, 3.14537321e-07,-4.90500517e+00, 6.38518513e-03,
  2.20172033e-03, 1.07345989e-04]


--- Step 2146 ---
qpos:
[-0.014868  , 1.19637699,-0.02206301, 0.94672237, 0.00435128, 1.19241635,
 -0.02921147, 0.94331059, 0.01657136, 1.24220949,-0.02344194, 0.95197949,
  1.37902849,-0.00142949, 1.1777901 , 0.06304818,-0.03613657,-0.10439497,
  0.07909666, 0.65841968,-0.01134184,-0.00303334, 0.75255942]

qacc:
[ 9.42299102e-03,-1.62453543e+01, 4.30177719e+01,-4.23261462e+01,
 -3.32748647e-02,-7.26588827e+00, 2.72758459e+01,-5.94167905e+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,
 -2.87926195e+00, 2.51178449e+00,-3.39108610e+00,-1.50932225e+02,
  1.86318914e+02, 2.15056187e+01]

qfrc_actuator:
[ 2.74856945e-03, 7.38008179e-02, 1.03106900e-02, 3.58616752e-03,
  7.99425121e-06, 9.15926345e-02, 1.04372740e-02, 4.75564103e-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([ 8.63636364, -4.13776799,  7.58061032, -4.13776799, 25.8290472 ,
        9.38438104,  7.58061032,  9.38438104, 13.75869414,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0039272289935743665
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.82698826e-14,  1.41349413e-14,  1.00000000e+00,  3.99593130e-28,
        1.00000000e+00, -1.41349413e-14, -1.00000000e+00,  0.00000000e+00,
       -2.82698826e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00725008, -0.12740703,  0.06165328])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.00959230e-06,-8.64852340e-04,-8.52357787e-05,-7.07472659e-05,
 -9.05407996e-06,-2.54869806e-04,-7.55663430e-05,-1.73008317e-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,
  1.07780201e-05,-1.91830971e-05,-4.90501337e+00, 6.36738605e-03,
  2.19499615e-03, 8.81422513e-05]


--- Step 2147 ---
qpos:
[-0.01487129, 1.19718598,-0.02206488, 0.94675684, 0.00435146, 1.1935797 ,
 -0.02921502, 0.94336423, 0.01657169, 1.24357953,-0.02344578, 0.95203859,
  1.3791021 ,-0.00143034, 1.1779528 , 0.06305121,-0.03618193,-0.1043982 ,
  0.07907656, 0.65834351,-0.01227401,-0.00344222, 0.75260968]

qacc:
[ 8.13349719e-02,-1.23720924e+01, 2.57454637e+01,-9.16164216e+00,
 -3.43495350e-02,-5.27354045e+00, 2.03156922e+01,-4.80297175e+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,
 -2.43022121e+00,-2.33028834e+00,-1.58226890e+00,-2.05679113e+02,
 -1.64982322e+02,-1.98088144e+01]

qfrc_actuator:
[ 2.76970856e-03, 7.33018702e-02, 1.03266302e-02, 3.61509740e-03,
  3.88447442e-06, 9.15483419e-02, 1.04216576e-02, 4.62055151e-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([ 8.63636364,  0.66278593, -8.61089378,  0.66278593, 77.23964947,
        5.28043824, -8.61089378,  5.28043824,  9.0428023 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038419436269378215
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.41826839e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.41826839e-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([ 0.00095829, -0.08042021,  0.06165933])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.14203683e-05,-1.00547155e-03,-1.66923434e-04,-3.34033138e-09,
 -9.30678842e-06,-2.18974680e-04,-8.22235879e-05,-1.47607504e-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,
  9.02958005e-05,-1.20151473e-04,-4.90508812e+00, 6.33581878e-03,
  2.18247844e-03, 1.09561721e-06]


--- Step 2148 ---
qpos:
[-0.01487436, 1.19798807,-0.02206762, 0.94679173, 0.00435158, 1.19474543,
 -0.02922035, 0.94341659, 0.01657194, 1.24495185,-0.02345192, 0.95209507,
  1.37917559,-0.00143138, 1.17811527, 0.06305823,-0.03622371,-0.10439237,
  0.0790621 , 0.65830202,-0.01317276,-0.00320698, 0.75263182]

qacc:
[ 9.49836498e-02,-5.99366613e+00, 7.79074878e+00, 2.29432579e+00,
 -2.99980191e-02, 5.79106529e+00,-1.25167235e+01,-5.27931714e+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,
  8.96921221e-01, 2.26251431e+00, 1.40917554e+00, 2.53548564e+02,
  1.99688959e+02,-1.84077115e+01]

qfrc_actuator:
[ 2.78359587e-03, 7.30212074e-02, 1.03008539e-02, 3.63600077e-03,
  1.39196704e-06, 9.19449863e-02, 1.04317673e-02, 4.57292588e-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, -4.43713638,  7.40935878, -4.43713638,  4.47064961,
       -2.49466139,  7.40935878, -2.49466139,  7.14242157,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004197289285213295
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.73200541e-01, -1.86600270e-01,  9.08791338e-01, -7.08843400e-02,
        9.82435921e-01,  1.72612489e-01, -9.25038792e-01,  1.38777878e-17,
       -3.79872654e-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([-0.06672602, -0.12527896,  0.06166108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.53054955e-05,-8.78693962e-04,-2.43312010e-04,-1.29757300e-05,
 -7.83389456e-06, 2.41346741e-04,-4.94699603e-05,-5.86754243e-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,
  4.87937061e-04,-1.68885733e-04,-4.90515242e+00, 6.36917017e-03,
  2.17483255e-03, 8.11600554e-06]


--- Step 2149 ---
qpos:
[-0.01487693, 1.19878659,-0.02207278, 0.94682605, 0.00435165, 1.19591967,
 -0.02922893, 0.94346787, 0.01657234, 1.24632976,-0.02346   , 0.95214837,
  1.3792489 ,-0.00143221, 1.17827792, 0.06306667,-0.03624606,-0.10439799,
  0.07906452, 0.65827004,-0.01345497,-0.00304892, 0.75265545]

qacc:
[ 2.17431725e-01, 8.50459418e-01,-7.29591025e+00, 2.06884746e+00,
 -2.46187734e-02, 1.80515086e+01,-4.31871388e+01, 1.95238449e+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,
  4.85508070e+00,-2.85922019e+00, 4.21952421e+00, 1.73957960e+02,
 -2.57418748e+02,-4.58741395e+00]

qfrc_actuator:
[ 2.82853102e-03, 7.30509362e-02, 1.02515008e-02, 3.61658810e-03,
 -1.10568659e-07, 9.27981584e-02, 1.04232855e-02, 4.54191335e-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([ 8.63636364,  4.42365382, -7.41741624,  4.42365382, 23.11817403,
        8.6367697 , -7.41741624,  8.6367697 , 13.78722453,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003854752803652009
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.40026372e-15,  1.44007033e-14,  1.00000000e+00,  7.77675953e-29,
        1.00000000e+00, -1.44007033e-14, -1.00000000e+00,  0.00000000e+00,
       -5.40026372e-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([-0.05996833, -0.08883661,  0.0616579 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.86023620e-05,-5.13405305e-04,-2.51161855e-04,-5.20671379e-05,
 -5.97542475e-06, 9.61630888e-04, 2.83239724e-05,-2.52361443e-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,
  3.90091416e-05,-6.81895705e-05,-4.90513922e+00, 6.37477526e-03,
  2.18897014e-03, 3.78154928e-05]


--- Step 2150 ---
qpos:
[-0.01487883, 1.19958341,-0.02207997, 0.9468597 , 0.00435168, 1.19710186,
 -0.02923738, 0.94351758, 0.0165731 , 1.24771019,-0.02346574, 0.95219993,
  1.37932212,-0.00143287, 1.17844135, 0.0630705 ,-0.03625153,-0.10441398,
  0.07907748, 0.6582445 ,-0.01319115,-0.002956  , 0.75268283]

qacc:
[ 2.89871201e-01, 2.11705732e+00,-8.23302641e+00, 4.57213863e-01,
 -1.72859049e-02, 7.42677291e+00,-8.36026988e+00,-1.60232902e+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,
  4.22211666e+00,-2.59426533e+00, 2.63598017e+00, 1.55251336e+02,
 -2.26938489e+02,-2.46015742e+00]

qfrc_actuator:
[ 2.87397253e-03, 7.31243180e-02, 1.02076463e-02, 3.59154997e-03,
 -1.00732284e-06, 9.32613335e-02, 1.04590802e-02, 4.46794098e-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, -6.92475752,  5.16086331, -6.92475752, 19.67228331,
       14.80780698,  5.16086331, 14.80780698, 28.50522407,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038699606032599337
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.86882255e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.86882255e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05997175, -0.08886435,  0.06165682])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.82485514e-05,-2.70357158e-04,-1.76295122e-04,-4.79624004e-05,
 -4.26441977e-06, 9.86260762e-04, 2.23308804e-04,-4.35391984e-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,
 -4.26966871e-06, 8.03156714e-06,-4.90501187e+00, 6.38522890e-03,
  2.18878547e-03, 1.45816724e-04]


--- Step 2151 ---
qpos:
[-0.01488057, 1.20037894,-0.02208783, 0.946892  , 0.00435168, 1.19828946,
 -0.02924404, 0.94356549, 0.01657407, 1.24909077,-0.02346943, 0.95225097,
  1.37939538,-0.00143365, 1.17860507, 0.06306968,-0.03625414,-0.10444475,
  0.07910539, 0.65823711,-0.01259469,-0.00323866, 0.75269834]

qacc:
[ 6.86081600e-02,-2.21890346e+00, 7.94486937e+00,-2.16927013e+01,
 -1.13409412e-02,-8.44094613e-01, 1.50060580e+01,-3.72649254e+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,
  7.12705270e-01,-3.69334991e+00, 3.73821207e+00,-3.17637856e+01,
 -2.48692894e+02,-1.37059958e+01]

qfrc_actuator:
[ 2.84834061e-03, 7.31346816e-02, 1.02031873e-02, 3.52796540e-03,
 -1.53437271e-06, 9.33988798e-02, 1.05016161e-02, 4.36911452e-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, -7.54704795,  4.19867171, -7.54704795, 25.6347068 ,
       30.55426095,  4.19867171, 30.55426095, 63.55717874,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038382213415495553
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.4462728e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.4462728e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03454853, -0.08528602,  0.06165934])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.84776191e-05,-1.84145063e-04,-8.07403798e-05,-7.69846404e-05,
 -2.91439262e-06, 7.11812055e-04, 2.56514185e-04,-6.23572912e-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,
  3.49299474e-05,-1.10146067e-05,-4.90502022e+00, 6.39432117e-03,
  2.19270690e-03, 1.39325480e-04]


--- Step 2152 ---
qpos:
[-0.01488266, 1.20117438,-0.0220955 , 0.94692247, 0.00435167, 1.19948075,
 -0.0292496 , 0.94361413, 0.01657533, 1.25047003,-0.02347313, 0.9523011 ,
  1.37946867,-0.00143455, 1.17876857, 0.06306667,-0.03625446,-0.10448907,
  0.07914271, 0.6582446 ,-0.011699  ,-0.00385662, 0.75270333]

qacc:
[-1.49675900e-01,-3.82717403e+00, 1.60913781e+01,-3.52377243e+01,
 -7.65532781e-03, 3.16107611e+00,-5.94467967e+00, 1.13300446e+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,
  5.75100513e-01,-3.38787993e+00, 2.35215132e+00,-2.76332205e+01,
 -2.22878307e+02,-1.16572896e+01]

qfrc_actuator:
[ 2.79805971e-03, 7.32495204e-02, 1.02573132e-02, 3.44219637e-03,
 -1.83644674e-06, 9.34647020e-02, 1.05109682e-02, 4.39824855e-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, -6.39638054,  5.80285213, -6.39638054, 26.81823722,
       20.04155538,  5.80285213, 20.04155538, 30.72781312,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003783483891166367
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.93439342e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.93439342e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03455988, -0.08524584,  0.0616638 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.04704759e-05,-1.41415747e-05, 4.72740272e-06,-9.44748715e-05,
 -1.93228649e-06, 4.94178432e-04, 1.72874381e-04, 5.79197075e-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,
 -3.76091719e-06, 1.61454092e-05,-4.90509271e+00, 6.39967396e-03,
  2.19442355e-03, 1.04491359e-04]


--- Step 2153 ---
qpos:
[-0.01488475, 1.20197106,-0.02210296, 0.94695294, 0.00435179, 1.20067285,
 -0.0292539 , 0.94366406, 0.01657699, 1.25184524,-0.02347566, 0.95234896,
  1.37954186,-0.00143524, 1.17893129, 0.06306672,-0.03624032,-0.10452057,
  0.07918027, 0.65826627,-0.01079256,-0.0039838 , 0.75269726]

qacc:
[ 1.97323304e-04, 1.10491621e+00,-1.68740145e+00, 8.64210332e-01,
  6.12899541e-02,-1.41507712e-01,-9.22101750e-01, 1.52544874e+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,
  3.61222568e+00, 3.20471874e+00, 6.03540364e-02, 1.88306913e+02,
  1.57572010e+02,-6.12762690e+00]

qfrc_actuator:
[ 2.82219141e-03, 7.34263622e-02, 1.03104906e-02, 3.45066438e-03,
  1.57507184e-05, 9.33094953e-02, 1.05003922e-02, 4.44908995e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003771211157156
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.27983936e-15,  1.83996430e-15,  1.00000000e+00,  1.52346088e-29,
        1.00000000e+00, -1.83996430e-15, -1.00000000e+00,  0.00000000e+00,
       -8.27983936e-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([-0.06687832, -0.12540876,  0.06166527])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.04196020e-07, 1.58089180e-04, 4.62226404e-05, 6.92411064e-06,
  1.65066202e-05, 1.40034084e-04, 1.04403954e-04, 7.34501590e-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,
 -4.13806646e-05, 1.70379470e-04,-4.90523155e+00, 6.39758272e-03,
  2.19814181e-03, 8.33204604e-05]


--- Step 2154 ---
qpos:
[-0.01488672, 1.2027692 ,-0.02210995, 0.94698292, 0.00435224, 1.20186224,
 -0.02925648, 0.9437142 , 0.01657888, 1.2532135 ,-0.02347573, 0.95239792,
  1.37961482,-0.00143526, 1.17909383, 0.06306842,-0.03624133,-0.10453975,
  0.07921007, 0.65824993,-0.01047283,-0.00408466, 0.75271553]

qacc:
[ 5.38544961e-02,-2.27454609e-01, 4.09842076e+00,-1.02960435e+01,
  1.40407543e-01,-7.83863526e+00, 2.08662198e+01,-1.40834984e+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,
 -3.78406914e+00, 3.07814184e+00,-1.93977866e+00,-1.83355821e+02,
  2.29266862e+02, 2.36311056e+01]

qfrc_actuator:
[ 2.83750545e-03, 7.35326087e-02, 1.03452659e-02, 3.42579364e-03,
  4.39207943e-05, 9.29343324e-02, 1.04950106e-02, 4.44109557e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037935304337703146
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.92662216e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.92662216e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00743255, -0.12763918,  0.06166418])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.45967991e-05, 1.93908334e-04, 6.91902074e-05,-1.77118725e-05,
  3.76483664e-05,-2.88714406e-04, 3.30117963e-05, 2.35898846e-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,
  9.05006655e-05,-1.08578054e-04,-4.90515045e+00, 6.38412243e-03,
  2.20105318e-03,-7.95638122e-06]


--- Step 2155 ---
qpos:
[-0.01488868, 1.20356774,-0.02211598, 0.94701141, 0.00435271, 1.20304599,
 -0.0292572 , 0.94376344, 0.01658074, 1.25457315,-0.0234738 , 0.9524504 ,
  1.37968787,-0.00143527, 1.17925658, 0.06306908,-0.03625588,-0.10454806,
  0.07922858, 0.65820091,-0.01067333,-0.00416142, 0.75275516]

qacc:
[-6.52404236e-04,-4.63724611e+00, 1.87522681e+01,-3.36560421e+01,
  1.12500121e-02,-1.39468259e+01, 3.83943065e+01,-4.00647238e+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,
 -3.38699358e+00, 2.71963158e+00,-2.82346592e+00,-1.62279772e+02,
  2.03538660e+02, 2.05108281e+01]

qfrc_actuator:
[ 2.82965277e-03, 7.34892459e-02, 1.03686395e-02, 3.34592497e-03,
  2.49461691e-05, 9.24481383e-02, 1.05095406e-02, 4.38062061e-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, -2.6250572 ,  8.22774888, -2.6250572 , 49.49995049,
       13.03749717,  8.22774888, 13.03749717, 12.79596747,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037979134359039934
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.46162234e-14,  2.92324468e-14,  1.00000000e+00, -4.27267973e-28,
        1.00000000e+00, -2.92324468e-14, -1.00000000e+00,  0.00000000e+00,
        1.46162234e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0074297, -0.1276477,  0.0616643])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.41531341e-07, 6.78657009e-05, 6.66793570e-05,-7.15392820e-05,
  2.61700837e-06,-6.52959039e-04,-4.11267763e-05,-6.67114767e-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,
  5.18204450e-06,-4.28351830e-06,-4.90502756e+00, 6.39328166e-03,
  2.20246280e-03, 9.71293182e-05]


--- Step 2156 ---
qpos:
[-0.01489069, 1.20436703,-0.02212294, 0.94703951, 0.00435279, 1.20422153,
 -0.02925626, 0.94381013, 0.01658264, 1.25592441,-0.02347145, 0.95250182,
  1.37976115,-0.00143586, 1.17941904, 0.06307139,-0.03628261,-0.1045467 ,
  0.07923273, 0.65812328,-0.01133767,-0.00421616, 0.75281301]

qacc:
[-1.82426416e-02, 2.80842892e+00,-7.14861162e+00, 1.11153785e+00,
 -1.66718873e-01,-1.96486871e+01, 5.63425022e+01,-7.33953522e+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,
 -3.04482121e+00, 2.41619444e+00,-3.59063403e+00,-1.44472075e+02,
  1.81673696e+02, 1.78496189e+01]

qfrc_actuator:
[ 2.82572917e-03, 7.35163865e-02, 1.03134903e-02, 3.32299651e-03,
 -2.21457885e-05, 9.18460752e-02, 1.05174283e-02, 4.23640634e-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, -2.90757742,  8.13220575, -2.90757742, 50.68154904,
       15.03277653,  8.13220575, 15.03277653, 14.01116144,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037542039614352554
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.47863973e-14,  1.47863973e-14,  1.00000000e+00,  2.18637544e-28,
        1.00000000e+00, -1.47863973e-14, -1.00000000e+00,  0.00000000e+00,
       -1.47863973e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00751437, -0.12770301,  0.06166779])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.84298553e-06, 6.65679527e-05,-3.83441620e-05,-1.96739161e-05,
 -4.56262618e-05,-9.86807463e-04,-1.29450563e-04,-1.65144026e-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,
  2.18075161e-05,-8.72742669e-06,-4.90500196e+00, 6.38506931e-03,
  2.19758752e-03, 1.06181457e-04]


--- Step 2157 ---
qpos:
[-0.01489289, 1.20517178,-0.02213325, 0.94706753, 0.00435257, 1.20538726,
 -0.02925519, 0.94385568, 0.01658474, 1.25726756,-0.02346942, 0.95255041,
  1.37983445,-0.00143663, 1.17958138, 0.06307507,-0.03629467,-0.10453081,
  0.07923912, 0.65806994,-0.0119796 ,-0.00376039, 0.75285211]

qacc:
[-8.62035782e-02, 1.60792566e+01,-4.36580100e+01, 3.37142476e+01,
 -1.33226175e-01,-1.51903110e+01, 3.63544940e+01,-3.86244746e+01,
  8.60794571e-02,-1.46604175e+01, 4.07184098e+01,-6.30947263e+01,
  2.35475283e-01,-4.16107785e-01,-4.32411802e+00, 1.48246062e+01,
  3.66717322e+00, 3.63308290e+00, 5.60377153e-01, 1.99623912e+02,
  1.59711776e+02,-1.24636400e+01]

qfrc_actuator:
[ 2.80645036e-03, 7.40823795e-02, 1.02482360e-02, 3.33374739e-03,
 -3.24494820e-05, 9.12148283e-02, 1.04675283e-02, 4.16824226e-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([ 8.63636364e+00,  8.63612432e+00,  6.42934819e-02,  8.63612432e+00,
        8.64040850e+00, -5.43320618e-01,  6.42934819e-02, -5.43320618e-01,
        8.16170806e+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: -0.0037040936195557733
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.87330414e-15,  2.62262579e-14,  1.00000000e+00, -4.91297575e-29,
        1.00000000e+00, -2.62262579e-14, -1.00000000e+00,  0.00000000e+00,
        1.87330414e-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([-0.06702112, -0.12554047,  0.06167157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.28415781e-05, 5.85735885e-04,-5.91250597e-05, 1.20906844e-05,
 -3.65628388e-05,-1.22079295e-03,-2.65447463e-04,-1.03977090e-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,
  1.09298341e-04,-8.90855276e-05,-4.90504587e+00, 6.36556812e-03,
  2.18828729e-03, 4.89327067e-05]


--- Step 2158 ---
qpos:
[-0.01489516, 1.2059877 ,-0.02214612, 0.94709457, 0.00435226, 1.20654301,
 -0.02925486, 0.94390084, 0.01658705, 1.25860147,-0.02346753, 0.95259698,
  1.37990754,-0.00143698, 1.17974346, 0.06308156,-0.0363064 ,-0.1045092 ,
  0.07924003, 0.65804583,-0.01259275,-0.00279993, 0.75286737]

qacc:
[-2.74142358e-02, 1.99407982e+01,-4.53861111e+01, 2.12879211e+01,
 -3.23639296e-02,-1.17574310e+01, 2.33227314e+01,-1.84372176e+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,
  8.09687909e-02, 1.43120407e+00,-1.36941017e+00, 1.99585714e+02,
  1.55425822e+02,-1.58777706e+01]

qfrc_actuator:
[ 2.81363368e-03, 7.50909467e-02, 1.02862223e-02, 3.31128539e-03,
 -2.06029017e-05, 9.06952203e-02, 1.04193266e-02, 4.14531594e-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, -3.87555827,  7.71795471, -3.87555827,  8.95537487,
        0.16019096,  7.71795471,  0.16019096,  8.71680327,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004007206271773951
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.57831812e-01, -1.78915906e-01,  9.16485402e-01, -6.50717771e-02,
        9.83864370e-01,  1.66663029e-01, -9.31516000e-01,  6.93889390e-18,
       -3.63700347e-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([-0.06707071, -0.12558647,  0.061674  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.69987701e-06, 1.31230088e-03, 1.44146971e-04,-5.53796763e-06,
 -9.22713893e-06,-1.26319165e-03,-3.23149640e-04,-6.83263772e-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,
 -2.91204939e-05, 9.41524512e-05,-4.90508753e+00, 6.36447769e-03,
  2.19490668e-03, 1.10380384e-04]


--- Step 2159 ---
qpos:
[-0.01489756, 1.20681568,-0.0221589 , 0.94712057, 0.00435183, 1.20768905,
 -0.02925443, 0.94394498, 0.0165894 , 1.25992568,-0.02346692, 0.95264102,
  1.37998038,-0.00143647, 1.17990573, 0.06308807,-0.03632987,-0.10449784,
  0.07923922, 0.65804299,-0.01322561,-0.00244594, 0.75286023]

qacc:
[-6.52009743e-02, 1.37769928e+01,-2.37382930e+01, 1.16239531e+00,
 -5.66199156e-02,-1.47472366e+01, 3.48091674e+01,-3.58418356e+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,
 -2.93312579e+00,-2.56340356e+00,-4.30667730e-01,-2.34681893e+02,
 -1.91955538e+02,-1.91704553e+01]

qfrc_actuator:
[ 2.80113054e-03, 7.58423384e-02, 1.03512129e-02, 3.26982396e-03,
 -3.10800927e-05, 9.02644463e-02, 1.04439794e-02, 4.09597546e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0036865413961742824
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.52889297e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.52889297e-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([ 0.00108724, -0.08034236,  0.06167295])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.70755495e-05, 1.49608242e-03, 3.35746712e-04, 2.65125046e-06,
 -1.58503667e-05,-1.20786170e-03,-2.64063316e-04,-9.68839983e-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,
  7.42541391e-05, 5.10863211e-04,-4.90523926e+00, 6.37915673e-03,
  2.18997886e-03, 2.54226403e-04]


--- Step 2160 ---
qpos:
[-0.01490027, 1.20765211,-0.0221697 , 0.94714612, 0.00435141, 1.20882678,
 -0.0292547 , 0.94398849, 0.01659141, 1.26124037,-0.02346764, 0.95268486,
  1.3800533 ,-0.00143583, 1.18006814, 0.06309381,-0.03636412,-0.10449584,
  0.07923256, 0.65805983,-0.01387656,-0.00262769, 0.75283318]

qacc:
[-1.29228664e-01, 4.99549658e+00,-1.96225629e+00,-8.88879687e+00,
  1.07971028e-02,-1.01295872e+01, 2.11838050e+01,-2.06231945e+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,
 -2.69373630e+00,-2.33931380e+00,-1.46031575e+00,-2.07516142e+02,
 -1.69299513e+02,-1.74758688e+01]

qfrc_actuator:
[ 2.77692715e-03, 7.60612627e-02, 1.03775042e-02, 3.23516772e-03,
 -1.93591780e-05, 8.99439433e-02, 1.04407850e-02, 4.06707212e-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([ 8.63636364, -6.41191933,  5.78567778, -6.41191933, 17.57833282,
        9.90984759,  5.78567778,  9.90984759, 19.61885277,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003704965912399903
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.49829047e-14, -7.49145236e-15,  1.00000000e+00, -1.12243717e-28,
        1.00000000e+00,  7.49145236e-15, -1.00000000e+00,  0.00000000e+00,
       -1.49829047e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00104289, -0.08037509,  0.06167157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.47440087e-05, 1.10284962e-03, 3.54988941e-04, 2.07505318e-05,
  2.54187778e-06,-1.05613110e-03,-2.75165675e-04,-7.37284053e-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,
 -1.35731031e-05, 4.18407587e-05,-4.90510500e+00, 6.39475941e-03,
  2.18968217e-03, 1.18759738e-04]


--- Step 2161 ---
qpos:
[-0.01490296, 1.20849209,-0.02217768, 0.94717112, 0.00435122, 1.20995741,
 -0.02925627, 0.94403091, 0.01659316, 1.26254748,-0.02347001, 0.95272849,
  1.3801264 ,-0.00143542, 1.18023062, 0.06309834,-0.03638146,-0.10450641,
  0.07923959, 0.65807279,-0.01395028,-0.00286246, 0.75281963]

qacc:
[ 5.59597883e-03,-3.94263251e+00, 1.95799516e+01,-2.55260213e+01,
  9.81688384e-02,-7.67664124e+00, 1.60182464e+01,-2.19893805e+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,
  4.22495090e+00,-3.14300203e+00, 3.42015863e+00, 1.69959730e+02,
 -2.34828402e+02, 4.77127271e+00]

qfrc_actuator:
[ 2.79916968e-03, 7.59062263e-02, 1.03964207e-02, 3.18668018e-03,
  5.57787580e-06, 8.96743459e-02, 1.04038929e-02, 4.01496297e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037263730772442855
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.67589353e-14,  1.48968313e-14,  1.00000000e+00,  2.49655032e-28,
        1.00000000e+00, -1.48968313e-14, -1.00000000e+00,  0.00000000e+00,
       -1.67589353e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06029391, -0.08887824,  0.0616699 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.50713558e-06, 5.15630693e-04, 2.73468539e-04,-3.78744687e-06,
  2.63402608e-05,-9.22625584e-04,-2.79735546e-04,-9.21828367e-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,
  1.76634284e-04,-7.95633969e-05,-4.90509809e+00, 6.39991656e-03,
  2.19385351e-03, 9.36107603e-05]


--- Step 2162 ---
qpos:
[-0.01490538, 1.20933131,-0.02218277, 0.94719644, 0.00435129, 1.21108221,
 -0.02925847, 0.9440726 , 0.01659471, 1.26384968,-0.0234742 , 0.95277187,
  1.3801995 ,-0.00143496, 1.18039309, 0.06310175,-0.03638393,-0.10452824,
  0.07925447, 0.65808145,-0.01351017,-0.00314346, 0.75281897]

qacc:
[ 1.19622130e-01,-8.22324855e+00, 2.49739792e+01,-1.75293585e+01,
  1.11496466e-01,-7.19193157e+00, 1.57112171e+01,-1.84403265e+01,
 -8.34409162e-02,-1.93657855e+00,-9.34149648e-01, 1.00005482e+00,
 -1.11154209e-01, 1.81961880e-01, 3.38784492e+00,-1.18610563e+01,
  3.71981826e+00,-2.81608363e+00, 1.96336201e+00, 1.51659569e+02,
 -2.08716295e+02, 4.80036563e+00]

qfrc_actuator:
[ 2.83133720e-03, 7.55638510e-02, 1.04270126e-02, 3.18341738e-03,
  2.04810588e-05, 8.95084073e-02, 1.04186660e-02, 3.98513146e-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: -0.0037267170534559385
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.58579613e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.58579613e-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([-0.06030469, -0.08888277,  0.06166999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.22495460e-05,-1.31748389e-05, 1.60374561e-04, 2.10068235e-05,
  3.00040055e-05,-7.46441235e-04,-2.02989709e-04,-6.64738086e-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,
  3.52972919e-05, 2.24170484e-05,-4.90501133e+00, 6.39141143e-03,
  2.18818444e-03, 1.67003521e-04]


--- Step 2163 ---
qpos:
[-0.01490777, 1.21016699,-0.02218576, 0.94722151, 0.00435173, 1.21220254,
 -0.02926099, 0.94411314, 0.01659598, 1.26514867,-0.02347966, 0.95281543,
  1.38027268,-0.00143469, 1.1805555 , 0.06310411,-0.03637319,-0.10456024,
  0.07927221, 0.65808517,-0.01260944,-0.00346505, 0.75282993]

qacc:
[ 9.80491996e-03,-1.07762272e+01, 3.00917959e+01,-2.70559720e+01,
  1.61817699e-01,-6.98355416e+00, 1.80478426e+01,-2.61093687e+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,
  3.30017127e+00,-2.54215532e+00, 7.15294405e-01, 1.36267529e+02,
 -1.86822983e+02, 4.68780011e+00]

qfrc_actuator:
[ 2.81593550e-03, 7.51652129e-02, 1.04456755e-02, 3.15338227e-03,
  4.69959214e-05, 8.94062434e-02, 1.04465476e-02, 3.93324293e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0036847258948487505
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.88315063e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.88315063e-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([-0.06036241, -0.08885695,  0.06167332])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.34417985e-06,-3.83244910e-04, 3.29617232e-05,-2.42404779e-05,
  4.37380768e-05,-5.69303403e-04,-1.45904707e-04,-8.04112495e-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,
 -9.60275748e-06, 3.22512457e-05,-4.90505129e+00, 6.39216039e-03,
  2.18962627e-03, 1.39937295e-04]


--- Step 2164 ---
qpos:
[-0.01491024, 1.21099631,-0.02218722, 0.94724598, 0.00435221, 1.21331708,
 -0.0292631 , 0.94415424, 0.01659727, 1.26644466,-0.02348462, 0.95285774,
  1.3803459 ,-0.00143457, 1.18071784, 0.06310545,-0.03636104,-0.10458702,
  0.07928578, 0.65811027,-0.01169027,-0.00325909, 0.75282374]

qacc:
[-2.70237922e-02,-1.35639914e+01, 3.53735052e+01,-3.36796879e+01,
  2.00732296e-02,-7.74016476e+00, 1.49506091e+01,-2.95609474e+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,
  3.54684168e-01, 1.30446817e+00,-1.04369884e+00, 2.04747443e+02,
  1.66792018e+02,-1.03923163e+01]

qfrc_actuator:
[ 2.80764141e-03, 7.46293869e-02, 1.04390607e-02, 3.10774262e-03,
  2.70015674e-05, 8.90592687e-02, 1.04467174e-02, 3.95758799e-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, -2.71513676,  8.19846384, -2.71513676, 54.42000557,
       15.16245622,  8.19846384, 15.16245622, 13.65780948,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003932732114909863
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.34522785, -0.17261392,  0.92250863, -0.06049925,  0.98498956,
        0.16166449, -0.93656691,  0.        , -0.35048884])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06721321, -0.1256854 ,  0.06167779])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.77273636e-06,-7.51316678e-04,-8.04607200e-05,-5.56475080e-05,
  5.14879385e-06,-7.05286048e-04,-1.32862644e-04, 2.47597894e-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,
  1.57124708e-05,-2.35977627e-05,-4.90518181e+00, 6.39985591e-03,
  2.19667012e-03, 4.02939393e-05]


--- Step 2165 ---
qpos:
[-0.01491263, 1.21181699,-0.02218805, 0.94727033, 0.00435261, 1.21442329,
 -0.02926379, 0.94419654, 0.01659869, 1.26773533,-0.0234868 , 0.95289808,
  1.38041887,-0.00143379, 1.18088021, 0.06310517,-0.03635973,-0.10462339,
  0.07929391, 0.65815569,-0.0107896 ,-0.00359809, 0.75279594]

qacc:
[ 3.29690460e-02,-1.32164171e+01, 2.96795629e+01,-2.17905671e+01,
 -3.23560696e-02,-1.27058015e+01, 2.57594892e+01,-3.06309217e+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,
 -2.71271272e+00,-2.39592738e+00,-1.35930429e+00,-2.11133026e+02,
 -1.72201589e+02,-1.79215237e+01]

qfrc_actuator:
[ 2.82144181e-03, 7.40154920e-02, 1.03992410e-02, 3.08867879e-03,
  1.47854613e-05, 8.84975004e-02, 1.04651756e-02, 4.00868461e-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: -0.0036201558865968514
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.53339118e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.53339118e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00114368, -0.08031341,  0.06167855])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.48517957e-06,-1.05598084e-03,-1.99412002e-04,-4.40867805e-05,
 -9.29044120e-06,-9.90138207e-04,-1.37216683e-04, 2.74552322e-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,
  3.04808727e-04,-1.70080899e-04,-4.90515773e+00, 6.38394301e-03,
  2.19472127e-03,-5.39528369e-06]


--- Step 2166 ---
qpos:
[-0.0149149 , 1.21262768,-0.02218853, 0.94729374, 0.00435306, 1.21552426,
 -0.02926526, 0.94423624, 0.01660011, 1.26901945,-0.02348725, 0.95293704,
  1.38049182,-0.00143273, 1.18104262, 0.06310253,-0.0363729 ,-0.10464713,
  0.07929524, 0.65815675,-0.01050356,-0.0039135 , 0.75279748]

qacc:
[ 5.06318445e-02,-1.57015898e+01, 3.73314530e+01,-3.72402594e+01,
  1.89126279e-02,-9.25947107e+00, 2.72513253e+01,-5.06196058e+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,
 -3.61714928e+00, 3.15691837e+00,-1.70053221e+00,-1.93566453e+02,
  2.38867102e+02, 2.75901829e+01]

qfrc_actuator:
[ 2.83063414e-03, 7.34128259e-02, 1.03753103e-02, 3.03206201e-03,
  2.50932379e-05, 8.83975501e-02, 1.04756706e-02, 3.87967161e-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: -0.003690530367450956
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  3.0083021e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -3.0083021e-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([ 0.00754689, -0.12787162,  0.06167343])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.32316893e-05,-1.23604401e-03,-2.56234824e-04,-9.39350247e-05,
  4.90300659e-06,-6.85854240e-04,-2.00614233e-04,-1.60741480e-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,
  1.82434604e-06,-1.81423084e-05,-4.90514700e+00, 6.36594835e-03,
  2.19729007e-03, 1.89605870e-05]


--- Step 2167 ---
qpos:
[-0.01491722, 1.21342787,-0.02218868, 0.94731566, 0.00435328, 1.21662513,
 -0.0292688 , 0.94427371, 0.01660162, 1.27029783,-0.0234877 , 0.95297618,
  1.38056496,-0.00143203, 1.18120445, 0.06310213,-0.03639911,-0.10465972,
  0.07928611, 0.65812001,-0.0107612 ,-0.00420698, 0.75282438]

qacc:
[-1.48770879e-02,-1.72647181e+01, 4.27251378e+01,-4.78108707e+01,
 -9.85143780e-02, 1.67001246e+00,-1.04309531e+00,-2.48323483e+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,
 -3.26199479e+00, 2.78851325e+00,-2.61341345e+00,-1.70808008e+02,
  2.11658452e+02, 2.37511602e+01]

qfrc_actuator:
[ 2.81923936e-03, 7.28572132e-02, 1.03786917e-02, 2.95379242e-03,
 -4.43139523e-06, 8.87524678e-02, 1.05007739e-02, 3.78795149e-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([ 8.63636364, -2.21244345,  8.34816572, -2.21244345, 33.69777045,
        6.64181178,  8.34816572,  6.64181178, 10.3965866 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003713765438284486
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.49474037e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.49474037e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00749052, -0.12785582,  0.06167174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.61854415e-06,-1.30104819e-03,-2.72016329e-04,-1.23782237e-04,
 -2.67364535e-05,-8.06613173e-05,-1.39225074e-04,-1.20560723e-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,
 -5.93931343e-07, 5.40507434e-05,-4.90503585e+00, 6.38910138e-03,
  2.20035559e-03, 1.18093645e-04]


--- Step 2168 ---
qpos:
[-0.01491991, 1.21421741,-0.02218871, 0.94733653, 0.00435352, 1.21772666,
 -0.02927324, 0.94431106, 0.01660339, 1.27156933,-0.02348841, 0.95301495,
  1.3806381 ,-0.00143138, 1.18136605, 0.06310353,-0.03643713,-0.1046624 ,
  0.07926335, 0.65805045,-0.01150241,-0.00448013, 0.75287265]

qacc:
[-1.62844293e-01,-1.61787020e+01, 3.80576389e+01,-3.87655741e+01,
  8.59234740e-03, 3.07847302e+00,-8.73070244e+00, 5.72856286e+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,
 -2.94983467e+00, 2.47505003e+00,-3.40903316e+00,-1.51602362e+02,
  1.88520645e+02, 2.05093045e+01]

qfrc_actuator:
[ 2.77784552e-03, 7.23165776e-02, 1.03805777e-02, 2.89895056e-03,
  1.34067389e-05, 8.88979405e-02, 1.05007512e-02, 3.79027644e-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([ 8.63636364, -2.51319791,  8.26260329, -2.51319791, 35.69241597,
        8.22951455,  8.26260329,  8.22951455, 11.13949709,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00368529425549647
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.50628817e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.50628817e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00753088, -0.1278908 ,  0.06167373])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.48908543e-05,-1.32586697e-03,-2.88859533e-04,-1.03457496e-04,
  2.42856465e-06, 5.79306536e-05,-3.78146828e-05,-5.65342798e-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,
  1.00104928e-04, 1.01159803e-05,-4.90502481e+00, 6.38906947e-03,
  2.19551836e-03, 1.13055770e-04]


--- Step 2169 ---
qpos:
[-0.01492348, 1.21499625,-0.02218876, 0.94735764, 0.00435417, 1.21882852,
 -0.02927855, 0.94434785, 0.01660542, 1.27283143,-0.02348967, 0.95305231,
  1.38071139,-0.00143125, 1.18152752, 0.06310667,-0.0364582 ,-0.10464906,
  0.07924764, 0.65800459,-0.01222302,-0.00418434, 0.75290308]

qacc:
[-3.77985681e-01,-1.35555884e+01, 2.67756660e+01,-1.37818514e+01,
  1.73945129e-01, 1.80684898e+00,-4.24144328e+00,-2.96364004e+00,
  1.16549216e-01,-1.33003666e+01, 3.13299880e+01,-3.75053976e+01,
  6.08803881e-01,-1.06352866e+00,-5.53371399e+00, 1.89478868e+01,
  4.23424480e+00, 4.00820805e+00, 1.76164596e+00, 2.21042679e+02,
  1.79602866e+02,-1.15611058e+01]

qfrc_actuator:
[ 2.70105578e-03, 7.17892932e-02, 1.03816448e-02, 2.91159464e-03,
  5.95062415e-05, 8.88992622e-02, 1.04497924e-02, 3.75905320e-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([ 8.63636364,  8.63160325,  0.2867093 ,  8.63160325,  8.7238178 ,
       -2.63287455,  0.2867093 , -2.63287455, 87.90106999,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0036999901199592164
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.62614522e-15,  1.12522904e-14,  1.00000000e+00,  6.33070200e-29,
        1.00000000e+00, -1.12522904e-14, -1.00000000e+00,  0.00000000e+00,
       -5.62614522e-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([-0.0671757 , -0.12566881,  0.06167233])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.03482212e-04,-1.32879077e-03,-2.95816375e-04,-3.67441893e-05,
  4.75026957e-05, 1.37952884e-05,-4.67132425e-05,-2.94105926e-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,
  2.70149344e-04,-1.13331949e-04,-4.90508460e+00, 6.37391441e-03,
  2.18527985e-03, 3.68993387e-05]


--- Step 2170 ---
qpos:
[-0.01492793, 1.21576478,-0.02218904, 0.94737977, 0.00435497, 1.21993016,
 -0.02928367, 0.94438297, 0.01660754, 1.27408182,-0.02349099, 0.95308824,
  1.38078482,-0.0014318 , 1.1816887 , 0.0631132 ,-0.03646445,-0.10462172,
  0.07923368, 0.65797856,-0.01292688,-0.00338207, 0.75291811]

qacc:
[-3.81990008e-01,-1.11550297e+01, 1.80024992e+01, 2.51373951e+00,
  6.99393704e-02,-3.65307549e+00, 1.50345022e+01,-3.23668495e+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,
  3.70719186e+00, 3.49754264e+00, 4.39313113e-01, 1.96264982e+02,
  1.60457925e+02,-9.47682014e+00]

qfrc_actuator:
[ 2.65693396e-03, 7.13098276e-02, 1.03823221e-02, 2.96384564e-03,
  5.11624114e-05, 8.88851815e-02, 1.04573636e-02, 3.67267740e-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, -8.51067616,  1.46804909, -8.51067616, 10.18911791,
        9.00173496,  1.46804909,  9.00173496, 60.82184681,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037061935273799904
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.36121367e-16,  7.48897094e-15,  1.00000000e+00, -7.01058571e-30,
        1.00000000e+00, -7.48897094e-15, -1.00000000e+00,  0.00000000e+00,
        9.36121367e-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([-0.06716939, -0.12567404,  0.06167165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.04576377e-04,-1.28181533e-03,-2.95573653e-04, 4.11072699e-06,
  1.90450285e-05,-2.84382084e-05, 1.48794569e-06,-8.66963794e-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,
 -5.47494521e-06,-1.35321404e-06,-4.90508951e+00, 6.37254549e-03,
  2.19415348e-03, 7.19974644e-05]


--- Step 2171 ---
qpos:
[-0.0149328 , 1.21652303,-0.02218847, 0.94740127, 0.00435567, 1.22103101,
 -0.02928816, 0.94441683, 0.01660965, 1.27531836,-0.02349109, 0.95312201,
  1.38085827,-0.00143283, 1.18185025, 0.06311877,-0.03645477,-0.10460629,
  0.0792329 , 0.6579484 ,-0.01304727,-0.00263487, 0.75294537]

qacc:
[-1.80342314e-01,-1.68904500e+01, 4.00792988e+01,-3.56793504e+01,
 -4.43151524e-02,-4.89074741e+00, 1.72528127e+01,-2.89768468e+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,
  3.98103865e+00,-2.97575620e+00, 3.29577178e+00, 1.71219444e+02,
 -2.37857726e+02, 4.23810438e+00]

qfrc_actuator:
[ 2.66827719e-03, 7.08274329e-02, 1.04362376e-02, 2.93247585e-03,
  2.79852561e-05, 8.88267564e-02, 1.04815929e-02, 3.60781221e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0036682341825636025
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.56646774e-15,  3.78323387e-15,  1.00000000e+00, -2.86257171e-29,
        1.00000000e+00, -3.78323387e-15, -1.00000000e+00,  0.00000000e+00,
        7.56646774e-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([-0.06047144, -0.08892947,  0.06167424])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.97402993e-05,-1.25735761e-03,-2.31892841e-04,-7.71659446e-05,
 -1.21946671e-05,-8.84038458e-05, 1.36996186e-05,-6.63673700e-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,
 -3.87380301e-06, 3.50800129e-04,-4.90520594e+00, 6.38081162e-03,
  2.19132778e-03, 1.91466732e-04]


--- Step 2172 ---
qpos:
[-0.01493769, 1.21727085,-0.02218696, 0.9474233 , 0.00435634, 1.22212996,
 -0.02929187, 0.94445047, 0.01661157, 1.27653836,-0.02348945, 0.95315611,
  1.38093161,-0.00143393, 1.18201227, 0.06312061,-0.03645926,-0.10460296,
  0.07923089, 0.65794192,-0.01318989,-0.00247801, 0.75294908]

qacc:
[-7.83369556e-03,-1.53518899e+01, 3.25181763e+01,-1.58163368e+01,
 -1.19612487e-02,-4.98807112e+00, 1.37440040e+01,-1.34333360e+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,
 -3.54138632e+00,-3.02750078e+00,-3.09041192e-01,-2.29439566e+02,
 -1.85649467e+02,-2.04841200e+01]

qfrc_actuator:
[ 2.69503608e-03, 7.03118791e-02, 1.04856021e-02, 2.95868194e-03,
  3.16130535e-05, 8.86713930e-02, 1.04975499e-02, 3.59160364e-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: -0.003697400700592497
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50135611e-14,  2.25203416e-14,  1.00000000e+00, -3.38110524e-28,
        1.00000000e+00, -2.25203416e-14, -1.00000000e+00,  0.00000000e+00,
        1.50135611e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00092155, -0.08045809,  0.06167204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.70727581e-06,-1.26683956e-03,-2.26778765e-04,-1.88933326e-05,
 -3.41133136e-06,-2.15463590e-04,-4.29943394e-06,-1.86770047e-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,
  1.75489119e-04, 2.88625862e-04,-4.90510138e+00, 6.37754268e-03,
  2.19181132e-03, 2.39568105e-04]


--- Step 2173 ---
qpos:
[-0.01494245, 1.21800902,-0.02218547, 0.94744616, 0.00435701, 1.22322667,
 -0.02929544, 0.94448408, 0.01661341, 1.27773994,-0.02348704, 0.95319165,
  1.38100477,-0.00143475, 1.18217432, 0.06311974,-0.03647644,-0.10461046,
  0.0792234 , 0.65795676,-0.01335231,-0.002844  , 0.75293196]

qacc:
[ 5.91993259e-02,-1.11890617e+01, 1.95179911e+01,-1.34069835e+00,
  2.27744085e-04,-3.33640931e+00, 7.38760148e+00,-5.22978058e+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,
 -3.17218395e+00,-2.70558652e+00,-1.37079179e+00,-2.03237233e+02,
 -1.64383292e+02,-1.82991647e+01]

qfrc_actuator:
[ 2.71306151e-03, 6.98694471e-02, 1.04962970e-02, 3.00078864e-03,
  3.35379840e-05, 8.85302924e-02, 1.04903899e-02, 3.58631849e-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([ 8.63636364, -5.90625037,  6.30103035, -5.90625037, 39.82356167,
       29.23321897,  6.30103035, 29.23321897, 36.03802666,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037112389027262258
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.49575796e-14,  7.47878979e-15,  1.00000000e+00,  1.11864593e-28,
        1.00000000e+00, -7.47878979e-15, -1.00000000e+00,  0.00000000e+00,
       -1.49575796e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00089409, -0.08047674,  0.06167098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.56872595e-05,-1.19608401e-03,-2.64975853e-04,-1.78052982e-06,
 -5.49284651e-08,-2.73505889e-04,-5.28942815e-05,-1.09802085e-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,
 -4.44973055e-07, 1.33357784e-05,-4.90500796e+00, 6.38907070e-03,
  2.18861048e-03, 1.53895082e-04]


--- Step 2174 ---
qpos:
[-0.01494718, 1.21874034,-0.02218507, 0.94746814, 0.00435754, 1.22432154,
 -0.02929982, 0.94451775, 0.01661523, 1.27892235,-0.02348339, 0.95322532,
  1.38107792,-0.00143562, 1.18233601, 0.06311891,-0.03648076,-0.10463181,
  0.07922923, 0.65796432,-0.01299035,-0.00331166, 0.75292977]

qacc:
[ 1.26574932e-02,-7.57574708e+00, 1.56599697e+01,-1.96011113e+01,
 -6.16619710e-02,-1.72935040e-01,-2.50340931e+00, 4.07166522e+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,
  3.21313483e+00,-3.46260411e+00, 3.33293543e+00, 1.34206994e+02,
 -2.30971372e+02, 6.22345957e+00]

qfrc_actuator:
[ 2.70794732e-03, 6.97050712e-02, 1.05021291e-02, 2.96315031e-03,
  1.66715773e-05, 8.84520995e-02, 1.04519348e-02, 3.58746684e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037018951798350693
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.20118890e-06,  1.20118888e-06,  1.00000000e+00,  1.44285475e-12,
        1.00000000e+00, -1.20118888e-06, -1.00000000e+00,  0.00000000e+00,
       -1.20118890e-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([-0.05537423, -0.0882526 ,  0.06167158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.17223535e-06,-8.85725451e-04,-2.59825994e-04,-8.01523528e-05,
 -1.69124938e-05,-2.51915704e-04,-1.00826061e-04,-7.53038980e-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,
  9.98330213e-05, 4.79526286e-05,-4.90503078e+00, 6.38950295e-03,
  2.19091600e-03, 1.67074784e-04]


--- Step 2175 ---
qpos:
[-0.01495177, 1.21946799,-0.02218654, 0.94748891, 0.00435775, 1.2254156 ,
 -0.02930485, 0.94455041, 0.0166166 , 1.2800859 ,-0.02347906, 0.95325753,
  1.38115097,-0.00143626, 1.18249741, 0.06311882,-0.03647203,-0.10466413,
  0.07923969, 0.65796263,-0.01214731,-0.00381625, 0.75294293]

qacc:
[ 6.49426175e-02,-1.86742170e+00, 2.72203983e+00,-1.39336819e+01,
 -1.37938554e-01,-9.79302527e-01, 4.01473431e+00,-1.47444311e+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,
  3.26382924e+00,-2.74427362e+00, 1.15456479e+00, 1.44329223e+02,
 -1.93371144e+02, 7.50049655e+00]

qfrc_actuator:
[ 2.72450727e-03, 6.97440951e-02, 1.04883745e-02, 2.91455578e-03,
 -1.13271608e-05, 8.85009284e-02, 1.04488409e-02, 3.53914257e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0036762942668400606
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.54987866e-15,  1.50997573e-14,  1.00000000e+00, -1.14001335e-28,
        1.00000000e+00, -1.50997573e-14, -1.00000000e+00,  0.00000000e+00,
        7.54987866e-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([-0.06047822, -0.08894971,  0.06167358])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.76543179e-05,-5.11921811e-04,-2.20456518e-04,-8.35519029e-05,
 -3.77761779e-05,-1.22164043e-04,-6.65768544e-05,-5.76805823e-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,
  7.19183073e-06, 1.20440757e-04,-4.90506666e+00, 6.39144002e-03,
  2.19089766e-03, 1.66567707e-04]


--- Step 2176 ---
qpos:
[-0.01495587, 1.22019361,-0.02218949, 0.9475081 , 0.00435764, 1.22651004,
 -0.02931029, 0.94458215, 0.0166176 , 1.28123242,-0.02347575, 0.95329063,
  1.38122406,-0.001437  , 1.18265911, 0.06311585,-0.03646081,-0.1046904 ,
  0.07924869, 0.65798282,-0.01128566,-0.00376096, 0.75293897]

qacc:
[ 2.07491379e-01,-1.37556451e+00, 4.50356198e+00,-2.10078783e+01,
 -1.40695510e-01,-2.14338550e-02, 2.56365063e+00,-1.32179057e+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,
  6.21871674e-01, 1.51343436e+00,-3.64921577e-01, 2.17005228e+02,
  1.77329184e+02,-1.05092576e+01]

qfrc_actuator:
[ 2.77169118e-03, 6.97804427e-02, 1.04640677e-02, 2.84230137e-03,
 -2.80194027e-05, 8.86256555e-02, 1.04671538e-02, 3.49769242e-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, -1.86656737,  8.43224188, -1.86656737, 69.17954759,
       13.4018845 ,  8.43224188, 13.4018845 , 11.60301482,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00393467081563941
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.16284872e-01, -1.58142436e-01,  9.35390212e-01, -5.06554932e-02,
        9.87416310e-01,  1.49810050e-01, -9.47310879e-01,  6.93889390e-18,
       -3.20315625e-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([-0.06722547, -0.12572345,  0.06167342])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.66610580e-05,-3.00203802e-04,-1.53560271e-04,-9.50189449e-05,
 -3.85141293e-05, 3.07422152e-05,-1.73580971e-05,-4.70799016e-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,
 -2.73900496e-05, 9.70122785e-05,-4.90519649e+00, 6.40392067e-03,
  2.19754721e-03, 7.83481199e-05]


--- Step 2177 ---
qpos:
[-0.01495945, 1.22091779,-0.02219323, 0.94752586, 0.00435741, 1.22760357,
 -0.02931512, 0.94461391, 0.0166186 , 1.28236189,-0.02347301, 0.95332271,
  1.38129718,-0.00143782, 1.18282064, 0.06311208,-0.03646465,-0.10470396,
  0.07925119, 0.65796055,-0.0110432 ,-0.00367996, 0.75296243]

qacc:
[ 2.25773947e-01,-2.24417551e+00, 7.95406411e+00,-2.26199258e+01,
 -5.17541683e-02,-2.80813175e+00, 7.64638729e+00,-5.67699680e+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,
 -3.76399320e+00, 3.17798028e+00,-1.62396383e+00,-1.94221161e+02,
  2.41326734e+02, 2.63188506e+01]

qfrc_actuator:
[ 2.80135484e-03, 6.97795071e-02, 1.04515603e-02, 2.77447219e-03,
 -2.00413225e-05, 8.85287831e-02, 1.04805574e-02, 3.49619137e-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([ 8.63636364,  5.62559236, -6.55282286,  5.62559236, 25.98214006,
       14.89133301, -6.55282286, 14.89133301, 21.42055924,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0036741178226857435
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.51087020e-14,  1.51087020e-14,  1.00000000e+00,  2.28272876e-28,
        1.00000000e+00, -1.51087020e-14, -1.00000000e+00,  0.00000000e+00,
       -1.51087020e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00748783, -0.12793441,  0.06167401])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.16693254e-05,-2.07614670e-04,-9.30974593e-05,-8.26023077e-05,
 -1.42680433e-05,-9.62893555e-05, 1.35590035e-05,-8.61301689e-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,
  1.76133117e-04,-1.38073591e-04,-4.90513409e+00, 6.38582459e-03,
  2.19857199e-03, 3.02301283e-06]


--- Step 2178 ---
qpos:
[-0.01496287, 1.22164048,-0.02219704, 0.94754437, 0.00435744, 1.22869501,
 -0.02931919, 0.94464588, 0.01661975, 1.28347331,-0.02347046, 0.95335226,
  1.38137004,-0.0014379 , 1.18298173, 0.06311021,-0.03648201,-0.1047063 ,
  0.07924349, 0.65790196,-0.01134848,-0.00357517, 0.75300959]

qacc:
[ 6.72227872e-02,-4.88523603e-01,-2.31626463e+00, 1.17061492e+01,
  1.17936439e-01,-4.40120115e+00, 1.06292422e+01,-5.52067147e+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,
 -3.38055358e+00, 2.80599536e+00,-2.54864565e+00,-1.71393964e+02,
  2.13844792e+02, 2.26045657e+01]

qfrc_actuator:
[ 2.78476727e-03, 6.97386758e-02, 1.04637798e-02, 2.81629693e-03,
  2.04168051e-05, 8.83533446e-02, 1.04901579e-02, 3.50031729e-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, -2.60125136,  8.2353062 , -2.60125136, 36.55258074,
        8.8177775 ,  8.2353062 ,  8.8177775 , 11.42159774,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037017673245767144
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.4995851e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.4995851e-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([ 0.00742562, -0.12791288,  0.06167199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.83227170e-05,-1.84077134e-04,-4.30204125e-05, 3.18659895e-05,
  3.22086398e-05,-2.37627900e-04,-1.01943085e-05, 2.94022621e-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,
  2.83491993e-05,-9.50630265e-06,-4.90501678e+00, 6.39086127e-03,
  2.20055486e-03, 1.10475210e-04]


--- Step 2179 ---
qpos:
[-0.01496644, 1.22236256,-0.02220173, 0.94756426, 0.00435784, 1.22978376,
 -0.02932248, 0.94467774, 0.01662106, 1.28456589,-0.02346812, 0.9533825 ,
  1.38144278,-0.00143741, 1.18314251, 0.06311092,-0.03651155,-0.10469868,
  0.07922238, 0.65781174,-0.01214091,-0.00344839, 0.75307664]

qacc:
[-6.05984962e-02, 3.98272227e+00,-1.67313181e+01, 3.08014723e+01,
  1.56209710e-01,-5.84393102e+00, 1.50533183e+01,-1.27518867e+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,
 -3.04614738e+00, 2.48947702e+00,-3.35437210e+00,-1.52118722e+02,
  1.90479913e+02, 1.94522387e+01]

qfrc_actuator:
[ 2.75833941e-03, 6.97633008e-02, 1.04371650e-02, 2.88679012e-03,
  4.45136599e-05, 8.81855620e-02, 1.05148524e-02, 3.48988049e-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, -3.01221409,  8.09403133, -3.01221409, 37.58389448,
       10.77289633,  8.09403133, 10.77289633, 12.64552407,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0036770249797534807
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00746128, -0.12794325,  0.06167371])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.65325875e-05,-9.23555952e-05,-6.81780444e-05, 6.53640523e-05,
  4.26998733e-05,-3.12623117e-04,-2.53145491e-05,-1.64629203e-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,
  1.28950200e-06,-3.95711637e-06,-4.90500376e+00, 6.37596563e-03,
  2.19498553e-03, 1.11958371e-04]


--- Step 2180 ---
qpos:
[-0.01496991, 1.22308616,-0.02220827, 0.94758402, 0.00435842, 1.23086989,
 -0.02932507, 0.94470786, 0.01662251, 1.28563844,-0.02346505, 0.95341541,
  1.38151593,-0.00143782, 1.18330319, 0.06311354,-0.03653581,-0.10468148,
  0.07920238, 0.65775329,-0.01290275,-0.00275642, 0.75311787]

qacc:
[ 3.92799081e-02, 6.76384940e+00,-1.94377457e+01, 1.45777730e+01,
  7.71405306e-02,-8.30235701e+00, 2.64557246e+01,-4.13159108e+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,
  1.32108782e+00, 2.39521967e+00, 2.77743584e-01, 2.23029830e+02,
  1.74586736e+02,-1.70742760e+01]

qfrc_actuator:
[ 2.77949782e-03, 6.99689208e-02, 1.03880986e-02, 2.88480371e-03,
  4.08439478e-05, 8.80593117e-02, 1.05482677e-02, 3.39993825e-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, -7.24371455,  4.70269884, -7.24371455,  7.04056516,
       -2.45805845,  4.70269884, -2.45805845,  4.85013909,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038988371716052223
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.30478166, -0.15239083,  0.94015168, -0.04699481,  0.98832031,
        0.14496362, -0.95126212,  0.        , -0.30838348])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06728158, -0.12579076,  0.06167427])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09365824e-05, 1.35477147e-04,-7.45727886e-05,-4.34486514e-06,
  2.09998001e-05,-3.16051555e-04,-3.35331770e-05,-9.91076903e-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,
  5.82691276e-05,-8.38614547e-05,-4.90506490e+00, 6.34857151e-03,
  2.18424657e-03, 4.09927373e-05]


--- Step 2181 ---
qpos:
[-0.01497322, 1.22381433,-0.0222164 , 0.94760368, 0.00435907, 1.23195322,
 -0.02932744, 0.94473605, 0.01662392, 1.28669047,-0.02346103, 0.9534473 ,
  1.38158955,-0.00143976, 1.1834645 , 0.06311227,-0.03657101,-0.1046745 ,
  0.07918027, 0.65771974,-0.01368823,-0.0026655 , 0.75313363]

qacc:
[ 7.07188466e-02, 1.01495177e+01,-2.56425608e+01, 1.82423088e+01,
  3.55049600e-02,-7.58478766e+00, 2.43004103e+01,-4.17824341e+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,
 -2.73452648e+00,-2.55638882e+00,-5.26025885e-01,-2.33977377e+02,
 -1.88571816e+02,-2.16025617e+01]

qfrc_actuator:
[ 2.79352679e-03, 7.04410478e-02, 1.03978889e-02, 2.89353247e-03,
  3.83058168e-05, 8.79057458e-02, 1.05511804e-02, 3.29945334e-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: -0.003720075455038746
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  7.4610249e-15,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -7.4610249e-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([ 0.00078086, -0.08053714,  0.06166991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.96830792e-05, 5.24661147e-04, 2.60353971e-05, 1.13427272e-05,
  9.58962143e-06,-3.49304172e-04,-6.80559474e-05,-1.11912810e-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,
 -3.83168084e-05, 2.48809339e-04,-4.90516274e+00, 6.35403167e-03,
  2.19042190e-03, 1.53124158e-04]


--- Step 2182 ---
qpos:
[-0.01497666, 1.22455049,-0.02222591, 0.94762263, 0.00435946, 1.2330329 ,
 -0.02933001, 0.94476398, 0.01662508, 1.28772196,-0.02345682, 0.95347691,
  1.3816633 ,-0.00144282, 1.18362571, 0.06310985,-0.03658777,-0.10467981,
  0.07917471, 0.65768858,-0.01386183,-0.00263992, 0.75315776]

qacc:
[-5.69663895e-02, 1.30172048e+01,-2.83889478e+01, 1.16520223e+01,
 -1.15084349e-01,-4.66754264e+00, 9.96895581e+00,-9.35753878e+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,
  4.61016356e+00,-3.07150409e+00, 4.13482857e+00, 1.76643721e+02,
 -2.51953280e+02, 5.89845094e-01]

qfrc_actuator:
[ 2.76766254e-03, 7.11049062e-02, 1.04257275e-02, 2.87321837e-03,
  9.66611054e-07, 8.76659879e-02, 1.05182333e-02, 3.28230664e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037662581851570925
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.36953609e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -7.36953609e-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([-0.06046315, -0.08910688,  0.06166618])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.51383994e-05, 9.51746690e-04, 1.32049216e-04,-2.79949116e-06,
 -3.18097345e-05,-4.60965272e-04,-1.14707131e-04,-3.08816115e-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,
  7.48832847e-05,-8.87081556e-05,-4.90510247e+00, 6.38133200e-03,
  2.18625184e-03, 6.40961065e-05]


--- Step 2183 ---
qpos:
[-0.01498029, 1.22529649,-0.02223616, 0.94763998, 0.00435951, 1.23410966,
 -0.02933328, 0.94479147, 0.01662597, 1.28873357,-0.02345325, 0.95350489,
  1.38173675,-0.00144582, 1.18378638, 0.06311014,-0.0365884 ,-0.10469617,
  0.07917941, 0.65765814,-0.01349295,-0.00267012, 0.75319093]

qacc:
[-8.73663011e-02, 1.21030678e+01,-2.06336133e+01,-6.82435668e+00,
 -1.48007864e-01,-2.70480694e+00, 5.09302587e+00,-7.63914631e+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,
  4.03079427e+00,-2.76326737e+00, 2.56799499e+00, 1.57399054e+02,
 -2.22693451e+02, 1.60227143e+00]

qfrc_actuator:
[ 2.75359576e-03, 7.17542909e-02, 1.04470631e-02, 2.80060889e-03,
 -2.14318826e-05, 8.75717730e-02, 1.04996228e-02, 3.26100225e-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, -7.10010373,  4.91683881, -7.10010373, 24.22310333,
       22.50784964,  4.91683881, 22.50784964, 41.13856137,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00378337118104205
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.83405053e-15,  2.93448084e-14,  1.00000000e+00,  5.38198613e-29,
        1.00000000e+00, -2.93448084e-14, -1.00000000e+00,  0.00000000e+00,
       -1.83405053e-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([-0.06045687, -0.08913077,  0.06166484])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.34391070e-05, 1.19371414e-03, 2.20647146e-04,-3.95978789e-05,
 -4.08265298e-05,-3.83792537e-04,-1.25110891e-04,-3.78724441e-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,
  3.18179338e-06,-4.21000306e-06,-4.90500136e+00, 6.38837504e-03,
  2.18606071e-03, 1.55358259e-04]


--- Step 2184 ---
qpos:
[-0.01498396, 1.22605956,-0.02224979, 0.94765616, 0.00435954, 1.23518823,
 -0.02933893, 0.94481784, 0.0166269 , 1.28972596,-0.02345098, 0.9535327 ,
  1.38180949,-0.00144712, 1.18394738, 0.06310847,-0.03658685,-0.10472819,
  0.07919895, 0.65764344,-0.01279479,-0.00306602, 0.75321444]

qacc:
[-1.56838457e-02, 2.95915017e+01,-6.71546795e+01, 3.44664569e+01,
 -5.82581430e-03, 6.85320543e+00,-1.71918013e+01, 7.28758172e-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,
  5.45954328e-01,-3.91480819e+00, 3.70704993e+00,-2.93458560e+01,
 -2.44174102e+02,-1.20140289e+01]

qfrc_actuator:
[ 2.76448188e-03, 7.30823086e-02, 1.04466494e-02, 2.76882758e-03,
  8.22174552e-07, 8.79739207e-02, 1.04901811e-02, 3.21973113e-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([ 8.63636364, -8.35260231,  2.19563465, -8.35260231, 13.10416125,
       16.99633255,  2.19563465, 16.99633255, 73.29357175,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003755557732550291
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.47810672e-14,  1.47810672e-14,  1.00000000e+00,  2.18479948e-28,
        1.00000000e+00, -1.47810672e-14, -1.00000000e+00,  0.00000000e+00,
       -1.47810672e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03491168, -0.08549546,  0.06166696])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.27865466e-06, 2.02230329e-03, 2.55167320e-04, 1.01828579e-05,
 -1.39298984e-06, 1.53082344e-04,-1.02220057e-04,-5.59968553e-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,
  2.35818505e-05,-1.75057349e-05,-4.90503735e+00, 6.39962209e-03,
  2.19156247e-03, 1.34419445e-04]


--- Step 2185 ---
qpos:
[-0.01498728, 1.22684678,-0.02226742, 0.94767125, 0.00435983, 1.2362722 ,
 -0.0293467 , 0.94484285, 0.016628  , 1.29069868,-0.02344928, 0.95356095,
  1.3818819 ,-0.00144709, 1.18410808, 0.06310786,-0.03658353,-0.10477447,
  0.07922779, 0.65764157,-0.01179989,-0.00378948, 0.75322903]

qacc:
[ 1.44526457e-01, 4.06127896e+01,-9.20175035e+01, 5.23236040e+01,
  1.08680053e-01, 1.04860105e+01,-2.28502811e+01, 6.22522609e-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,
  4.44476558e-01,-3.56453448e+00, 2.32592939e+00,-2.57242246e+01,
 -2.19383055e+02,-1.03181625e+01]

qfrc_actuator:
[ 2.80800271e-03, 7.48063320e-02, 1.04361355e-02, 2.74397794e-03,
  3.19210371e-05, 8.85283129e-02, 1.04882022e-02, 3.16734424e-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([ 8.63636364, -6.22801146,  5.98319731, -6.22801146, 37.6141951 ,
       30.16351579,  5.98319731, 30.16351579, 40.03407833,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00370223990548281
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.99878736e-14,  1.49939368e-14,  1.00000000e+00,  4.49636283e-28,
        1.00000000e+00, -1.49939368e-14, -1.00000000e+00,  0.00000000e+00,
       -2.99878736e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03491962, -0.08545354,  0.0616712 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.10360856e-05, 2.88465298e-03, 4.12354168e-04, 4.39509710e-05,
  3.03010859e-05, 6.06257991e-04, 1.23118582e-05,-5.07824174e-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,
 -1.32009978e-05, 5.55507522e-05,-4.90514136e+00, 6.40768012e-03,
  2.19385782e-03, 1.03976636e-04]


--- Step 2186 ---
qpos:
[-0.01499033, 1.22765613,-0.02228439, 0.94768551, 0.00436012, 1.23736071,
 -0.02935452, 0.94486667, 0.01662926, 1.29165127,-0.02344743, 0.95358719,
  1.3819545 ,-0.0014469 , 1.18426829, 0.06311097,-0.03656612,-0.10480801,
  0.07925758, 0.65765441,-0.01079403,-0.00400606, 0.75323178]

qacc:
[ 1.15245810e-01, 2.58929226e+01,-4.77421813e+01, 1.82883166e+01,
  9.48675209e-04, 4.07098004e+00,-3.64983719e+00,-1.33826302e+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,
  3.51982772e+00, 3.18391689e+00, 2.39548292e-01, 1.94572980e+02,
  1.62643709e+02,-6.45785466e+00]

qfrc_actuator:
[ 2.81748550e-03, 7.59019298e-02, 1.04747793e-02, 2.70594366e-03,
  1.48074699e-05, 8.87614220e-02, 1.04913977e-02, 3.10897557e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003681829479814977
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.6538962e-15,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        5.6538962e-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([-0.06732332, -0.1258495 ,  0.06167314])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.26389181e-05, 2.76467373e-03, 6.48870955e-04, 6.18385830e-05,
  4.63326072e-07, 5.58204243e-04, 1.19294013e-04,-3.97115985e-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,
 -4.99448952e-05, 2.44921186e-04,-4.90530728e+00, 6.40959518e-03,
  2.19802913e-03, 8.51220129e-05]


--- Step 2187 ---
qpos:
[-0.01499332, 1.22848312,-0.02229875, 0.94769779, 0.00436017, 1.23845177,
 -0.02936148, 0.94489046, 0.01663066, 1.29258394,-0.02344549, 0.9536137 ,
  1.38202718,-0.00144648, 1.18442883, 0.06311303,-0.03656473,-0.10482919,
  0.07928038, 0.6576322 ,-0.01039081,-0.00419237, 0.75325583]

qacc:
[ 2.40742956e-02, 1.27015036e+01,-9.48381021e+00,-2.55864115e+01,
 -1.01193172e-01, 9.65302866e-01, 9.79002842e-01,-2.89385897e+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,
 -4.00427729e+00, 3.09270483e+00,-1.74855069e+00,-1.86913177e+02,
  2.36729494e+02, 2.15702118e+01]

qfrc_actuator:
[ 2.80647896e-03, 7.65063057e-02, 1.05043594e-02, 2.58914705e-03,
 -1.33316844e-05, 8.87827031e-02, 1.04964696e-02, 3.10063865e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003715314732333934
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.49411706e-14,  2.24117559e-14,  1.00000000e+00,  3.34857868e-28,
        1.00000000e+00, -2.24117559e-14, -1.00000000e+00,  0.00000000e+00,
       -1.49411706e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00732113, -0.12795366,  0.06167109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.27240766e-06, 2.25365482e-03, 6.43758291e-04,-1.31165737e-05,
 -2.78420774e-05, 3.41051743e-04, 1.24274853e-04, 1.22771447e-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,
  7.52346627e-05,-1.01334169e-04,-4.90520086e+00, 6.39098793e-03,
  2.20350579e-03,-2.86469345e-05]


--- Step 2188 ---
qpos:
[-0.01499603, 1.22932359,-0.02231083, 0.94771038, 0.0043601 , 1.23954337,
 -0.02936732, 0.94491415, 0.01663202, 1.29349747,-0.02344351, 0.95364154,
  1.38209977,-0.00144536, 1.18458954, 0.06311368,-0.03657762,-0.10483941,
  0.07929256, 0.65757968,-0.0105214 ,-0.00435153, 0.75329897]

qacc:
[ 1.20602901e-01, 1.20401984e+01,-1.85286836e+01, 1.11751743e+01,
 -5.46586034e-02,-2.45410945e+00, 9.03362728e+00,-9.19540880e+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,
 -3.56916182e+00, 2.73587875e+00,-2.65568863e+00,-1.65419213e+02,
  2.09815196e+02, 1.89591925e+01]

qfrc_actuator:
[ 2.83654115e-03, 7.68826066e-02, 1.05085348e-02, 2.58635167e-03,
 -1.23445339e-05, 8.86770603e-02, 1.05017785e-02, 3.08614476e-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,  0.25868784,  8.63248849,  0.25868784, 78.81561164,
       -2.10304576,  8.63248849, -2.10304576,  8.69938514,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037340146296238677
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.97326908e-14,  2.97326908e-14,  1.00000000e+00,  8.84032903e-28,
        1.00000000e+00, -2.97326908e-14, -1.00000000e+00,  0.00000000e+00,
       -2.97326908e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00729105, -0.12794249,  0.06167004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.36342063e-05, 1.73953981e-03, 5.15662669e-04, 8.38099695e-05,
 -1.51251863e-05, 9.65649369e-05, 8.41487347e-05, 9.74879391e-07,
 -5.47196532e-06,-2.36895491e-03,-5.20846196e-04,-1.96063636e-05,
  1.62980912e-05, 5.32717712e-05,-1.77309614e-06,-7.53583543e-05,
  1.02050537e-06, 7.41557935e-06,-4.90504862e+00, 6.39786899e-03,
  2.20330566e-03, 9.18523520e-05]


--- Step 2189 ---
qpos:
[-0.01499857, 1.23017361,-0.02232074, 0.94772563, 0.00435996, 1.24063416,
 -0.02937257, 0.94493733, 0.01663313, 1.29439233,-0.02344174, 0.95366965,
  1.38217252,-0.00144423, 1.18474974, 0.06311711,-0.03660329,-0.10483991,
  0.07929097, 0.65750038,-0.01112749,-0.00448628, 0.75335868]

qacc:
[ 7.13961006e-02, 1.13346387e+01,-2.72841050e+01, 4.86683958e+01,
 -2.89194647e-02,-3.55125441e+00, 1.13849140e+01,-1.54613149e+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,
 -3.19581881e+00, 2.43335252e+00,-3.44379242e+00,-1.47248934e+02,
  1.86974307e+02, 1.66947776e+01]

qfrc_actuator:
[ 2.83774039e-03, 7.70836553e-02, 1.05144943e-02, 2.70373076e-03,
 -1.16476698e-05, 8.85317679e-02, 1.04888806e-02, 3.05026967e-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([ 8.63636364, -0.26687391,  8.63223929, -0.26687391, 83.43300396,
        2.31240945,  8.63223929,  2.31240945,  8.70785398,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037024779678613146
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.49929727e-14,  7.49648637e-15,  1.00000000e+00,  1.12394616e-28,
        1.00000000e+00, -7.49648637e-15, -1.00000000e+00,  0.00000000e+00,
       -1.49929727e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00735269, -0.12798122,  0.06167255])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.99796429e-05, 1.25768742e-03, 4.05223498e-04, 1.87203307e-04,
 -8.06299265e-06,-8.64815288e-05, 1.32439672e-05,-2.91617959e-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,
  3.07623628e-05, 3.30873400e-06,-4.90500511e+00, 6.38916509e-03,
  2.19771425e-03, 1.09923230e-04]


--- Step 2190 ---
qpos:
[-0.01500101, 1.23102901,-0.02232844, 0.94773981, 0.00435979, 1.24172359,
 -0.02937682, 0.94496167, 0.0166341 , 1.29526828,-0.02343968, 0.95369805,
  1.38224539,-0.00144316, 1.18491029, 0.06311862,-0.03661429,-0.1048258 ,
  0.07929236, 0.65744578,-0.01171134,-0.00409801, 0.75339969]

qacc:
[ 4.50363716e-02,-8.01617027e-01, 1.33259088e+01,-2.74259439e+01,
 -1.46786062e-02,-2.50405145e+00, 3.59701135e+00, 1.13425841e+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,
  3.66637139e+00, 3.65181923e+00, 7.47779027e-01, 2.04415439e+02,
  1.63726221e+02,-1.25950182e+01]

qfrc_actuator:
[ 2.83937644e-03, 7.70360754e-02, 1.05029899e-02, 2.62443407e-03,
 -1.11336473e-05, 8.84525760e-02, 1.05361470e-02, 3.10855424e-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([ 8.63636364e+00,  8.63633320e+00, -2.29278044e-02,  8.63633320e+00,
        8.63689998e+00,  2.02026276e-01, -2.29278044e-02,  2.02026276e-01,
        8.47346333e+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: -0.0036638311135552687
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.17797375e-14,  1.51511217e-14,  1.00000000e+00, -3.29987454e-28,
        1.00000000e+00, -1.51511217e-14, -1.00000000e+00,  0.00000000e+00,
        2.17797375e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06737954, -0.1259228 ,  0.06167541])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.24886059e-05, 7.23991367e-04, 2.84054422e-04,-2.46258868e-05,
 -4.16375137e-06,-1.36368814e-04, 2.86721052e-05, 5.67415502e-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,
  1.32560521e-04,-7.94908490e-05,-4.90503879e+00, 6.37014059e-03,
  2.18821458e-03, 5.72253037e-05]


--- Step 2191 ---
qpos:
[-0.01500308, 1.2318857 ,-0.022334  , 0.94775263, 0.00435975, 1.24281183,
 -0.02937985, 0.94498515, 0.0166353 , 1.2961255 ,-0.02343658, 0.95372465,
  1.3823186 ,-0.00144293, 1.18507142, 0.06311415,-0.03661231,-0.10479886,
  0.07929209, 0.65741176,-0.01227702,-0.00324189, 0.75342454]

qacc:
[ 1.59892428e-01,-6.41433235e+00, 2.57430845e+01,-3.88732409e+01,
  5.73748243e-02,-6.32162291e+00, 2.05382737e+01,-2.71903505e+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,
  3.24647741e+00, 3.20579070e+00,-4.17506524e-01, 1.82301870e+02,
  1.47084533e+02,-1.03607955e+01]

qfrc_actuator:
[ 2.87677561e-03, 7.68041651e-02, 1.04978345e-02, 2.53632882e-03,
  7.01753433e-06, 8.84139250e-02, 1.06011049e-02, 3.06207205e-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, -8.50746781, -1.48652895, -8.50746781, 10.15433269,
       -8.6874009 , -1.48652895, -8.6874009 , 58.35472517,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0036417966515869954
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.52674541e-16,  1.71481417e-14,  1.00000000e+00,  1.63365980e-29,
        1.00000000e+00, -1.71481417e-14, -1.00000000e+00,  0.00000000e+00,
       -9.52674541e-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([-0.06741301, -0.12595772,  0.06167706])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.38895100e-05, 2.14426764e-04, 1.66078689e-04,-5.77777999e-05,
  1.57298534e-05,-1.17757108e-04, 4.09046774e-05,-4.70709293e-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,
 -2.33982250e-05, 6.45000520e-05,-4.90506466e+00, 6.36636271e-03,
  2.19629827e-03, 1.05063975e-04]


--- Step 2192 ---
qpos:
[-0.01500489, 1.23274263,-0.02233821, 0.94776549, 0.00435988, 1.24389941,
 -0.02938303, 0.94500551, 0.01663666, 1.29696472,-0.02343305, 0.95374923,
  1.38239194,-0.00144334, 1.18523188, 0.063111  ,-0.03662445,-0.10478374,
  0.07928979, 0.6573986 ,-0.01286149,-0.00296743, 0.7534274 ]

qacc:
[ 1.09023878e-01,-3.24693517e+00, 1.08729442e+01,-9.09506310e+00,
  7.22938448e-02,-5.79934193e+00, 2.42346899e+01,-5.65932009e+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,
 -3.53135916e+00,-2.95347394e+00,-5.04727053e-01,-2.25202036e+02,
 -1.83948558e+02,-1.86226948e+01]

qfrc_actuator:
[ 2.88206809e-03, 7.67298696e-02, 1.05311858e-02, 2.53240799e-03,
  1.78453189e-05, 8.83822110e-02, 1.05873065e-02, 2.90104890e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0035996227590547464
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.71069011e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.71069011e-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([ 0.0008979 , -0.08044774,  0.06168017])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.99295812e-05, 6.61708000e-05, 9.06051907e-05, 7.02217670e-06,
  1.99437829e-05,-1.01216073e-04,-3.58605149e-05,-1.63103625e-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,
  4.94453289e-05, 4.07484954e-04,-4.90518389e+00, 6.37187649e-03,
  2.19360369e-03, 2.22876233e-04]


--- Step 2193 ---
qpos:
[-0.01500654, 1.23360091,-0.02234238, 0.94777923, 0.00436001, 1.24498762,
 -0.02938707, 0.94502547, 0.01663827, 1.29778613,-0.02343013, 0.95377318,
  1.38246519,-0.00144392, 1.18539211, 0.06310846,-0.03663559,-0.10478613,
  0.07930695, 0.65739754,-0.01308183,-0.00308417, 0.75342407]

qacc:
[ 7.35000042e-02, 3.16844701e+00,-9.98660157e+00, 1.80168098e+01,
  3.01387272e-04, 2.47109002e+00,-6.20300817e+00, 1.86760807e-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,
  2.51624235e-01,-4.37730634e+00, 4.86132938e+00,-2.76142167e+01,
 -2.65699287e+02,-9.64982331e+00]

qfrc_actuator:
[ 2.88581889e-03, 7.68572068e-02, 1.05520764e-02, 2.57814087e-03,
  6.43828058e-06, 8.85143889e-02, 1.05803840e-02, 2.88691367e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0036170453205523895
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.87758099e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.87758099e-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([-0.03496831, -0.08542698,  0.06167884])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.03066763e-05, 1.73012046e-04, 4.24938275e-05, 5.15614515e-05,
  1.57229026e-07, 5.33467086e-05,-3.78860069e-05,-2.06631639e-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,
 -6.73751929e-06, 1.33946326e-05,-4.90507673e+00, 6.38903975e-03,
  2.19146380e-03, 1.10462695e-04]


--- Step 2194 ---
qpos:
[-0.01500822, 1.23446124,-0.02234718, 0.94779307, 0.00436008, 1.24607678,
 -0.02939124, 0.94504575, 0.01663998, 1.29858988,-0.02342804, 0.95379656,
  1.38253854,-0.0014451 , 1.18555285, 0.06310129,-0.03663493,-0.10480093,
  0.07933349, 0.65739102,-0.01281022,-0.00329789, 0.75343352]

qacc:
[-1.48409239e-02, 4.55644326e+00,-1.18038051e+01, 1.00269948e+01,
 -2.47530779e-02, 2.14500546e+00,-6.15611791e+00, 8.48267009e+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,
  2.95125987e+00,-3.10154803e+00, 2.34784528e+00, 1.25155990e+02,
 -2.17293683e+02, 4.86216043e+00]

qfrc_actuator:
[ 2.87087248e-03, 7.69977981e-02, 1.05307445e-02, 2.58180296e-03,
 -4.57809467e-07, 8.86195963e-02, 1.05961215e-02, 2.90620400e-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([ 8.63636364, -8.59637646,  0.83011366, -8.59637646,  9.02031166,
        3.97603599,  0.83011366,  3.97603599, 49.81084853,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0036024245377217277
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.12377622e-06,  1.12377621e-06,  1.00000000e+00,  1.26287298e-12,
        1.00000000e+00, -1.12377621e-06, -1.00000000e+00, -2.01948392e-28,
       -1.12377622e-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([-0.05568201, -0.08836605,  0.06168018])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.95140890e-06, 2.37294018e-04, 1.69897090e-05, 1.22966473e-05,
 -6.80192105e-06, 1.15810489e-04, 1.89671719e-05, 2.06381006e-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,
  3.20027498e-05,-7.47366831e-06,-4.90501192e+00, 6.39134154e-03,
  2.19077572e-03, 1.41371822e-04]


--- Step 2195 ---
qpos:
[-0.01501029, 1.23532289,-0.02235163, 0.94780549, 0.00436023, 1.24716478,
 -0.02939468, 0.94506696, 0.01664141, 1.2993766 ,-0.0234268 , 0.95381973,
  1.38261156,-0.0014457 , 1.18571322, 0.06309392,-0.03662935,-0.10482992,
  0.07936956, 0.65738749,-0.01216727,-0.00374936, 0.75344515]

qacc:
[-1.70021026e-01,-1.63902296e+00, 1.03054471e+01,-2.61035025e+01,
  3.52321908e-02,-1.92416293e+00, 2.51115436e+00, 9.38437543e+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,
  1.22806691e+00,-3.54958943e+00, 2.38141448e+00, 3.25132327e+01,
 -2.18050655e+02,-2.54424265e+00]

qfrc_actuator:
[ 2.82709101e-03, 7.70385884e-02, 1.05379987e-02, 2.50740337e-03,
  1.31632134e-05, 8.84417659e-02, 1.05895577e-02, 2.94497901e-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, -8.61744369, -0.57135018, -8.61744369,  8.7099974 ,
       -1.11058823, -0.57135018, -1.11058823, 25.38691667,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0035597456658266143
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.68379522e-08,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.68379522e-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([-0.04261299, -0.08646783,  0.06168375])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.68264752e-05, 1.66887203e-04, 5.40843846e-05,-6.55101792e-05,
  9.67928310e-06,-1.20273923e-04, 1.65755095e-05, 4.46202668e-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,
 -3.12904492e-06, 2.25331762e-05,-4.90502612e+00, 6.39432402e-03,
  2.19198448e-03, 1.41558394e-04]


--- Step 2196 ---
qpos:
[-0.01501266, 1.23618385,-0.02235485, 0.94781776, 0.00436064, 1.24824843,
 -0.02939633, 0.94508838, 0.01664262, 1.30014706,-0.02342721, 0.95384364,
  1.38268422,-0.00144526, 1.18587343, 0.06308621,-0.03662074,-0.10485264,
  0.07940096, 0.65740562,-0.01150573,-0.00369323, 0.75343999]

qacc:
[-1.27762218e-01,-4.51379652e+00, 1.39366239e+01,-1.33713400e+01,
  1.14399797e-01,-1.01331518e+01, 2.57320433e+01,-1.70957463e+01,
 -9.01406711e-02,-1.55959103e+01, 2.36412533e+01,-1.86391246e+00,
 -9.95596838e-01, 1.80712470e+00, 8.46415106e-01,-3.11511987e+00,
  7.55833861e-01, 1.56812665e+00,-1.16693936e+00, 1.97438585e+02,
  1.59988340e+02,-1.06273049e+01]

qfrc_actuator:
[ 2.81964037e-03, 7.68951388e-02, 1.05616795e-02, 2.49414685e-03,
  3.89789407e-05, 8.80248379e-02, 1.06043030e-02, 2.94144631e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037367722404383
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.83220824e-01, -1.41610412e-01,  9.48542279e-01, -4.05153121e-02,
        9.89922467e-01,  1.35690893e-01, -9.58198557e-01, -6.93889390e-18,
       -2.86104047e-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([-0.06758048, -0.12609418,  0.0616854 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.53303128e-05,-5.13616887e-05, 5.86886401e-05,-7.17956209e-06,
  3.14281648e-05,-4.89652528e-04,-7.83215588e-06,-4.26771463e-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,
 -1.98819018e-05, 9.30850259e-05,-4.90512703e+00, 6.40033580e-03,
  2.19593136e-03, 1.12462366e-04]


--- Step 2197 ---
qpos:
[-0.01501509, 1.23704217,-0.02235707, 0.94783104, 0.00436104, 1.24932457,
 -0.02939583, 0.94510955, 0.01664368, 1.30090219,-0.02342846, 0.95386876,
  1.38275685,-0.00144431, 1.18603362, 0.06307735,-0.03662586,-0.10486382,
  0.079422  , 0.65738506,-0.0113908 ,-0.00361583, 0.75346006]

qacc:
[-2.41347580e-02,-4.41104133e+00, 8.19213728e+00, 5.99518225e+00,
 -5.96601988e-03,-1.61280938e+01, 4.12303803e+01,-3.40132290e+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,
 -3.43018096e+00, 2.88401511e+00,-2.58870638e+00,-1.71836848e+02,
  2.12696842e+02, 2.40030880e+01]

qfrc_actuator:
[ 2.83404884e-03, 7.66248684e-02, 1.05586728e-02, 2.53462632e-03,
  1.86384866e-05, 8.74325888e-02, 1.06304976e-02, 2.91287436e-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([ 8.63636364,  5.7882838 , -6.40956688,  5.7882838 , 25.35139302,
       15.09483177, -6.40956688, 15.09483177, 22.2680445 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00349816509871545
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.93432409e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.93432409e-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([ 0.00775787, -0.12825412,  0.0616893 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.82640757e-06,-2.96210327e-04,-8.40087240e-06, 4.15571945e-05,
 -2.11665711e-06,-8.75464475e-04,-7.28078265e-05,-4.22174284e-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,
  1.10005199e-04,-8.29416570e-05,-4.90507787e+00, 6.38653317e-03,
  2.19689274e-03, 5.48738011e-05]


--- Step 2198 ---
qpos:
[-0.01501762, 1.23789633,-0.02235875, 0.94784487, 0.00436118, 1.25039098,
 -0.02939409, 0.94513222, 0.01664463, 1.30164171,-0.02342912, 0.95389273,
  1.38282958,-0.00144332, 1.18619308, 0.06307285,-0.03664339,-0.10486476,
  0.07942959, 0.65733117,-0.01176327,-0.00351837, 0.75350181]

qacc:
[-4.57133479e-02,-5.97938104e+00, 1.17660775e+01,-1.11413381e+00,
 -1.11268442e-01,-1.35483717e+01, 2.57039053e+01, 1.20720401e+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,
 -3.10256271e+00, 2.56106064e+00,-3.36549517e+00,-1.52800446e+02,
  1.90020188e+02, 2.06768977e+01]

qfrc_actuator:
[ 2.82594636e-03, 7.62984873e-02, 1.05394162e-02, 2.55300974e-03,
 -1.14678399e-05, 8.67755603e-02, 1.06269651e-02, 2.97618035e-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, -3.54660624,  7.87453878, -3.54660624, 31.78676331,
       10.42668711,  7.87453878, 10.42668711, 13.33242961,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0034924601473648384
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.58945697e-14,  2.38418545e-14,  1.00000000e+00,  3.78956019e-28,
        1.00000000e+00, -2.38418545e-14, -1.00000000e+00,  0.00000000e+00,
       -1.58945697e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00776742, -0.12827234,  0.06169001])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.28348382e-05,-4.99341388e-04,-7.86865492e-05, 1.13438489e-05,
 -3.13786684e-05,-1.16740495e-03,-1.86462613e-04, 3.53200986e-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,
  1.15066101e-05,-3.54810571e-07,-4.90500517e+00, 6.38945274e-03,
  2.19815833e-03, 1.22729438e-04]


--- Step 2199 ---
qpos:
[-0.01502026, 1.23874561,-0.02236013, 0.94785754, 0.00436101, 1.25144559,
 -0.0293912 , 0.94515501, 0.01664534, 1.3023648 ,-0.02342956, 0.95391557,
  1.38290248,-0.0014426 , 1.1863523 , 0.06307183,-0.03665578,-0.1048572 ,
  0.07943341, 0.65730413,-0.01211062,-0.00292112, 0.75352245]

qacc:
[-4.25311845e-02,-9.23713414e+00, 2.47690772e+01,-3.19981956e+01,
 -1.28374600e-01,-1.83690290e+01, 4.09664466e+01,-2.67553738e+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,
  1.28547353e+00, 2.12586132e+00,-9.41272155e-01, 1.96679028e+02,
  1.54977359e+02,-1.41587903e+01]

qfrc_actuator:
[ 2.82216306e-03, 7.59942763e-02, 1.05282022e-02, 2.48715561e-03,
 -2.94295216e-05, 8.60316226e-02, 1.06234036e-02, 2.96869071e-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, -7.66443277,  3.98035766, -7.66443277,  7.53656714,
       -2.11772836,  3.98035766, -2.11772836,  4.55854249,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003638704266162603
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.80391994e-01, -1.40195997e-01,  9.49592235e-01, -3.97019406e-02,
        9.90123771e-01,  1.34456958e-01, -9.59064172e-01,  6.93889390e-18,
       -2.83188832e-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([-0.06775071, -0.12622815,  0.06169291])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.20027409e-05,-6.04093503e-04,-1.19209689e-04,-8.17011932e-05,
 -3.62475082e-05,-1.43556334e-03,-2.54199922e-04,-4.57527968e-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,
  6.01229633e-06,-1.22275762e-05,-4.90501108e+00, 6.37640134e-03,
  2.19307706e-03, 1.10235249e-04]


--- Step 2200 ---
qpos:
[-0.01502296, 1.23958947,-0.02236079, 0.94786937, 0.00436059, 1.25248638,
 -0.02938702, 0.94517773, 0.01664583, 1.30307244,-0.0234312 , 0.95393922,
  1.38297522,-0.00144133, 1.18651177, 0.06307125,-0.03667883,-0.10485917,
  0.07943202, 0.65729819,-0.01247662,-0.0028781 , 0.75352183]

qacc:
[-3.10910496e-02,-1.05051001e+01, 2.74005135e+01,-3.01783004e+01,
 -1.11447604e-01,-2.17725576e+01, 4.92564887e+01,-3.47664919e+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,
 -2.66630897e+00,-2.38175587e+00,-1.30238776e+00,-2.14852330e+02,
 -1.74967657e+02,-1.82643441e+01]

qfrc_actuator:
[ 2.82100711e-03, 7.57057550e-02, 1.05573532e-02, 2.44327479e-03,
 -3.99593184e-05, 8.52060067e-02, 1.06371850e-02, 2.95501217e-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: -0.0034959748986960124
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.58785898e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.58785898e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00104528, -0.0803629 ,  0.06168989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.89306427e-06,-6.56973144e-04,-1.06647322e-04,-6.61997412e-05,
 -3.16617702e-05,-1.68112005e-03,-2.99349263e-04,-6.38468997e-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,
  3.51958506e-05, 1.98373065e-04,-4.90508178e+00, 6.37825962e-03,
  2.19353919e-03, 1.82783422e-04]


--- Step 2201 ---
qpos:
[-0.01502572, 1.24042768,-0.02236099, 0.94788099, 0.0043601 , 1.25351204,
 -0.02938162, 0.94519993, 0.01664628, 1.30376648,-0.02343427, 0.95396272,
  1.3830478 ,-0.00143935, 1.1866712 , 0.0630719 ,-0.03671177,-0.10486988,
  0.07942183, 0.65731131,-0.01285955,-0.00332768, 0.75350209]

qacc:
[-1.88354925e-02,-9.04741831e+00, 2.10238141e+01,-1.73025468e+01,
 -2.14868632e-02,-2.40522912e+01, 5.55507262e+01,-4.48084465e+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,
 -2.47218274e+00,-2.18884232e+00,-2.19817929e+00,-1.91060507e+02,
 -1.55360494e+02,-1.65160587e+01]

qfrc_actuator:
[ 2.82144146e-03, 7.54113798e-02, 1.05746790e-02, 2.43047007e-03,
 -2.81952217e-05, 8.43558665e-02, 1.06607467e-02, 2.92000059e-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, -5.78254011,  6.41474916, -5.78254011, 18.8801429 ,
        9.23419809,  6.41474916,  9.23419809, 16.96048037,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00349115014210917
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.38508009e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.38508009e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00103837, -0.08036947,  0.06169024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.49744274e-06,-6.89075353e-04,-1.26903248e-04,-3.59731514e-05,
 -6.71954990e-06,-1.85068200e-03,-3.43216886e-04,-9.42883329e-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,
  1.66103656e-05,-1.85763485e-05,-4.90502537e+00, 6.38927780e-03,
  2.19225187e-03, 1.21236680e-04]


--- Step 2202 ---
qpos:
[-0.01502849, 1.24126409,-0.02236263, 0.94789213, 0.0043598 , 1.25452218,
 -0.0293759 , 0.9452206 , 0.0166469 , 1.30444727,-0.02343794, 0.95398458,
  1.3831207 ,-0.00143791, 1.18683089, 0.06307128,-0.03672845,-0.10489259,
  0.07942215, 0.65732048,-0.01269473,-0.00382776, 0.75349451]

qacc:
[-9.27362000e-03, 7.23235951e-01,-4.28548663e+00,-5.18527260e-01,
  7.82137778e-02,-2.38090470e+01, 5.61922108e+01,-5.65684616e+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,
  4.06392502e+00,-2.99542469e+00, 2.62409699e+00, 1.60986861e+02,
 -2.23051038e+02, 4.25339256e+00]

qfrc_actuator:
[ 2.82283104e-03, 7.55597004e-02, 1.05848743e-02, 2.41827252e-03,
 -3.15836232e-06, 8.35333682e-02, 1.06542447e-02, 2.83717634e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0034750365530089034
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.69565705e-14,  7.98713199e-15,  1.00000000e+00, -2.15305686e-28,
        1.00000000e+00, -7.98713199e-15, -1.00000000e+00,  0.00000000e+00,
        2.69565705e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0610076 , -0.0890671 ,  0.06169133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.56895989e-06,-2.67109221e-04,-1.41704780e-04,-3.62177097e-05,
  2.10407581e-05,-1.92615101e-03,-4.12283567e-04,-1.49185497e-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,
  2.25730480e-04, 3.58838308e-05,-4.90506881e+00, 6.39124738e-03,
  2.19534260e-03, 1.45599703e-04]


--- Step 2203 ---
qpos:
[-0.01503127, 1.24210378,-0.02236704, 0.94790371, 0.00435972, 1.25551701,
 -0.0293706 , 0.94523914, 0.01664759, 1.30511449,-0.02344109, 0.95400389,
  1.38319386,-0.00143721, 1.18699062, 0.06306951,-0.03673797,-0.10490639,
  0.07942328, 0.65734981,-0.01251468,-0.00376415, 0.75347225]

qacc:
[-2.15949736e-03, 1.25302284e+01,-3.65565565e+01, 3.47654640e+01,
  1.00064708e-01,-2.26464879e+01, 5.39923413e+01,-6.20013744e+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,
  1.79104825e+00, 2.22412319e+00, 2.06174373e-01, 2.17479043e+02,
  1.79656970e+02,-8.87694981e+00]

qfrc_actuator:
[ 2.82478779e-03, 7.60785811e-02, 1.05747641e-02, 2.46003177e-03,
  1.18790327e-05, 8.27693876e-02, 1.06301170e-02, 2.72686323e-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([ 8.63636364, -2.87402548,  8.14412392, -2.87402548, 62.03190128,
       18.84305021,  8.14412392, 18.84305021, 15.28599312,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00367248423033097
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.62783693e-01, -1.31391847e-01,  9.55866577e-01, -3.48295894e-02,
        9.91330511e-01,  1.26691425e-01, -9.64225923e-01, -6.93889390e-18,
       -2.65081817e-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([-0.06772303, -0.1262149 ,  0.06168869])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.78162248e-07, 3.33966306e-04,-8.12314000e-05, 2.98467266e-05,
  2.71793288e-05,-1.92436186e-03,-4.54098701e-04,-1.82249777e-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,
  5.61097048e-05, 1.34331650e-04,-4.90505153e+00, 6.39045200e-03,
  2.19313768e-03, 1.78183816e-04]


--- Step 2204 ---
qpos:
[-0.01503389, 1.24294796,-0.0223731 , 0.94791417, 0.00435971, 1.25649698,
 -0.02936587, 0.94525517, 0.01664816, 1.30576712,-0.02344242, 0.95402399,
  1.38326693,-0.00143654, 1.18714993, 0.06307004,-0.03674029,-0.10491181,
  0.07942111, 0.65739654,-0.01232162,-0.0032007 , 0.75343727]

qacc:
[ 6.82074187e-02, 8.44300106e+00,-1.81409573e+01,-7.96515032e-03,
  2.70262298e-02,-2.22863393e+01, 5.42950343e+01,-6.68207149e+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,
  1.80159931e+00, 2.09607418e+00,-8.27392195e-01, 1.92666709e+02,
  1.59494858e+02,-7.62993955e+00]

qfrc_actuator:
[ 2.84482736e-03, 7.64248678e-02, 1.05366130e-02, 2.40918582e-03,
  3.04172873e-06, 8.20642754e-02, 1.06137695e-02, 2.60128608e-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,  3.96167127, -7.67410826,  3.96167127, 13.37502516,
        2.44628022, -7.67410826,  2.44628022,  9.89922803,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0036563389357720417
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.25894036, -0.12947018,  0.95717677, -0.03380962,  0.99158332,
        0.12497775, -0.9653014 ,  0.        , -0.26113828])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06775583, -0.1262344 ,  0.0616895 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.91634304e-05, 5.07598930e-04, 1.70169093e-05,-4.15694006e-05,
  6.87848480e-06,-1.87349979e-03,-4.51657979e-04,-1.99472734e-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,
  1.57864955e-05,-6.99575606e-06,-4.90500330e+00, 6.38986950e-03,
  2.19244197e-03, 1.32452231e-04]


--- Step 2205 ---
qpos:
[-0.01503646, 1.24379624,-0.02237937, 0.94792322, 0.00435953, 1.25746294,
 -0.02936225, 0.94527197, 0.01664886, 1.30640463,-0.02344205, 0.95404554,
  1.38333985,-0.00143558, 1.18730949, 0.06306903,-0.03675365,-0.10492652,
  0.07941486, 0.65746098,-0.01214321,-0.00321536, 0.75338387]

qacc:
[ 1.96883922e-02, 3.49468533e+00,-2.05893620e+00,-1.69967487e+01,
 -6.68414063e-02,-1.40518348e+01, 2.20531258e+01,-1.42700091e+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,
 -2.76200384e+00,-2.32372951e+00,-1.02067508e+00,-2.22521678e+02,
 -1.84363040e+02,-1.62657925e+01]

qfrc_actuator:
[ 2.84004945e-03, 7.66473211e-02, 1.05348957e-02, 2.33966559e-03,
 -2.00421993e-05, 8.14356588e-02, 1.05846490e-02, 2.64530102e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003473526120470548
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.59812102e-14,  7.99060512e-15,  1.00000000e+00,  1.27699540e-28,
        1.00000000e+00, -7.99060512e-15, -1.00000000e+00,  0.00000000e+00,
       -1.59812102e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00101198, -0.08040258,  0.06169142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.63302720e-06, 4.96846209e-04, 9.64615685e-05,-5.38542690e-05,
 -1.91713542e-05,-1.76873665e-03,-4.54674766e-04,-2.87066054e-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,
  2.17186501e-04, 1.16430659e-04,-4.90506906e+00, 6.39770458e-03,
  2.18278381e-03, 1.77319340e-04]


--- Step 2206 ---
qpos:
[-0.01503903, 1.24464819,-0.02238527, 0.94793243, 0.00435915, 1.25841467,
 -0.02935907, 0.94528917, 0.01664989, 1.30702849,-0.02344233, 0.954065  ,
  1.38341295,-0.00143515, 1.18746908, 0.06306667,-0.03677723,-0.10494983,
  0.07940079, 0.65754172,-0.0119784 ,-0.00374269, 0.75331361]

qacc:
[ 1.96190763e-03, 4.10929752e+00,-7.93044296e+00, 6.47884764e+00,
 -8.72688887e-02,-1.68325975e+01, 3.15117291e+01,-1.36898035e+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,
 -2.55512970e+00,-2.14830809e+00,-1.95433988e+00,-1.97521654e+02,
 -1.63277500e+02,-1.47689791e+01]

qfrc_actuator:
[ 2.83818312e-03, 7.68295808e-02, 1.05542446e-02, 2.34843399e-03,
 -3.37273672e-05, 8.07337683e-02, 1.05664047e-02, 2.66453093e-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([ 8.63636364, -6.3508265 ,  5.85267287, -6.3508265 , 16.38526264,
        8.40845102,  5.85267287,  8.40845102, 17.76050482,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003483360188785381
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.59360928e-14,  7.96804640e-15,  1.00000000e+00,  1.26979527e-28,
        1.00000000e+00, -7.96804640e-15, -1.00000000e+00,  0.00000000e+00,
       -1.59360928e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00098043, -0.08043064,  0.06169059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.92603534e-07, 4.65850726e-04, 1.24104640e-04, 2.61632924e-05,
 -2.49246059e-05,-1.77933019e-03,-4.18596252e-04,-4.64971737e-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,
  6.70813442e-06,-4.54705231e-06,-4.90499636e+00, 6.38237186e-03,
  2.19143382e-03, 1.30555918e-04]


--- Step 2207 ---
qpos:
[-0.01504145, 1.24550282,-0.02239018, 0.9479414 , 0.00435873, 1.25935203,
 -0.02935603, 0.94530442, 0.01665113, 1.30763972,-0.0234449 , 0.95408266,
  1.38348613,-0.00143518, 1.18762827, 0.06306617,-0.03679095,-0.1049637 ,
  0.0793896 , 0.65763451,-0.01180813,-0.00368637, 0.75323557]

qacc:
[ 6.23721446e-02, 4.27725314e-01, 3.34528443e+00,-7.33695283e+00,
 -1.48230714e-02,-2.18130250e+01, 5.23844827e+01,-5.90314764e+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,
  2.46558085e+00, 2.35932248e+00, 7.22189373e-01, 2.21695518e+02,
  1.89899538e+02,-3.61538339e+00]

qfrc_actuator:
[ 2.85583905e-03, 7.69155081e-02, 1.05857495e-02, 2.33216151e-03,
 -2.39092120e-05, 8.00114955e-02, 1.05544443e-02, 2.56242954e-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, -2.76044044,  8.18332117, -2.76044044,  2.97600835,
       -1.90938047,  8.18332117, -1.90938047,  7.99228149,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0036461014687248785
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.43273844e-01, -1.21636922e-01,  9.62300523e-01, -2.98124492e-02,
        9.92574662e-01,  1.17926921e-01, -9.69499383e-01, -3.46944695e-18,
       -2.45093748e-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([-0.0678016 , -0.1262377 ,  0.06168852])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.73447799e-05, 3.60162404e-04, 1.35702856e-04, 2.87703419e-06,
 -4.77239801e-06,-1.79888082e-03,-4.10761448e-04,-1.67518442e-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,
  6.21921430e-05, 1.56564125e-04,-4.90503411e+00, 6.36189369e-03,
  2.20263232e-03, 1.74319616e-04]


--- Step 2208 ---
qpos:
[-0.01504369, 1.24635798,-0.02239362, 0.94794961, 0.00435834, 1.26027638,
 -0.02935441, 0.94531899, 0.01665219, 1.30823815,-0.02344843, 0.95410183,
  1.38355929,-0.00143552, 1.18778728, 0.06306721,-0.03678773,-0.10496454,
  0.0793787 , 0.65773278,-0.01163875,-0.00314244, 0.75315487]

qacc:
[ 7.53758960e-02,-4.59351155e+00, 1.73851302e+01,-2.43115104e+01,
  1.33124291e-02,-1.44219778e+01, 2.78292572e+01,-2.38591785e+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,
  4.23451789e+00, 3.25968754e+00, 6.94876411e-02, 1.83376072e+02,
  1.60694719e+02,-6.07306744e-02]

qfrc_actuator:
[ 2.86731385e-03, 7.68011257e-02, 1.06060175e-02, 2.28344635e-03,
 -1.78274439e-05, 7.94425942e-02, 1.05106355e-02, 2.53174568e-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,  4.17126158, -7.56223206,  4.17126158,  4.15179006,
       -2.47365187, -7.56223206, -2.47365187,  7.27191873,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003511238175945411
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.58095659e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.58095659e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06781956, -0.12623695,  0.06168816])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.08249240e-05, 1.02967891e-04, 1.04448354e-04,-3.29046024e-05,
  3.21881282e-06,-1.65827329e-03,-4.49061173e-04,-9.92844724e-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,
  2.04811457e-05,-4.88114471e-06,-4.90499465e+00, 6.38340872e-03,
  2.19095439e-03, 1.24296406e-04]


--- Step 2209 ---
qpos:
[-0.01504578, 1.24721269,-0.02239646, 0.94795768, 0.00435814, 1.26118947,
 -0.02935493, 0.94533471, 0.01665312, 1.30882453,-0.02345182, 0.95412208,
  1.38363225,-0.00143555, 1.18794668, 0.06306583,-0.03679748,-0.10497533,
  0.07936502, 0.65784456,-0.01147892,-0.00318755, 0.7530595 ]

qacc:
[ 6.88589494e-02,-2.46029134e+00, 7.59208158e+00,-7.98271553e+00,
  8.48895875e-02,-7.04366780e+00, 2.75568003e+00, 1.80287806e+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,
 -3.24226778e+00,-2.49062385e+00,-6.92498361e-01,-2.24908230e+02,
 -1.90012372e+02,-1.33209400e+01]

qfrc_actuator:
[ 2.87499256e-03, 7.66919066e-02, 1.06009203e-02, 2.26914611e-03,
  3.71379847e-06, 7.90056033e-02, 1.04490450e-02, 2.59668008e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0035411673392685
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.56759469e-14,  1.56759469e-14,  1.00000000e+00,  2.45735312e-28,
        1.00000000e+00, -1.56759469e-14, -1.00000000e+00,  0.00000000e+00,
       -1.56759469e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00084403, -0.0805538 ,  0.06168575])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.90399857e-05,-4.12777553e-05, 2.42179634e-05,-7.88427225e-06,
  2.33373037e-05,-1.45386492e-03,-4.41664484e-04, 9.88089353e-07,
 -1.61833195e-05,-1.48992960e-03,-3.20776155e-04, 2.94638855e-08,
 -1.30664434e-05, 1.70912052e-05, 6.94737239e-06,-1.27593844e-04,
  2.07484582e-04, 1.08938612e-04,-4.90506615e+00, 6.40559445e-03,
  2.17534356e-03, 1.67420775e-04]


--- Step 2210 ---
qpos:
[-0.01504759, 1.24806591,-0.02239884, 0.94796666, 0.00435817, 1.26209236,
 -0.02935636, 0.94535129, 0.01665454, 1.30939925,-0.02345484, 0.95414006,
  1.38370502,-0.00143504, 1.18810589, 0.06306457,-0.03681898,-0.10499525,
  0.07934461, 0.65796926,-0.01132874,-0.00375441, 0.75295021]

qacc:
[ 1.20751736e-01,-1.60127366e+00, 9.93722167e-01, 1.07397417e+01,
  9.59180312e-02,-9.45320007e+00, 1.28962644e+01, 5.21886254e+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,
 -2.93596952e+00,-2.28035534e+00,-1.68532443e+00,-1.99575316e+02,
 -1.67878402e+02,-1.24219086e+01]

qfrc_actuator:
[ 2.89809132e-03, 7.65510581e-02, 1.05986420e-02, 2.31068444e-03,
  1.65989851e-05, 7.86157170e-02, 1.04490891e-02, 2.64641549e-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, -7.78316141,  3.7428833 , -7.78316141, 13.0857062 ,
        9.25221241,  3.7428833 ,  9.25221241, 27.87593291,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003554716579053846
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0008122 , -0.0805876 ,  0.06168454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.34210480e-05,-1.67591707e-04,-9.53764669e-06, 4.18941536e-05,
  2.64073375e-05,-1.28907895e-03,-3.36234905e-04,-5.56069273e-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,
  1.02275776e-05, 2.41407345e-06,-4.90498865e+00, 6.37472546e-03,
  2.19296457e-03, 1.23761436e-04]


--- Step 2211 ---
qpos:
[-0.01504941, 1.24891542,-0.02239991, 0.9479766 , 0.00435824, 1.26298797,
 -0.02935862, 0.94536671, 0.01665643, 1.30996215,-0.02345756, 0.95415794,
  1.38377786,-0.00143466, 1.18826435, 0.06306845,-0.03685261,-0.10500373,
  0.07931311, 0.65804881,-0.01171465,-0.00430637, 0.75287183]

qacc:
[-7.87169991e-03,-6.78505129e+00, 1.43332127e+01, 8.13752523e-01,
  1.94564793e-02,-9.31493940e+00, 2.12312931e+01,-2.72987397e+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,
 -3.03271194e+00, 2.85877400e+00,-2.76908000e+00,-1.70952186e+02,
  2.06460009e+02, 2.82569803e+01]

qfrc_actuator:
[ 2.87699982e-03, 7.62326686e-02, 1.06157035e-02, 2.34921058e-03,
  6.43403047e-06, 7.84705673e-02, 1.04857428e-02, 2.59809674e-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, -0.32399853, -8.63028399, -0.32399853, 84.1670661 ,
       -2.83557717, -8.63028399, -2.83557717,  8.74281701,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0035733964513990774
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.55345627e-14,  1.55345627e-14,  1.00000000e+00,  2.41322638e-28,
        1.00000000e+00, -1.55345627e-14, -1.00000000e+00,  0.00000000e+00,
       -1.55345627e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0073578 , -0.12836533,  0.06168288])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.41681130e-06,-4.20060669e-04,-1.72473835e-05, 3.52933256e-05,
  5.15603580e-06,-9.32635284e-04,-2.55566771e-04,-9.57557942e-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,
  8.39091568e-05, 1.86401562e-04,-4.90502728e+00, 6.34251799e-03,
  2.21089013e-03, 1.73681212e-04]


--- Step 2212 ---
qpos:
[-0.01505165, 1.24976104,-0.02240099, 0.94798565, 0.00435843, 1.26388053,
 -0.02936293, 0.94538286, 0.01665827, 1.31051379,-0.02346   , 0.95417525,
  1.38385077,-0.00143442, 1.18842328, 0.06307085,-0.03686837,-0.104998  ,
  0.07929019, 0.65813666,-0.01209974,-0.00425168, 0.75278925]

qacc:
[-1.77817302e-01,-6.60852894e+00, 1.72025852e+01,-2.27981642e+01,
  5.21365697e-02, 2.76753928e+00,-1.53653382e+01, 2.37102796e+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,
  4.46402339e+00, 3.55280877e+00, 2.14098568e+00, 2.28676178e+02,
  1.99342425e+02,-9.54235843e-01]

qfrc_actuator:
[ 2.82958209e-03, 7.59880979e-02, 1.05900723e-02, 2.29677069e-03,
  1.80333275e-05, 7.86154371e-02, 1.04913817e-02, 2.65239763e-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: -0.0036399321467311258
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.90632507e-15,  7.62530028e-15,  1.00000000e+00, -1.45363011e-29,
        1.00000000e+00, -7.62530028e-15, -1.00000000e+00,  0.00000000e+00,
        1.90632507e-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([-0.06768848, -0.12608637,  0.0616775 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.95672522e-05,-4.87518575e-04,-1.10332377e-04,-6.35610381e-05,
  1.45599859e-05,-4.32292154e-04,-2.10329887e-04, 1.77979989e-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,
  3.00315412e-04, 9.06031088e-05,-4.90509720e+00, 6.38662238e-03,
  2.21761036e-03, 1.41135198e-04]


--- Step 2213 ---
qpos:
[-0.01505422, 1.25060181,-0.02240186, 0.94799272, 0.0043586 , 1.26477327,
 -0.02936937, 0.94540168, 0.01666002, 1.3110545 ,-0.02346219, 0.95419071,
  1.38392371,-0.0014343 , 1.18858236, 0.06307188,-0.03686854,-0.10497969,
  0.07927037, 0.65823261,-0.01248323,-0.00365928, 0.75270221]

qacc:
[-1.39808731e-01,-1.03576830e+01, 3.01307513e+01,-4.61069119e+01,
 -9.38377338e-03, 1.05570854e+01,-3.96327582e+01, 6.52233890e+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,
  3.90069105e+00, 3.14376953e+00, 7.77514854e-01, 2.02952092e+02,
  1.76383817e+02,-1.26625455e+00]

qfrc_actuator:
[ 2.82002920e-03, 7.56829660e-02, 1.05751327e-02, 2.19120756e-03,
  7.09039602e-06, 7.88797456e-02, 1.04799637e-02, 2.80234840e-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,   4.32208121,   7.47705763,   4.32208121,
        73.25353007, -37.35167693,   7.47705763, -37.35167693,
        30.22734087,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003666884246917662
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.46000732e-14,  2.64923865e-14,  1.00000000e+00, -6.51714646e-28,
        1.00000000e+00, -2.64923865e-14, -1.00000000e+00,  0.00000000e+00,
        2.46000732e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06765598, -0.12605331,  0.06167518])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.90978732e-05,-6.06485173e-04,-1.26309527e-04,-1.23722018e-04,
 -2.47882047e-06,-2.37558493e-05,-1.21046089e-04, 1.32387426e-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,
  3.29469505e-05,-8.80493220e-06,-4.90506043e+00, 6.41641695e-03,
  2.20430427e-03, 1.08100667e-04]


--- Step 2214 ---
qpos:
[-0.01505687, 1.25143514,-0.02240101, 0.94800106, 0.00435871, 1.26566791,
 -0.0293764 , 0.94542089, 0.01666182, 1.31158441,-0.02346464, 0.95420701,
  1.38399656,-0.00143398, 1.18874095, 0.06307572,-0.03686197,-0.10495406,
  0.07924723, 0.6583407 ,-0.01285877,-0.00256097, 0.75260588]

qacc:
[-3.52737500e-02,-1.22287861e+01, 2.55322466e+01,-2.89224470e+00,
 -2.92487811e-02, 4.77800072e+00,-1.33823594e+01, 1.49906161e+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,
  1.68520090e+00, 1.83079447e+00,-8.30214605e-01, 1.93079406e+02,
  1.63592497e+02,-4.48574636e+00]

qfrc_actuator:
[ 2.83327318e-03, 7.51842442e-02, 1.06196537e-02, 2.25049899e-03,
  4.68504333e-07, 7.91426941e-02, 1.05124712e-02, 2.82992949e-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, -3.54166999,  7.87676016, -3.54166999,  5.72553505,
       -1.30881149,  7.87676016, -1.30881149,  8.04787569,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003751294314195841
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.21233985, -0.10616992,  0.97141121, -0.02267225,  0.994348  ,
        0.10372089, -0.97693283,  0.        , -0.21354682])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0676922 , -0.12606908,  0.06167657])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.02213896e-05,-8.70724669e-04,-9.36691114e-05, 3.57208552e-05,
 -8.06790852e-06, 2.21818110e-04, 1.63065238e-05, 2.75284993e-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,
  5.79687835e-05, 1.96282202e-04,-4.90514936e+00, 6.44678325e-03,
  2.18548399e-03, 1.79371901e-04]


--- Step 2215 ---
qpos:
[-0.01505951, 1.25225962,-0.02239949, 0.94801302, 0.00435903, 1.26656484,
 -0.02938303, 0.94543884, 0.01666385, 1.31210388,-0.02346759, 0.95422373,
  1.38406937,-0.00143351, 1.1889    , 0.06307664,-0.0368711 ,-0.10493991,
  0.07922651, 0.6584608 ,-0.01324298,-0.0021247 , 0.7524955 ]

qacc:
[ 9.92643633e-03,-7.20897668e+00, 2.16243584e+00, 4.53880836e+01,
  9.56418151e-02,-2.40921224e-01, 7.02218478e+00,-2.22354478e+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,
 -3.92540401e+00,-2.86800119e+00, 6.06800414e-01,-2.51923645e+02,
 -2.14557593e+02,-1.33905964e+01]

qfrc_actuator:
[ 2.84233132e-03, 7.46271525e-02, 1.06094884e-02, 2.42399533e-03,
  3.19995757e-05, 7.93142706e-02, 1.05528980e-02, 2.76754391e-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: -0.0036954478743896346
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.50214949e-14,  7.51074743e-15,  1.00000000e+00,  1.12822654e-28,
        1.00000000e+00, -7.51074743e-15, -1.00000000e+00,  0.00000000e+00,
       -1.50214949e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00054036, -0.08083719,  0.06167239])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.36842979e-06,-1.06398492e-03,-1.91565334e-04, 1.46725063e-04,
  2.68384640e-05, 2.90004882e-04, 8.48004148e-05,-5.34906651e-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,
  3.12656765e-04, 6.38776273e-04,-4.90534098e+00, 6.48198368e-03,
  2.16026734e-03, 3.33166004e-04]


--- Step 2216 ---
qpos:
[-0.01506193, 1.25307483,-0.02239795, 0.94802602, 0.00435965, 1.26746416,
 -0.0293892 , 0.94545488, 0.01666614, 1.312613  ,-0.02347138, 0.9542392 ,
  1.38414219,-0.00143294, 1.18905966, 0.06307097,-0.0368942 ,-0.10493612,
  0.07920348, 0.65859353,-0.01363681,-0.00227085, 0.75237187]

qacc:
[ 9.07982373e-02,-1.03908520e+01, 1.70935147e+01, 2.99695386e+00,
  1.22314984e-01,-1.40181332e+00, 1.22805586e+01,-3.43312151e+01,
  1.09366514e-01,-1.34944399e+01, 3.01628754e+01,-3.41815058e+01,
 -5.35030812e-01, 7.40002124e-01, 2.08418860e+01,-7.15067224e+01,
 -3.49439949e+00,-2.59172272e+00,-5.79990940e-01,-2.22230082e+02,
 -1.88029203e+02,-1.29566663e+01]

qfrc_actuator:
[ 2.86655893e-03, 7.41104354e-02, 1.05846199e-02, 2.46788588e-03,
  5.06532703e-05, 7.94476256e-02, 1.05795669e-02, 2.67043678e-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, -8.56685232,  1.0935347 , -8.56685232,  9.04791211,
        3.22410895,  1.0935347 ,  3.22410895, 33.89433239,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003749149900127882
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.96126603e-14,  7.40316508e-15,  1.00000000e+00, -2.19227413e-28,
        1.00000000e+00, -7.40316508e-15, -1.00000000e+00,  0.00000000e+00,
        2.96126603e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0004468 , -0.08091625,  0.0616681 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.48565994e-05,-1.14619777e-03,-2.51882063e-04, 1.10754419e-05,
  3.43147343e-05, 3.00463263e-04, 8.97908813e-05,-8.60411602e-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,
  3.60457875e-05, 1.11152054e-04,-4.90512512e+00, 6.44693178e-03,
  2.18366537e-03, 1.68725299e-04]


--- Step 2217 ---
qpos:
[-0.01506396, 1.25388001,-0.02239568, 0.94803777, 0.00436037, 1.2683653 ,
 -0.02939507, 0.9454697 , 0.01666835, 1.31311191,-0.02347529, 0.95425441,
  1.38421519,-0.00143283, 1.18921931, 0.06306055,-0.03691649,-0.10495077,
  0.07920174, 0.65873837,-0.01366194,-0.00281327, 0.75224277]

qacc:
[ 1.70136089e-01,-1.73316675e+01, 4.31798654e+01,-4.57454087e+01,
  4.63848572e-02,-4.54893868e-01, 6.84916306e+00,-2.10673542e+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,
  2.05164425e-01,-4.61023977e+00, 5.32211269e+00,-2.75868199e+01,
 -2.69137623e+02,-9.47934517e+00]

qfrc_actuator:
[ 2.89969170e-03, 7.35686432e-02, 1.06045844e-02, 2.39962817e-03,
  4.36763161e-05, 7.95037795e-02, 1.05800016e-02, 2.60690719e-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, -8.60394395, -0.74761311, -8.60394395,  9.07747013,
       -5.07649673, -0.74761311, -5.07649673, 67.05948716,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003749440941145779
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.01460472e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.01460472e-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([-0.03517441, -0.08574413,  0.06166775])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.68460669e-05,-1.23247795e-03,-2.33941717e-04,-1.08448336e-04,
  1.30471848e-05, 2.29044701e-04, 6.52140911e-05,-5.27570625e-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,
  1.02890235e-04,-5.53227475e-06,-4.90507203e+00, 6.41191692e-03,
  2.20599279e-03, 1.36171209e-04]


--- Step 2218 ---
qpos:
[-0.01506559, 1.25467483,-0.02239323, 0.94804766, 0.00436097, 1.26926666,
 -0.02939988, 0.94548344, 0.01667037, 1.31360059,-0.02347826, 0.95426935,
  1.38428818,-0.00143281, 1.18937839, 0.06304967,-0.03692432,-0.10497861,
  0.07920926, 0.65886821,-0.01316641,-0.00338835, 0.75213552]

qacc:
[ 1.70463934e-01,-1.73187264e+01, 4.38807468e+01,-5.32897223e+01,
 -5.21413794e-02,-4.45724466e+00, 1.71182879e+01,-2.76594299e+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,
  3.61304147e+00,-3.29858375e+00, 2.31652577e+00, 1.59134534e+02,
 -2.06763536e+02, 1.18816372e+01]

qfrc_actuator:
[ 2.92014743e-03, 7.30162830e-02, 1.05974617e-02, 2.30146198e-03,
  2.13838835e-05, 7.94244575e-02, 1.06001903e-02, 2.54582953e-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([ 8.63636364, -8.60061658, -0.78496581, -8.60061658,  8.69205417,
       -0.61018314, -0.78496581, -0.61018314, 15.32194305,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00374442185620312
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.77969237e-15,  2.96500519e-14,  1.00000000e+00,  8.24180230e-29,
        1.00000000e+00, -2.96500519e-14, -1.00000000e+00,  0.00000000e+00,
       -2.77969237e-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([-0.06079256, -0.08929612,  0.06166812])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.69677951e-05,-1.29071585e-03,-2.79338587e-04,-1.43186471e-04,
 -1.46720600e-05, 5.02670405e-05, 6.91873521e-05,-5.23886247e-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,
  1.41048319e-04, 1.63475594e-04,-4.90503309e+00, 6.35280092e-03,
  2.20928937e-03, 2.02767561e-04]


--- Step 2219 ---
qpos:
[-0.0150669 , 1.25545945,-0.02239129, 0.94805738, 0.00436138, 1.27016708,
 -0.02940383, 0.94549681, 0.01667234, 1.31407849,-0.02347995, 0.95428478,
  1.38436121,-0.00143308, 1.18953658, 0.06304336,-0.03691929,-0.10501817,
  0.07922081, 0.65898455,-0.01220425,-0.00399381, 0.75204686]

qacc:
[ 1.42580648e-01,-1.23407819e+01, 2.44628655e+01,-1.69519665e+01,
 -7.84892749e-02,-4.17047386e+00, 1.28698198e+01,-1.47137457e+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,
  3.21491211e+00,-2.92754570e+00, 1.00712397e+00, 1.42242684e+02,
 -1.85631340e+02, 1.02144032e+01]

qfrc_actuator:
[ 2.93283879e-03, 7.25151774e-02, 1.05743493e-02, 2.29298253e-03,
  7.84211497e-06, 7.93002392e-02, 1.06135928e-02, 2.52209868e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037088976619014807
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.24505323e-14,  3.74175539e-14,  1.00000000e+00,  8.40044003e-28,
        1.00000000e+00, -3.74175539e-14, -1.00000000e+00,  0.00000000e+00,
       -2.24505323e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0608366 , -0.08926482,  0.06167087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.92872650e-05,-1.28146544e-03,-3.12872029e-04,-5.73845108e-05,
 -2.20981920e-05,-9.27095616e-05, 2.79112058e-05,-2.02685254e-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,
 -5.71726485e-06, 1.89407085e-04,-4.90503589e+00, 6.32058526e-03,
  2.19523498e-03, 1.72063513e-04]


--- Step 2220 ---
qpos:
[-0.0150681 , 1.25623388,-0.02238948, 0.9480683 , 0.00436133, 1.27106757,
 -0.02940854, 0.94551121, 0.01667429, 1.31454649,-0.02348215, 0.95430141,
  1.38443423,-0.00143357, 1.18969479, 0.06303798,-0.03690561,-0.10504959,
  0.07923284, 0.65911004,-0.01123832,-0.00404712, 0.75195165]

qacc:
[ 4.57892005e-02,-1.09285522e+01, 1.70792849e+01, 5.38995776e+00,
 -2.01866399e-01, 3.87434343e+00,-1.46325758e+01, 2.44179280e+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,
  2.16322797e+00, 2.03425564e+00, 1.19771561e-01, 2.08904497e+02,
  1.80562162e+02,-2.24092750e+00]

qfrc_actuator:
[ 2.92302564e-03, 7.20310533e-02, 1.05777580e-02, 2.35512310e-03,
 -3.58439588e-05, 7.93454136e-02, 1.05871854e-02, 2.57373402e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003807778635437575
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.19378994, -0.09689497,  0.97624629, -0.01886604,  0.99529461,
        0.09504056, -0.98086163,  0.        , -0.19470611])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06766646, -0.1259513 ,  0.06167042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.23297801e-05,-1.26323662e-03,-2.85809011e-04, 1.45083480e-05,
 -5.65835306e-05,-9.47634917e-06,-4.36007215e-05, 5.03538149e-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,
 -6.07520645e-05, 1.45557541e-04,-4.90514205e+00, 6.30350587e-03,
  2.19063254e-03, 6.67105077e-05]


--- Step 2221 ---
qpos:
[-0.01506929, 1.25699924,-0.02238811, 0.94807878, 0.00436093, 1.27196813,
 -0.02941309, 0.94552677, 0.01667611, 1.31500546,-0.0234855 , 0.95431724,
  1.3845069 ,-0.00143319, 1.18985325, 0.06303148,-0.03690054,-0.10506067,
  0.07925455, 0.65919604,-0.01085622,-0.00388483, 0.75188273]

qacc:
[ 4.96227282e-03,-1.15024145e+01, 2.40310830e+01,-2.03339607e+01,
 -1.46717636e-01, 1.68120344e+00,-7.76014465e+00, 2.02294553e+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,
 -2.15200090e+00, 5.08341641e+00, 2.42029539e+00,-1.11511015e+02,
  2.90336190e+02, 2.59075151e+01]

qfrc_actuator:
[ 2.91755594e-03, 7.16499457e-02, 1.05791616e-02, 2.33405911e-03,
 -4.39980869e-05, 7.93850969e-02, 1.06091894e-02, 2.63385482e-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([ 8.63636364,  6.47591435, -5.71395749,  6.47591435, 21.11282563,
       14.14019956, -5.71395749, 14.14019956, 24.66216034,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0036880910585699966
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.62090618e-07,  4.51543769e-14,  1.00000000e+00,  1.18345386e-20,
        1.00000000e+00, -4.51543769e-14, -1.00000000e+00,  0.00000000e+00,
       -2.62090618e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01780137, -0.12759626,  0.06167275])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00111341e-06,-1.14257801e-03,-2.79029815e-04,-6.57002088e-05,
 -4.11745255e-05, 1.92398162e-05, 1.50350238e-05, 6.08780771e-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,
  1.44474522e-04,-1.60109345e-04,-4.90508220e+00, 6.32323226e-03,
  2.17755708e-03,-2.66060026e-05]


--- Step 2222 ---
qpos:
[-0.01507066, 1.2577565 ,-0.02238648, 0.94808986, 0.00436073, 1.27286731,
 -0.02941701, 0.94554271, 0.01667747, 1.31545448,-0.02348735, 0.95433135,
  1.38457973,-0.00143313, 1.19001138, 0.06302698,-0.03690868,-0.1050598 ,
  0.07926596, 0.65923877,-0.01101455,-0.00370516, 0.75184386]

qacc:
[-7.28111423e-02,-1.03058378e+01, 1.96103943e+01,-5.16197294e+00,
  8.82665340e-02,-2.86393647e+00, 6.37915596e+00,-2.41202878e-01,
 -1.93782560e-01,-2.00796385e+01, 5.31506487e+01,-5.96095702e+01,
  4.99299704e-01,-7.75989475e-01,-6.55116260e+00, 2.21010570e+01,
 -3.30399712e+00, 2.99023855e+00,-2.57472906e+00,-1.71767743e+02,
  2.08649371e+02, 2.73139044e+01]

qfrc_actuator:
[ 2.89699279e-03, 7.13513741e-02, 1.06329790e-02, 2.37074941e-03,
  4.73228033e-06, 7.92261633e-02, 1.06063676e-02, 2.64524901e-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, -8.31076333,  2.34904019, -8.31076333, 10.69836938,
        7.29525266,  2.34904019,  7.29525266, 34.44653009,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037147479299989017
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.98869007e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.98869007e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00689045, -0.12838986,  0.06167108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.06689440e-05,-9.94278331e-04,-2.04601129e-04,-6.03393183e-06,
  2.46987242e-05,-1.51675621e-04, 2.81513949e-06, 1.49760191e-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,
  8.44822587e-05,-3.10771995e-05,-4.90501059e+00, 6.37684988e-03,
  2.18876007e-03, 9.39543971e-05]


--- Step 2223 ---
qpos:
[-0.01507223, 1.25850834,-0.02238609, 0.94810253, 0.00436076, 1.27376407,
 -0.02942114, 0.9455571 , 0.01667819, 1.31589381,-0.02348833, 0.9543454 ,
  1.38465275,-0.00143365, 1.19016933, 0.06302444,-0.03692878,-0.10504837,
  0.07926389, 0.65924447,-0.01165419,-0.00350833, 0.75183016]

qacc:
[-8.68998418e-02,-1.01358459e+00,-8.53465355e+00, 2.92328757e+01,
  9.23916198e-02,-5.26849368e+00, 1.65186468e+01,-3.07565387e+01,
 -2.72506003e-01,-1.51995987e+01, 3.43564230e+01,-2.45395075e+01,
  6.82099582e-01,-1.17130165e+00,-6.27280215e+00, 2.14246189e+01,
 -2.98771512e+00, 2.63918025e+00,-3.37245322e+00,-1.52354374e+02,
  1.86385031e+02, 2.32020529e+01]

qfrc_actuator:
[ 2.88530357e-03, 7.12469794e-02, 1.06289534e-02, 2.45898694e-03,
  1.61716090e-05, 7.90027389e-02, 1.05526040e-02, 2.55671617e-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, -5.14921999,  6.93341982, -5.14921999, 21.33093669,
        9.42783662,  6.93341982,  9.42783662, 15.6381039 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0036898462463437615
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.00885986e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.00885986e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00693059, -0.12843142,  0.06167309])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.43943351e-05,-7.01651844e-04,-2.23217776e-04, 5.34854726e-05,
  2.58507166e-05,-3.14438956e-04,-8.42755050e-05,-9.14909933e-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,
  4.92993728e-06, 1.85389569e-05,-4.90501979e+00, 6.39684662e-03,
  2.19796972e-03, 1.21150968e-04]


--- Step 2224 ---
qpos:
[-0.01507397, 1.25925884,-0.02238912, 0.94811419, 0.00436081, 1.27465741,
 -0.02942567, 0.94556976, 0.0166783 , 1.31632436,-0.02349021, 0.954359  ,
  1.38472566,-0.00143408, 1.19032739, 0.06302213,-0.03695972,-0.10502756,
  0.07924555, 0.65921791,-0.01272493,-0.00329478, 0.75183706]

qacc:
[-7.61003329e-02, 5.71989037e+00,-1.87425118e+01, 5.54169439e+00,
  1.49090826e-02,-6.40851883e+00, 1.90466577e+01,-3.45101575e+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,
 -2.71024543e+00, 2.34214534e+00,-4.06458223e+00,-1.35964975e+02,
  1.67391973e+02, 1.97720522e+01]

qfrc_actuator:
[ 2.87903875e-03, 7.14194450e-02, 1.05383674e-02, 2.41714198e-03,
  5.14440407e-06, 7.87599731e-02, 1.05043714e-02, 2.46326348e-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([ 8.63636364, -5.37599165,  6.75910428, -5.37599165, 21.73601176,
       10.41907272,  6.75910428, 10.41907272, 16.92338595,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003623294634454044
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.06412571e-14,  1.53206286e-14,  1.00000000e+00,  4.69443318e-28,
        1.00000000e+00, -1.53206286e-14, -1.00000000e+00,  0.00000000e+00,
       -3.06412571e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00704732, -0.12851215,  0.06167801])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.11203474e-05,-2.64735917e-04,-2.52943720e-04,-6.70616872e-05,
  4.05272415e-06,-4.44010854e-04,-1.23596341e-04,-1.06309230e-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,
  1.67560427e-05,-2.24067071e-05,-4.90509365e+00, 6.39709261e-03,
  2.19884437e-03, 7.44093251e-05]


--- Step 2225 ---
qpos:
[-0.01507599, 1.26001098,-0.02239435, 0.94812357, 0.00436098, 1.27554586,
 -0.02942925, 0.94558128, 0.01667823, 1.31674619,-0.0234929 , 0.95437082,
  1.38479849,-0.00143439, 1.19048527, 0.0630216 ,-0.03697847,-0.1050068 ,
  0.07926167, 0.65919446,-0.0135285 ,-0.00292638, 0.75184512]

qacc:
[-1.21071430e-01, 4.16476551e+00,-6.35059699e+00,-2.19346462e+01,
  4.87264998e-02,-1.08772430e+01, 3.00591915e+01,-3.61133464e+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,
  3.04617725e+00,-8.97989642e-03, 8.61378525e+00, 1.46289635e+02,
 -4.94000075e+01,-2.40754357e-01]

qfrc_actuator:
[ 2.85833020e-03, 7.17561059e-02, 1.05227756e-02, 2.31696037e-03,
  1.62376281e-05, 7.84543098e-02, 1.05307336e-02, 2.40317256e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0036440579681182713
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.90416672e-15,  1.17914580e-07,  1.00000000e+00,  2.24529018e-22,
        1.00000000e+00, -1.17914580e-07, -1.00000000e+00,  0.00000000e+00,
       -1.90416672e-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([-0.0498736 , -0.10383448,  0.06167621])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.36348139e-05, 1.31719265e-04,-9.94858466e-05,-1.16082469e-04,
  1.34404907e-05,-5.86663042e-04,-7.92335514e-05,-7.83279950e-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,
  9.26320919e-05,-1.26755791e-04,-4.90521375e+00, 6.38473606e-03,
  2.19396117e-03,-2.28183237e-05]


--- Step 2226 ---
qpos:
[-0.01507843, 1.26076684,-0.02240082, 0.94813145, 0.00436127, 1.27642801,
 -0.02943067, 0.94559208, 0.01667843, 1.31715889,-0.0234961 , 0.95438391,
  1.38487127,-0.00143461, 1.19064283, 0.06302454,-0.03698203,-0.10499768,
  0.07928851, 0.65916644,-0.01377942,-0.00260897, 0.7518663 ]

qacc:
[-1.77628207e-01, 5.64135570e+00,-9.45249246e+00,-1.14276696e+01,
  5.23362767e-02,-1.53612931e+01, 4.16103813e+01,-4.05125351e+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,
  3.79738287e+00,-2.91215087e+00, 2.68007220e+00, 1.62974198e+02,
 -2.24651197e+02, 4.88602745e+00]

qfrc_actuator:
[ 2.82913066e-03, 7.21355881e-02, 1.05345922e-02, 2.25447277e-03,
  2.27586786e-05, 7.80782364e-02, 1.06184339e-02, 2.36318771e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003676503797462663
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.66208628e-15,  1.50988967e-14,  1.00000000e+00,  8.54912561e-29,
        1.00000000e+00, -1.50988967e-14, -1.00000000e+00,  0.00000000e+00,
       -5.66208628e-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([-0.06092525, -0.08926366,  0.06167402])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.93969190e-05, 4.22340983e-04, 2.14209743e-05,-6.32377500e-05,
  1.43454108e-05,-7.26389676e-04,-3.99049609e-05,-6.05498825e-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,
 -1.11225922e-05, 1.88171601e-05,-4.90513952e+00, 6.38584732e-03,
  2.18947740e-03, 8.53678530e-05]


--- Step 2227 ---
qpos:
[-0.0150811 , 1.26153037,-0.0224097 , 0.94813824, 0.00436181, 1.27730335,
 -0.02943091, 0.94560244, 0.01667903, 1.31756252,-0.02349986, 0.954397  ,
  1.38494413,-0.00143503, 1.1908005 , 0.0630286 ,-0.03697208,-0.10499908,
  0.07932074, 0.6591337 ,-0.0135372 ,-0.00233573, 0.75190029]

qacc:
[-1.01533759e-01, 1.47229220e+01,-3.36974379e+01, 1.20039402e+01,
  1.07210316e-01,-1.28583879e+01, 3.20476546e+01,-2.86073206e+01,
  1.69499682e-01,-1.03718159e+01, 1.94561322e+01,-1.11721520e+01,
  2.54783036e-01,-4.23947168e-01,-3.23730877e+00, 1.15157497e+01,
  3.37790209e+00,-2.62869920e+00, 1.34874471e+00, 1.45910217e+02,
 -2.00045743e+02, 5.04912074e+00]

qfrc_actuator:
[ 2.83058590e-03, 7.27865519e-02, 1.05095040e-02, 2.21472846e-03,
  4.42365368e-05, 7.76810371e-02, 1.06525664e-02, 2.33531113e-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, -8.51516909,  1.44176014, -8.51516909, 10.66688719,
       11.99246042,  1.44176014, 11.99246042, 79.46494705,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0036635768555726145
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.51521733e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.51521733e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06095062, -0.08925813,  0.06167536])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.79145691e-05, 8.79753920e-04, 5.66194910e-05,-2.70743296e-05,
  2.98258829e-05,-8.16496138e-04,-1.15782326e-04,-5.10659011e-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,
  1.08232411e-06, 5.57246851e-05,-4.90502402e+00, 6.38418459e-03,
  2.18760530e-03, 1.68015605e-04]


--- Step 2228 ---
qpos:
[-0.0150836 , 1.26230424,-0.02242079, 0.9481453 , 0.00436274, 1.2781714 ,
 -0.02943131, 0.94561321, 0.01667999, 1.31795806,-0.02350493, 0.95440856,
  1.38501709,-0.00143586, 1.19095832, 0.06303259,-0.03696108,-0.10501595,
  0.07936463, 0.65911254,-0.01298465,-0.00240004, 0.75192839]

qacc:
[ 7.21708091e-02, 2.00117273e+01,-4.94275034e+01, 3.96455775e+01,
  1.70342615e-01,-8.46206918e+00, 1.51990636e+01,-3.80495634e+00,
  1.58034182e-01,-9.74748601e+00, 2.20839146e+01,-3.19143901e+01,
  3.62006789e-01,-6.84653440e-01, 3.82813046e-01,-1.08661843e+00,
  2.62339412e-01,-3.86672077e+00, 2.91313859e+00,-2.45565517e+01,
 -2.27851295e+02,-8.93932202e+00]

qfrc_actuator:
[ 2.86817278e-03, 7.35239732e-02, 1.04817045e-02, 2.24207456e-03,
  7.45118561e-05, 7.72564435e-02, 1.06191832e-02, 2.35021046e-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, -8.63459264, -0.17489092, -8.63459264,  8.66804953,
       -1.56437393, -0.17489092, -1.56437393, 85.87154366,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00362665335680315
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.53064398e-14, -7.65321989e-15,  1.00000000e+00, -1.17143549e-28,
        1.00000000e+00,  7.65321989e-15, -1.00000000e+00,  0.00000000e+00,
       -1.53064398e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03522243, -0.08568491,  0.06167855])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.07454664e-05, 1.22710080e-03, 1.48354271e-04, 5.54991073e-05,
  4.76663300e-05,-9.08204666e-04,-2.09254242e-04,-1.29965476e-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,
  8.70348132e-05, 1.46483728e-05,-4.90502920e+00, 6.39012899e-03,
  2.19198171e-03, 1.57184277e-04]


--- Step 2229 ---
qpos:
[-0.01508581, 1.26308836,-0.02243189, 0.94815254, 0.00436361, 1.27903174,
 -0.02943198, 0.94562657, 0.01668126, 1.31834569,-0.02351007, 0.9544211 ,
  1.38509018,-0.00143725, 1.19111626, 0.06303582,-0.03696126,-0.10504255,
  0.07939826, 0.65911183,-0.0124524 ,-0.00291107, 0.75193621]

qacc:
[ 1.23457654e-01, 1.38203434e+01,-2.92345633e+01, 2.11581168e+01,
 -2.70203491e-02,-4.94844995e+00,-1.37054553e+00, 3.59474861e+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,
 -2.79430828e+00,-2.43354292e+00,-2.56531825e+00,-1.74529448e+02,
 -1.39437818e+02,-1.72494105e+01]

qfrc_actuator:
[ 2.89162121e-03, 7.40944770e-02, 1.05062840e-02, 2.25549920e-03,
  3.88074858e-05, 7.68541207e-02, 1.05994002e-02, 2.47886091e-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, -7.77677547,  3.75613367, -7.77677547, 21.96917978,
       27.60453345,  3.75613367, 27.60453345, 65.78935061,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0035894713961158314
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.54649933e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.54649933e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00069753, -0.08084911,  0.06168194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.49673665e-05, 1.27261803e-03, 2.81466317e-04, 5.65285347e-05,
 -7.88808086e-06,-9.53707427e-04,-2.23081583e-04, 9.61467842e-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,
  4.24713353e-05,-3.97540056e-05,-4.90507275e+00, 6.40033415e-03,
  2.19366005e-03, 1.03983257e-04]


--- Step 2230 ---
qpos:
[-0.01508788, 1.26388262,-0.02244234, 0.94815884, 0.00436397, 1.2798846 ,
 -0.02943265, 0.94564066, 0.01668274, 1.31872589,-0.02351569, 0.95443386,
  1.38516321,-0.0014388 , 1.19127464, 0.06303484,-0.03697161,-0.10507796,
  0.0794187 , 0.65912884,-0.01193795,-0.00382475, 0.75192554]

qacc:
[ 5.87645780e-02, 9.90691719e+00,-1.43561532e+01,-4.69393512e+00,
 -2.18609789e-01,-8.56272751e+00, 1.45706298e+01, 5.80502566e-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,
 -2.54412954e+00,-2.20451463e+00,-3.29556039e+00,-1.57169458e+02,
 -1.25860794e+02,-1.52367081e+01]

qfrc_actuator:
[ 2.88864664e-03, 7.46140599e-02, 1.05432374e-02, 2.20729179e-03,
 -1.84293370e-05, 7.65039998e-02, 1.06057207e-02, 2.51365528e-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, -1.39095566,  8.52361538, -1.39095566, 67.31119142,
        9.57505476,  8.52361538,  9.57505476, 10.19890207,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003519403578822307
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00081821, -0.08076859,  0.06168765])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.68294147e-05, 1.27284943e-03, 3.17900622e-04, 1.91360577e-07,
 -6.18898009e-05,-9.25995520e-04,-2.04217303e-04, 3.05040398e-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,
 -9.81756954e-06, 1.37324697e-04,-4.90511050e+00, 6.39583506e-03,
  2.19175238e-03, 1.48416121e-04]


--- Step 2231 ---
qpos:
[-0.01508988, 1.26468502,-0.0224518 , 0.94816711, 0.00436389, 1.28073098,
 -0.02943361, 0.94565293, 0.01668437, 1.31909787,-0.02352089, 0.95444599,
  1.385236  ,-0.00143987, 1.19143265, 0.0630339 ,-0.03696759,-0.10510088,
  0.07944189, 0.65915845,-0.01141487,-0.00419693, 0.75190573]

qacc:
[ 2.81164377e-02, 1.14419521e+01,-2.84245561e+01, 4.24315729e+01,
 -1.85845750e-01,-1.08532871e+01, 2.88473789e+01,-4.19832483e+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,
  3.59276023e+00, 3.12586587e+00, 6.87772070e-01, 2.06484697e+02,
  1.75294774e+02,-4.53457269e+00]

qfrc_actuator:
[ 2.88760602e-03, 7.49038216e-02, 1.05514395e-02, 2.30068119e-03,
 -3.48534627e-05, 7.62413114e-02, 1.06097821e-02, 2.42193940e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0034989497617462645
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.93254477e-15,  1.58650895e-14,  1.00000000e+00,  1.25850533e-28,
        1.00000000e+00, -1.58650895e-14, -1.00000000e+00,  0.00000000e+00,
       -7.93254477e-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([-0.06810292, -0.1262435 ,  0.06168949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.18799860e-06, 1.04851683e-03, 2.91669044e-04, 1.41567078e-04,
 -5.26460598e-05,-8.22259606e-04,-2.01623564e-04,-1.24244963e-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,
  9.52777754e-05, 4.60464945e-04,-4.90520535e+00, 6.38575557e-03,
  2.19414831e-03, 2.39164071e-04]


--- Step 2232 ---
qpos:
[-0.01509155, 1.26549267,-0.02245939, 0.94817736, 0.00436362, 1.28157153,
 -0.02943464, 0.94566396, 0.01668595, 1.31946105,-0.02352396, 0.95445793,
  1.38530858,-0.0014403 , 1.1915905 , 0.06303273,-0.03695075,-0.10511261,
  0.07946336, 0.65920008,-0.0108835 ,-0.00408578, 0.75187772]

qacc:
[ 1.41710114e-01, 5.28177187e+00,-1.29393943e+01, 3.08768969e+01,
 -7.93821876e-02,-9.59971968e+00, 2.46322616e+01,-3.21119139e+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,
  3.20603918e+00, 2.79436838e+00,-4.32114679e-01, 1.84493494e+02,
  1.56246910e+02,-4.47816527e+00]

qfrc_actuator:
[ 2.92324721e-03, 7.49826130e-02, 1.05773033e-02, 2.38773114e-03,
 -2.66614901e-05, 7.60153280e-02, 1.06305258e-02, 2.36308984e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00349623353337683
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.38927382e-14,  1.19080614e-14,  1.00000000e+00,  1.65435579e-28,
        1.00000000e+00, -1.19080614e-14, -1.00000000e+00,  0.00000000e+00,
       -1.38927382e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06811549, -0.12624925,  0.06169002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.98177194e-05, 7.12525876e-04, 2.66658726e-04, 1.31086567e-04,
 -2.26261162e-05,-7.31421427e-04,-1.68083555e-04,-9.11599902e-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,
 -1.78662136e-05, 6.26322134e-05,-4.90506598e+00, 6.38022662e-03,
  2.19839666e-03, 1.07820124e-04]


--- Step 2233 ---
qpos:
[-0.015093  , 1.26630227,-0.02246448, 0.94818644, 0.00436358, 1.28240693,
 -0.02943579, 0.94567382, 0.01668726, 1.31981664,-0.02352743, 0.95446903,
  1.38538109,-0.00144027, 1.1917484 , 0.06303007,-0.03694889,-0.10511272,
  0.07947464, 0.6592092 ,-0.01089471,-0.00394736, 0.75187031]

qacc:
[ 9.55774557e-02,-6.22286454e+00, 2.57645894e+01,-3.71374617e+01,
  9.78022621e-02,-8.42884035e+00, 2.17290080e+01,-2.91935261e+01,
 -1.11773507e-01,-1.03466407e+01, 2.33915868e+01,-2.52133344e+01,
 -4.72661467e-01, 8.70961933e-01, 4.57833981e+00,-1.58183432e+01,
 -3.74517027e+00, 2.90848142e+00,-2.54767391e+00,-1.68714886e+02,
  2.12789563e+02, 2.02681736e+01]

qfrc_actuator:
[ 2.92734875e-03, 7.48456993e-02, 1.06124929e-02, 2.31040573e-03,
  1.39781342e-05, 7.58133009e-02, 1.06434202e-02, 2.30636157e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0034974430975334286
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.58719241e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.58719241e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00733271, -0.12871158,  0.06169021])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.67022374e-05, 3.05770384e-04, 2.07171068e-04,-4.42459530e-05,
  2.73759966e-05,-6.49584484e-04,-1.53366109e-04,-8.45766961e-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,
  9.78272607e-05,-5.95564435e-05,-4.90504104e+00, 6.38032406e-03,
  2.19534025e-03, 6.98458547e-05]


--- Step 2234 ---
qpos:
[-0.0150943 , 1.26711144,-0.02246765, 0.94819341, 0.00436402, 1.28323805,
 -0.02943811, 0.94568292, 0.01668813, 1.3201648 ,-0.02353229, 0.95447749,
  1.38545386,-0.00144068, 1.19190603, 0.06302784,-0.03696042,-0.10510249,
  0.07947256, 0.65918981,-0.01138989,-0.00378399, 0.7518808 ]

qacc:
[ 6.42123098e-02,-9.39806242e+00, 3.42543800e+01,-5.39030855e+01,
  2.05966344e-01,-3.75434072e+00, 7.02315584e+00,-1.22032243e+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,
 -3.34783856e+00, 2.58162762e+00,-3.33737359e+00,-1.50260770e+02,
  1.90008812e+02, 1.77075666e+01]

qfrc_actuator:
[ 2.93025566e-03, 7.46338198e-02, 1.06341411e-02, 2.19006902e-03,
  5.59937188e-05, 7.56450601e-02, 1.05984362e-02, 2.26908524e-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([ 8.63636364, -4.10616772,  7.59777359, -4.10616772, 63.67239197,
       29.74386649,  7.59777359, 29.74386649, 24.71124442,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0034885613306238628
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.59123335e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.59123335e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00735175, -0.12872849,  0.06169103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.78446654e-05,-1.10312161e-05, 1.02218405e-04,-1.05167733e-04,
  5.79997056e-05,-5.67382593e-04,-1.93359165e-04,-6.20976842e-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,
  7.44930377e-06, 9.33785673e-06,-4.90500424e+00, 6.38945985e-03,
  2.19910437e-03, 1.19164705e-04]


--- Step 2235 ---
qpos:
[-0.0150952 , 1.26791858,-0.02246929, 0.94819872, 0.00436466, 1.28406369,
 -0.02944061, 0.94569227, 0.01668856, 1.32050552,-0.02353791, 0.95448388,
  1.38552676,-0.0014415 , 1.19206361, 0.06302525,-0.03698398,-0.10508305,
  0.0794544 , 0.65914495,-0.0123193 ,-0.00359777, 0.75190639]

qacc:
[ 1.69936310e-01,-9.66111412e+00, 3.16805153e+01,-4.54367507e+01,
  8.27256920e-02,-6.29522386e+00, 1.13305282e+01,-3.47675116e+00,
 -1.83940346e-01,-1.13195508e+01, 2.93137532e+01,-4.47520946e+01,
  3.53118330e-01,-6.54780928e-01, 9.92083622e-01,-3.64930377e+00,
 -3.00667928e+00, 2.30440143e+00,-4.02188407e+00,-1.34648296e+02,
  1.70647639e+02, 1.55050698e+01]

qfrc_actuator:
[ 2.96793571e-03, 7.44140715e-02, 1.06650021e-02, 2.09859045e-03,
  4.52319852e-05, 7.53207492e-02, 1.05730779e-02, 2.27904114e-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, -4.78102682,  7.1922569 , -4.78102682, 60.25349101,
       34.31229915,  7.1922569 , 34.31229915, 31.44534067,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0034378075855346912
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.61472537e-14,  2.42208805e-14,  1.00000000e+00,  3.91100703e-28,
        1.00000000e+00, -2.42208805e-14, -1.00000000e+00,  0.00000000e+00,
       -1.61472537e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00744682, -0.12878689,  0.06169481])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.74416782e-05,-2.16429460e-04, 3.57923652e-05,-9.02240297e-05,
  2.31435740e-05,-6.85065775e-04,-1.61534290e-04,-1.30604822e-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,
  5.26397980e-06,-1.19970981e-05,-4.90504550e+00, 6.38509009e-03,
  2.19741911e-03, 9.17565933e-05]


--- Step 2236 ---
qpos:
[-0.01509584, 1.26872204,-0.02246995, 0.94820345, 0.0043652 , 1.28488257,
 -0.02944227, 0.94570209, 0.01668864, 1.320839  ,-0.02354379, 0.95448964,
  1.3855997 ,-0.00144258, 1.19222113, 0.06302244,-0.03699917,-0.10505337,
  0.07943605, 0.65912381,-0.01322651,-0.00287784, 0.75191261]

qacc:
[ 1.14908128e-01,-8.52690587e+00, 2.31717115e+01,-2.46916984e+01,
 -3.81013295e-02,-1.03319895e+01, 2.20041211e+01,-9.31003731e+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,
  2.09191185e+00, 2.55900369e+00,-4.76696615e-02, 2.08079141e+02,
  1.67707849e+02,-1.20556012e+01]

qfrc_actuator:
[ 2.97291564e-03, 7.41025981e-02, 1.06655022e-02, 2.06032190e-03,
  2.06529320e-05, 7.49234653e-02, 1.05944733e-02, 2.29887759e-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, -7.26584582,  4.66843244, -7.26584582,  6.98616472,
       -2.56833339,  4.66843244, -2.56833339,  4.6390659 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0035269072868187837
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.18312448, -0.09156224,  0.97881652, -0.01683802,  0.99579936,
        0.0900007 , -0.98294552,  0.        , -0.18389697])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06818819, -0.12631329,  0.06169349])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.20020707e-05,-4.34252710e-04,-4.18189744e-05,-4.47245198e-05,
 -1.10675605e-05,-8.15360917e-04,-1.32713142e-04,-4.63952371e-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,
  6.60698794e-05,-9.75276791e-05,-4.90514234e+00, 6.37178599e-03,
  2.19172144e-03, 1.11407275e-05]


--- Step 2237 ---
qpos:
[-0.01509659, 1.26952092,-0.02247065, 0.94820853, 0.00436572, 1.28569553,
 -0.02944419, 0.94571139, 0.01668844, 1.32116517,-0.02354907, 0.95449501,
  1.38567271,-0.00144409, 1.19237843, 0.06302052,-0.03701267,-0.10504197,
  0.07944142, 0.65911801,-0.01374116,-0.00258812, 0.75190953]

qacc:
[-5.07013710e-02,-5.27686427e+00, 9.25712000e+00,-1.14232190e+00,
 -1.21843721e-02,-7.95459724e+00, 1.76552611e+01,-1.76818512e+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,
  4.22412287e-01,-4.56970177e+00, 5.93016929e+00,-3.22766884e+01,
 -2.89286451e+02,-1.22397354e+01]

qfrc_actuator:
[ 2.94049320e-03, 7.37918266e-02, 1.06299707e-02, 2.07132968e-03,
  2.34953416e-05, 7.46633990e-02, 1.05897178e-02, 2.27105851e-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,  6.61315771, -5.55454066,  6.61315771, 39.51791515,
       36.76713933, -5.55454066, 36.76713933, 52.41080076,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0034828423056567845
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.59384624e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.59384624e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03524225, -0.08557955,  0.06169093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.44091706e-05,-5.67777623e-04,-1.27897806e-04,-3.14742782e-06,
 -3.66948632e-06,-7.44243737e-04,-1.80796759e-04,-5.51629015e-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,
 -4.76668755e-05, 2.52193290e-04,-4.90525002e+00, 6.38704072e-03,
  2.19000625e-03, 1.28997552e-04]


--- Step 2238 ---
qpos:
[-0.01509744, 1.27031501,-0.02247162, 0.94821375, 0.00436622, 1.28650582,
 -0.0294474 , 0.9457211 , 0.01668835, 1.32148418,-0.02355336, 0.95450114,
  1.38574545,-0.00144513, 1.19253521, 0.06302286,-0.03701134,-0.1050419 ,
  0.0794556 , 0.65910788,-0.01372195,-0.00234727, 0.75191954]

qacc:
[-3.63724114e-02,-5.31937387e+00, 9.47884813e+00,-3.58711986e+00,
 -2.20016067e-03, 6.86225367e-01,-7.31749652e+00, 1.28156994e+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,
  3.70912965e+00,-2.83210512e+00, 2.20458008e+00, 1.57552195e+02,
 -2.16901861e+02, 4.91171081e+00]

qfrc_actuator:
[ 2.93916678e-03, 7.35370926e-02, 1.06089607e-02, 2.07569188e-03,
  2.50131445e-05, 7.47538049e-02, 1.06055420e-02, 2.30422025e-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, -8.50632913,  1.49303098, -8.50632913,  9.30222097,
        3.79362632,  1.49303098,  3.79362632, 30.25000362,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003507862930262326
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.91238887e-15,  1.58247777e-14,  1.00000000e+00,  1.25211795e-28,
        1.00000000e+00, -1.58247777e-14, -1.00000000e+00,  0.00000000e+00,
       -7.91238887e-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([-0.06119181, -0.08918101,  0.06168912])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.03930471e-05,-6.01108469e-04,-1.48025482e-04,-1.53260178e-05,
 -6.61668923e-07,-3.65287728e-04,-1.53248779e-04, 5.35937370e-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,
 -9.45237444e-06, 2.78897023e-05,-4.90506780e+00, 6.39307050e-03,
  2.18793457e-03, 1.35938378e-04]


--- Step 2239 ---
qpos:
[-0.01509834, 1.27110384,-0.0224726 , 0.948218  , 0.00436659, 1.28731784,
 -0.02945289, 0.94573047, 0.01668847, 1.32179678,-0.0235578 , 0.95450908,
  1.38581797,-0.00144551, 1.19269213, 0.06302617,-0.03700883,-0.10505767,
  0.07948353, 0.65911033,-0.01337582,-0.00246277, 0.75192327]

qacc:
[-2.45598234e-02,-8.58583052e+00, 2.16441605e+01,-2.68057189e+01,
 -6.23298355e-02, 7.82111332e+00,-2.20620370e+01, 1.39835831e+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,
  2.94188215e-01,-3.95886255e+00, 3.43595429e+00,-2.61586244e+01,
 -2.40287974e+02,-9.62501980e+00]

qfrc_actuator:
[ 2.93875964e-03, 7.32470119e-02, 1.05969012e-02, 2.02287435e-03,
  7.97085371e-06, 7.51423790e-02, 1.05993427e-02, 2.30223116e-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([ 8.63636364, -8.62139984,  0.50817488, -8.62139984,  8.9312739 ,
        5.00327625,  0.50817488,  5.00327625, 93.5190415 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0034964500951476032
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.58764317e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.58764317e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03525416, -0.08560233,  0.06169016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.12685346e-06,-6.59121991e-04,-1.48220711e-04,-7.43754380e-05,
 -1.74451250e-05, 1.49758397e-04,-9.62463312e-05,-1.62361295e-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,
  2.72008796e-05, 2.71344848e-05,-4.90501062e+00, 6.38939516e-03,
  2.18715976e-03, 1.68380808e-04]


--- Step 2240 ---
qpos:
[-0.01509928, 1.27188552,-0.02247236, 0.9482224 , 0.00436664, 1.28813314,
 -0.02945954, 0.9457392 , 0.01668866, 1.32210363,-0.02356362, 0.95451808,
  1.38589033,-0.00144514, 1.19284926, 0.06302899,-0.03700534,-0.10508788,
  0.07952001, 0.65912355,-0.01273468,-0.00289892, 0.75192125]

qacc:
[-1.52966283e-02,-1.24093246e+01, 2.88600897e+01,-1.89297014e+01,
 -1.35860574e-01, 6.34047787e+00,-1.42092437e+01, 3.00585012e+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,
  2.43386720e-01,-3.61176468e+00, 2.13682859e+00,-2.32633179e+01,
 -2.16538430e+02,-8.45424037e+00]

qfrc_actuator:
[ 2.93891121e-03, 7.27960989e-02, 1.06255653e-02, 2.02557276e-03,
 -2.00659051e-05, 7.54579916e-02, 1.05991898e-02, 2.27975038e-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, -7.79362686,  3.72104248, -7.79362686, 23.30078794,
       30.71425594,  3.72104248, 30.71425594, 72.96657519,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0034547753077090806
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.60679484e-14,  5.02123386e-16,  1.00000000e+00,  8.06809264e-30,
        1.00000000e+00, -5.02123386e-16, -1.00000000e+00,  0.00000000e+00,
       -1.60679484e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03525723, -0.08556783,  0.06169367])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.65900590e-06,-8.53775440e-04,-1.20576967e-04,-2.19696843e-05,
 -3.82433319e-05, 3.72202175e-04, 1.63693727e-05,-2.01367594e-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,
  3.31742662e-06,-5.24427840e-06,-4.90502623e+00, 6.39117960e-03,
  2.18860133e-03, 1.39334189e-04]


--- Step 2241 ---
qpos:
[-0.01510009, 1.27265958,-0.02247149, 0.94822828, 0.00436636, 1.28895072,
 -0.02946603, 0.94574902, 0.01668886, 1.32240427,-0.0235696 , 0.95452933,
  1.38596276,-0.00144449, 1.19300653, 0.06303044,-0.03701185,-0.10512644,
  0.07954299, 0.65915206,-0.01210861,-0.00373908, 0.75190289]

qacc:
[ 5.41350452e-02,-9.18358493e+00, 1.48930080e+01, 8.82617241e+00,
 -1.38268240e-01, 4.42199435e+00,-1.30156536e+01, 2.23740010e+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,
 -2.50025825e+00,-2.08605922e+00,-3.37462734e+00,-1.56784820e+02,
 -1.27348055e+02,-1.36806779e+01]

qfrc_actuator:
[ 2.95715340e-03, 7.23769412e-02, 1.06419411e-02, 2.09635182e-03,
 -3.67163736e-05, 7.55500613e-02, 1.06024491e-02, 2.33415364e-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,   7.71180686,   3.88777724,   7.71180686,
        18.97146833, -20.50074535,   3.88777724, -20.50074535,
        49.30170495,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003390610642934666
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.63720218e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.63720218e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00102794, -0.08066339,  0.06169899])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.48697968e-05,-9.22618266e-04,-1.66197467e-04, 4.23442060e-05,
 -3.90276044e-05, 2.93609979e-04, 7.59790334e-05, 6.66188769e-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,
 -2.20315450e-05, 8.27408887e-05,-4.90511290e+00, 6.38929584e-03,
  2.19166739e-03, 1.20806504e-04]


--- Step 2242 ---
qpos:
[-0.01510119, 1.27342766,-0.02247161, 0.94823457, 0.00436596, 1.28976845,
 -0.02947173, 0.9457589 , 0.01668905, 1.32269836,-0.02357427, 0.95454184,
  1.38603519,-0.00144345, 1.19316373, 0.06303136,-0.03700947,-0.10515565,
  0.0795656 , 0.65919656,-0.01146977,-0.00404136, 0.75187233]

qacc:
[-1.20391590e-01,-4.44027568e+00, 4.17590141e+00, 4.90367991e+00,
 -5.21007338e-02,-1.79283675e+00, 5.96276314e+00,-4.51629518e+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,
  2.22489960e+00, 2.33668790e+00,-9.23480196e-02, 2.06499169e+02,
  1.72571884e+02,-6.79920144e+00]

qfrc_actuator:
[ 2.91509214e-03, 7.21576973e-02, 1.06155308e-02, 2.11783184e-03,
 -2.86492239e-05, 7.54189200e-02, 1.05891517e-02, 2.32671498e-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, -3.44830821,  7.91807725, -3.44830821,  2.95919716,
       -2.47239565,  7.91807725, -2.47239565,  7.55963984,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0034389835459495708
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.17681828, -0.08840914,  0.98026482, -0.0156938 ,  0.99608425,
        0.08700506, -0.98411839,  0.        , -0.17751338])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06835845, -0.12644177,  0.06170079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.40263218e-05,-7.67681988e-04,-2.25716081e-04,-8.85169262e-06,
 -1.47766433e-05, 4.12049925e-05, 5.33891943e-05, 6.18816404e-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,
  2.70572459e-05, 3.89483882e-04,-4.90519606e+00, 6.37775375e-03,
  2.19487576e-03, 2.03402577e-04]


--- Step 2243 ---
qpos:
[-0.01510252, 1.27419213,-0.02247289, 0.94823985, 0.00436568, 1.29058428,
 -0.02947622, 0.94576915, 0.01668922, 1.32298633,-0.02357777, 0.95455327,
  1.38610756,-0.00144186, 1.19332088, 0.0630316 ,-0.03699332,-0.10517326,
  0.07958523, 0.65925191,-0.01082365,-0.0038842 , 0.75183421]

qacc:
[-9.70382459e-02,-3.35780864e+00, 7.29164777e+00,-1.57866754e+01,
  5.05170727e-02,-5.16178984e+00, 1.30629238e+01,-5.87953395e+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,
  3.44086535e+00, 2.89777397e+00,-7.44880740e-01, 1.75164433e+02,
  1.48761165e+02,-3.95106122e+00]

qfrc_actuator:
[ 2.90821630e-03, 7.21485658e-02, 1.06180828e-02, 2.07469490e-03,
 -5.82320645e-06, 7.51905736e-02, 1.06007395e-02, 2.33601266e-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,  8.63304615,  0.23935533,  8.63304615,  8.67001934,
       -1.21389098,  0.23935533, -1.21389098, 52.41887311,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0033603273392659727
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.29225620e-15,  2.06494582e-15,  1.00000000e+00,  1.91880056e-29,
        1.00000000e+00, -2.06494582e-15, -1.00000000e+00,  0.00000000e+00,
       -9.29225620e-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([-0.06838949, -0.1264592 ,  0.06170191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.73808334e-05,-4.84973799e-04,-1.74737682e-04,-7.18033812e-05,
  1.41725371e-05,-2.01834082e-04, 2.45809009e-05, 1.33051604e-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,
 -1.18850524e-05, 1.52691697e-05,-4.90507202e+00, 6.37217130e-03,
  2.19655261e-03, 8.03325588e-05]


--- Step 2244 ---
qpos:
[-0.01510356, 1.274956  ,-0.02247569, 0.94824365, 0.00436573, 1.29139605,
 -0.02947939, 0.9457793 , 0.01668937, 1.32326838,-0.02358135, 0.95456294,
  1.38618045,-0.00144142, 1.19347801, 0.06303076,-0.03699186,-0.10517864,
  0.0795951 , 0.65926788,-0.01073055,-0.00370478, 0.75182245]

qacc:
[ 1.17882433e-01, 7.34056191e-01,-3.38213610e-01,-1.64677623e+01,
  1.41252342e-01,-9.07403883e+00, 2.33662173e+01,-1.88739236e+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,
 -3.67201665e+00, 3.06156424e+00,-2.44065743e+00,-1.74083747e+02,
  2.15003463e+02, 2.46814171e+01]

qfrc_actuator:
[ 2.95801484e-03, 7.23365367e-02, 1.06208221e-02, 2.01180179e-03,
  2.56671776e-05, 7.48348951e-02, 1.06087574e-02, 2.31951922e-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: -0.0033878597145059752
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.63853158e-14,  8.19265789e-15,  1.00000000e+00,  1.34239287e-28,
        1.00000000e+00, -8.19265789e-15, -1.00000000e+00,  0.00000000e+00,
       -1.63853158e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00753168, -0.12892369,  0.06170008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.31898188e-05,-1.23381602e-04,-1.15343617e-04,-8.31262720e-05,
  3.97840479e-05,-4.68983934e-04,-2.95718211e-05,-2.04411856e-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,
  1.56863833e-04,-8.88508681e-05,-4.90505991e+00, 6.37446616e-03,
  2.19159229e-03, 4.87595862e-05]


--- Step 2245 ---
qpos:
[-0.01510435, 1.27572107,-0.02247958, 0.94824684, 0.00436612, 1.29220155,
 -0.02948094, 0.94578869, 0.01668951, 1.32354388,-0.02358455, 0.95457184,
  1.38625377,-0.00144245, 1.19363508, 0.0630289 ,-0.0370036 ,-0.10517317,
  0.07959202, 0.65924997,-0.01113064,-0.00350428, 0.7518333 ]

qacc:
[ 1.10446777e-01, 3.49229478e+00,-8.26483557e+00,-5.59584479e-01,
  1.49272516e-01,-1.38654429e+01, 3.68615103e+01,-3.68252286e+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,
 -3.29941750e+00, 2.70890491e+00,-3.23734381e+00,-1.54788969e+02,
  1.92165144e+02, 2.12192607e+01]

qfrc_actuator:
[ 2.97039518e-03, 7.25524430e-02, 1.06244914e-02, 1.99118883e-03,
  4.43443458e-05, 7.43702306e-02, 1.06317942e-02, 2.27011910e-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([ 8.63636364, -5.24585648,  6.86059521, -5.24585648, 28.63780663,
       15.29381869,  6.86059521, 15.29381869, 20.33056441,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0033935135612292652
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.90740499e-14,  1.63580166e-14,  1.00000000e+00,  8.02754123e-28,
        1.00000000e+00, -1.63580166e-14, -1.00000000e+00,  0.00000000e+00,
       -4.90740499e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00751771, -0.12892927,  0.06169977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.11723585e-05, 1.15835034e-04,-3.73219988e-05,-2.86174863e-05,
  4.19668940e-05,-7.37296045e-04,-7.39311585e-05,-6.37187124e-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,
  2.66532302e-05, 9.52571707e-06,-4.90500752e+00, 6.38819509e-03,
  2.19820531e-03, 1.18263243e-04]


--- Step 2246 ---
qpos:
[-0.01510493, 1.27648806,-0.02248402, 0.94825072, 0.00436681, 1.2929993 ,
 -0.02948165, 0.9457983 , 0.01668964, 1.32381288,-0.02358769, 0.95458228,
  1.38632686,-0.00144352, 1.19379248, 0.0630231 ,-0.03702725,-0.10515807,
  0.07957322, 0.65920235,-0.01197321,-0.00328389, 0.7518631 ]

qacc:
[ 8.91906254e-02, 5.18795660e+00,-1.52734062e+01, 2.00197588e+01,
  1.26098990e-01,-1.20942020e+01, 2.66943822e+01,-1.56574965e+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,
 -2.97760653e+00, 2.41077852e+00,-3.92849459e+00,-1.38501888e+02,
  1.72735362e+02, 1.83020713e+01]

qfrc_actuator:
[ 2.97798386e-03, 7.27302927e-02, 1.06289083e-02, 2.03116575e-03,
  5.51834838e-05, 7.38617508e-02, 1.06275196e-02, 2.27268431e-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, -5.52438471,  6.63836956, -5.52438471, 28.51575912,
       16.54343397,  6.63836956, 16.54343397, 22.40364382,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0033557340199814184
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.65421785e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.65421785e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00758419, -0.12897733,  0.06170258])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.52162444e-05, 2.26971355e-04, 2.06569990e-05, 4.26419699e-05,
  3.54004898e-05,-9.39435730e-04,-1.60011389e-04,-2.20967388e-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,
 -5.13920645e-06, 9.31101513e-06,-4.90503308e+00, 6.38417292e-03,
  2.19755956e-03, 1.05518335e-04]


--- Step 2247 ---
qpos:
[-0.01510521, 1.27725965,-0.02248935, 0.94825415, 0.00436743, 1.29378712,
 -0.02948154, 0.9458074 , 0.01668975, 1.32407591,-0.02359117, 0.95459254,
  1.38639952,-0.0014437 , 1.19394946, 0.06301754,-0.03706249,-0.10515286,
  0.07954678, 0.65917428,-0.01283469,-0.00356737, 0.7518722 ]

qacc:
[ 1.29062875e-01, 7.69678778e+00,-1.69254920e+01, 6.71455409e+00,
 -2.93404240e-02,-1.60910249e+01, 3.78108086e+01,-3.24896846e+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,
 -2.89977257e+00,-2.47486287e+00,-1.91141134e+00,-1.95573766e+02,
 -1.58813259e+02,-1.71579368e+01]

qfrc_actuator:
[ 3.00039624e-03, 7.31503944e-02, 1.06514139e-02, 2.01768407e-03,
  2.57296054e-05, 7.32067129e-02, 1.06069735e-02, 2.23473703e-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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003320340590589957
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.67185112e-14,  1.67185112e-14,  1.00000000e+00, -2.79508616e-28,
        1.00000000e+00, -1.67185112e-14, -1.00000000e+00,  0.00000000e+00,
        1.67185112e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00112942, -0.08062782,  0.06170501])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.65671212e-05, 5.44157736e-04, 6.91605755e-05,-4.15139052e-06,
 -8.74565286e-06,-1.21330523e-03,-2.24361700e-04,-7.02246559e-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,
  3.32989492e-05,-6.10649688e-05,-4.90511520e+00, 6.36864260e-03,
  2.19178383e-03, 3.54568023e-05]


--- Step 2248 ---
qpos:
[-0.01510506, 1.27803797,-0.02249527, 0.94825686, 0.00436786, 1.29456302,
 -0.02948008, 0.9458165 , 0.01669001, 1.3243338 ,-0.02359465, 0.9546032 ,
  1.38647179,-0.00144266, 1.1941059 , 0.06301491,-0.03708675,-0.10513576,
  0.0795242 , 0.65916908,-0.01367616,-0.00327001, 0.75186328]

qacc:
[ 1.83332501e-01, 9.16789167e+00,-1.77802378e+01, 2.89789815e+00,
 -7.94320357e-02,-1.93298118e+01, 4.41714002e+01,-3.08584455e+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,
  2.74739700e+00, 2.97281104e+00, 9.65717990e-01, 2.25069085e+02,
  1.84068203e+02,-1.08457698e+01]

qfrc_actuator:
[ 3.03152514e-03, 7.36591467e-02, 1.06853438e-02, 1.99073714e-03,
  7.85274120e-06, 7.24867623e-02, 1.06296229e-02, 2.22638814e-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([ 8.63636364, -4.67450942,  7.26193765, -4.67450942,  3.95708357,
       -3.01205268,  7.26193765, -3.01205268,  6.69750526,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00342670787634164
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.63678913e-01, -8.18394563e-02,  9.83113176e-01, -1.34404790e-02,
        9.96645525e-01,  8.07282487e-02, -9.86422104e-01, -1.73472348e-18,
       -1.64229817e-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([-0.06839974, -0.12649017,  0.06170102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.19324908e-05, 8.16292929e-04, 1.46708230e-04,-7.84347637e-06,
 -2.30538850e-05,-1.44364381e-03,-2.43431305e-04,-5.18397575e-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,
  3.37244027e-04,-1.48251169e-04,-4.90514327e+00, 6.38683131e-03,
  2.19032439e-03, 2.72837046e-05]


--- Step 2249 ---
qpos:
[-0.0151045 , 1.2788215 ,-0.02250038, 0.94826068, 0.00436838, 1.29532598,
 -0.02947748, 0.94582694, 0.01669044, 1.32458772,-0.0235994 , 0.95461267,
  1.38654403,-0.00144099, 1.19426248, 0.06301182,-0.03709428,-0.1051312 ,
  0.07951567, 0.65916004,-0.01392415,-0.00302894, 0.75186766]

qacc:
[ 1.70266864e-01, 6.58595025e+00,-1.54819517e+01, 2.31010233e+01,
  4.11907049e-02,-1.77478943e+01, 3.46269412e+01,-6.36583935e+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,
  4.18351976e+00,-3.13502466e+00, 3.51243506e+00, 1.74435472e+02,
 -2.41756628e+02, 4.47255198e+00]

qfrc_actuator:
[ 3.04988271e-03, 7.38620669e-02, 1.07084222e-02, 2.04493232e-03,
  3.25740229e-05, 7.17693337e-02, 1.06595610e-02, 2.28875271e-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,  5.90661134, -6.30069197,  5.90661134, 45.01071167,
       34.09929223, -6.30069197, 34.09929223, 40.60289483,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0034274305770209956
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.02451771e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.02451771e-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([-0.06135775, -0.08918725,  0.0616963 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.81544437e-05, 6.75977086e-04, 1.97744768e-04, 8.35879321e-05,
  1.11454927e-05,-1.57159093e-03,-2.82788487e-04, 1.18314607e-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,
  1.48055435e-05,-2.32252328e-05,-4.90515681e+00, 6.39948173e-03,
  2.19227996e-03, 6.64461474e-05]


--- Step 2250 ---
qpos:
[-0.01510291, 1.27955542,-0.0225076 , 0.94827022, 0.00436908, 1.2960748 ,
 -0.02947382, 0.94583714, 0.01669102, 1.32483694,-0.02360509, 0.95462036,
  1.38661713,-0.00144437, 1.19440234, 0.06300702,-0.037087  ,-0.10513793,
  0.07951542, 0.65914681,-0.01364407,-0.00283652, 0.75188515]

qacc:
[ 4.48689640e-01,-4.96253714e+01, 7.16936793e+01, 3.45811215e+01,
  7.62179535e-02,-2.18430580e+01, 4.93161728e+01,-3.66006910e+01,
  6.37205927e-02,-6.71277490e+00, 1.80337572e+01,-3.32439992e+01,
  4.90719902e+00,-9.07788618e+00,-2.00489359e+01, 3.31350883e+01,
  3.70018081e+00,-2.82050206e+00, 2.07054680e+00, 1.55744522e+02,
 -2.14646750e+02, 4.75432641e+00]

qfrc_actuator:
[ 3.02493130e-03, 7.38447996e-02, 1.07060720e-02, 2.07525272e-03,
  4.71417764e-05, 7.09704501e-02, 1.06758093e-02, 2.26793490e-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([ 0.14541369, -0.14073947,  0.03657241, -0.14073947,  0.20198061,
        0.2176832 ,  0.03657241,  0.2176832 ,  0.9831112 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.853495620795044e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.09282175e-01,  8.75356973e-02, -9.46932964e-01, -2.71775550e-02,
        9.96161383e-01,  8.32098480e-02,  9.50581883e-01, -3.46944695e-18,
        3.10473965e-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([ 0.07277515, -0.0426279 ,  0.22417619])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.21347772,  2.66937457, -8.21347772, 15.37271768,
       20.72728741,  2.66937457, 20.72728741, 72.41276864,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0034504346658528057
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.01653034e-15,  1.60881618e-14,  1.00000000e+00,  4.85304282e-29,
        1.00000000e+00, -1.60881618e-14, -1.00000000e+00,  0.00000000e+00,
       -3.01653034e-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([-0.0613367 , -0.08921195,  0.06169446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.63211987e-06, 3.90873814e-04, 1.53391647e-04, 5.91718188e-05,
  2.10372465e-05,-1.72947087e-03,-3.24078213e-04,-7.48708220e-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,
 -2.78882062e-06, 3.05836444e-05,-4.90502154e+00, 6.39179620e-03,
  2.18782079e-03, 1.60414559e-04]


--- Step 2251 ---
qpos:
[-0.01510154, 1.28023811,-0.02252521, 0.94827935, 0.00436995, 1.29680896,
 -0.02946989, 0.94584678, 0.01669171, 1.32508104,-0.02361055, 0.95462755,
  1.38668915,-0.00145179, 1.19452468, 0.06300027,-0.03706653,-0.10515487,
  0.07951851, 0.65912882,-0.01289073,-0.00268644, 0.75191477]

qacc:
[-8.90215725e-02,-3.98943069e+01, 4.98291935e+01,-1.61340223e+01,
  7.46719515e-02,-2.09481007e+01, 4.62516002e+01,-3.74067497e+01,
  4.96524536e-02,-8.16911190e+00, 1.95336219e+01,-1.94737537e+01,
  2.73252469e+00,-6.33181782e+00,-2.02371250e+01, 3.25028242e+01,
  3.29690856e+00,-2.55553919e+00, 8.33363800e-01, 1.40039105e+02,
 -1.91965532e+02, 4.83365365e+00]

qfrc_actuator:
[ 2.99094703e-03, 7.37659231e-02, 1.07088081e-02, 2.01518885e-03,
  5.54981462e-05, 7.01823273e-02, 1.06657034e-02, 2.23375200e-03,
 -2.98282693e-03, 4.64623875e-02, 1.04500432e-02, 2.09052266e-03,
  0.00000000e+00,-1.68382008e-03, 0.00000000e+00,-1.61134700e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14612104, -0.06990648,  0.12831384, -0.06990648,  0.40239168,
        0.13961846,  0.12831384,  0.13961846,  0.22218637,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.675023180067671e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.08591113e-01,  8.75443776e-02, -9.47157593e-01, -2.71195391e-02,
        9.96160621e-01,  8.32379039e-02,  9.50808107e-01,  3.46944695e-18,
        3.09780478e-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([ 0.07276929, -0.04263832,  0.22419529])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.28581106,  2.43559272, -8.28581106, 14.41180878,
       19.64788564,  2.43559272, 19.64788564, 75.47786244,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0034297212957866627
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.23706485e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.23706485e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06136526, -0.08920428,  0.061696  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.39198706e-05, 2.78656885e-03, 2.60218734e-04,-2.85490984e-04,
  2.06216993e-05,-1.81659295e-03,-3.88520883e-04,-9.62019551e-05,
  1.40651189e-05,-6.31893883e-04,-1.28473096e-04,-4.83360830e-05,
 -2.05314374e-05, 2.02297178e-04, 8.30266392e-04, 1.90631958e-04,
  6.65937896e-05,-6.40268711e-06,-4.90502455e+00, 6.39297574e-03,
  2.19043628e-03, 1.47323489e-04]


--- Step 2252 ---
qpos:
[-0.01510007, 1.28087182,-0.02255482, 0.94828658, 0.00437096, 1.29752889,
 -0.02946625, 0.94585629, 0.01669234, 1.32532017,-0.02361615, 0.95463478,
  1.3867594 ,-0.00146306, 1.19463574, 0.06299194,-0.03705912,-0.10518307,
  0.07951586, 0.65913389,-0.01216025,-0.00305777, 0.75192107]

qacc:
[ 4.16913904e-02,-3.52323914e+01, 4.12392410e+01,-2.74578398e+01,
  6.02584950e-02,-1.80896688e+01, 3.67186226e+01,-2.43548016e+01,
 -2.63899963e-02,-6.12054035e+00, 1.20187894e+01,-6.93201335e+00,
  1.73489116e+00,-5.16254777e+00,-1.21541707e+01, 1.77641705e+01,
 -3.26184767e+00,-2.81265167e+00,-1.43505326e+00,-2.03444465e+02,
 -1.63061977e+02,-1.96877128e+01]

qfrc_actuator:
[ 2.98788772e-03, 7.37070411e-02, 1.07237351e-02, 1.92248066e-03,
  6.00609521e-05, 6.94955953e-02, 1.06579011e-02, 2.22747615e-03,
 -2.99898647e-03, 4.62193732e-02, 1.04449948e-02, 2.09246354e-03,
  0.00000000e+00,-1.70331003e-03, 0.00000000e+00,-1.62872602e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14771994, -0.07430154,  0.12767326, -0.07430154,  0.26601588,
        0.06884426,  0.12767326,  0.06884426,  0.18778498,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001190333630795605
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.07958513e-01,  8.75523079e-02, -9.47362733e-01, -2.70664156e-02,
        9.96159924e-01,  8.32635320e-02,  9.51014702e-01,  3.46944695e-18,
        3.09145656e-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([ 0.07276335, -0.04264785,  0.2242131 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003409163654149547
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.14146179e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.14146179e-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([ 0.00093566, -0.08076055,  0.06169757])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.67095160e-05, 5.28303837e-03, 7.94233746e-04,-3.56842000e-04,
  1.65830457e-05,-1.77650223e-03,-4.11183614e-04,-7.33056203e-05,
 -7.74237058e-06,-6.20708428e-04,-1.44740283e-04,-2.13204316e-05,
  3.32690408e-05, 3.85370232e-04, 1.70338442e-03, 2.70756091e-04,
  1.98055223e-04,-1.07716746e-04,-4.90512747e+00, 6.40110964e-03,
  2.19868504e-03, 5.68152857e-05]


--- Step 2253 ---
qpos:
[-0.01509788, 1.28146016,-0.02259712, 0.94829375, 0.00437206, 1.29823468,
 -0.02946284, 0.94586601, 0.01669315, 1.32555419,-0.02362286, 0.95464204,
  1.3868277 ,-0.00147764, 1.1947391 , 0.06298151,-0.03706346,-0.10522137,
  0.07950391, 0.65915891,-0.01144956,-0.00389516, 0.75190642]

qacc:
[ 3.08821898e-01,-2.53821890e+01, 1.10468146e+01, 1.80209203e+01,
  4.37643452e-02,-1.76153904e+01, 3.46245354e+01,-1.87600512e+01,
  7.41310470e-02,-3.64481226e+00, 3.71558342e+00, 3.80654135e-01,
  9.79728669e-01,-3.94403553e+00,-5.13789344e+00, 1.12390475e+00,
 -2.94034386e+00,-2.52541820e+00,-2.32434162e+00,-1.81654065e+02,
 -1.45998233e+02,-1.72112516e+01]

qfrc_actuator:
[ 3.02091526e-03, 7.37139025e-02, 1.06984738e-02, 1.93612097e-03,
  6.23122889e-05, 6.88041170e-02, 1.06519427e-02, 2.23773283e-03,
 -2.97339115e-03, 4.59276380e-02, 1.03732705e-02, 2.09071509e-03,
  0.00000000e+00,-1.70819275e-03, 0.00000000e+00,-1.72364450e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00016720296622141362
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30738379,  0.08755941, -0.94754871, -0.02701811,  0.9961593 ,
        0.08328669,  0.95120199,  0.        ,  0.30856891])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0727578 , -0.04265656,  0.22422964])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -0.90643475,  8.58866421, -0.90643475, 72.11518189,
        6.69945932,  8.58866421,  6.69945932,  9.34341453,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00339536827325488
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.63490811e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.63490811e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00095367, -0.08074699,  0.06169858])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.87292026e-05, 7.73324638e-03, 1.36788083e-03,-2.46689953e-04,
  1.19061319e-05,-1.76268040e-03,-4.03378565e-04,-5.57242510e-05,
  2.11573154e-05,-6.65582396e-04,-2.10282775e-04,-2.45325894e-05,
  1.21046802e-04, 5.72836471e-04, 2.26584702e-03, 2.53870573e-04,
 -1.29016728e-05, 3.53035118e-05,-4.90513235e+00, 6.39428589e-03,
  2.19509900e-03, 8.48915918e-05]


--- Step 2254 ---
qpos:
[-0.01509665, 1.28201083,-0.02264869, 0.94830156, 0.00437309, 1.29892644,
 -0.02945959, 0.94587544, 0.01669432, 1.32578258,-0.02362932, 0.95464852,
  1.38689341,-0.00149467, 1.19483091, 0.06296911,-0.0370525 ,-0.10524654,
  0.07949657, 0.65919654,-0.01073034,-0.00416625, 0.75188259]

qacc:
[-4.05934069e-01,-2.33805685e+01, 1.53134361e+01, 1.74148747e+01,
 -3.33030422e-02,-1.84825194e+01, 3.86389641e+01,-2.80536892e+01,
  1.58387961e-01,-9.41166518e+00, 2.33787999e+01,-2.58676036e+01,
  1.31441662e-01,-2.52688941e+00,-1.11980458e+01, 1.41868889e+01,
  3.82542551e+00, 3.28235464e+00, 1.15349848e+00, 2.15772388e+02,
  1.83508186e+02,-4.53898520e+00]

qfrc_actuator:
[ 3.00392125e-03, 7.37229353e-02, 1.07611170e-02, 2.01247792e-03,
  4.54073978e-05, 6.81153982e-02, 1.06471354e-02, 2.22212337e-03,
 -2.94070763e-03, 4.56443072e-02, 1.03868453e-02, 2.05123111e-03,
  0.00000000e+00,-1.65004449e-03, 0.00000000e+00,-1.57987962e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.15297694,  0.13568721, -0.07064648,  0.13568721,  0.18744051,
        0.06619247, -0.07064648,  0.06619247,  0.28010954,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00021168545003751732
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.06864219e-01,  8.75655455e-02, -9.47716533e-01, -2.69743477e-02,
        9.96158760e-01,  8.33073186e-02,  9.51370977e-01, -3.46944695e-18,
        3.08047504e-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([ 0.07275283, -0.04266454,  0.22424499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003408837436330081
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.03556023e-15,  1.62844818e-14,  1.00000000e+00,  3.31480435e-29,
        1.00000000e+00, -1.62844818e-14, -1.00000000e+00,  0.00000000e+00,
       -2.03556023e-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([-0.06835941, -0.12647369,  0.06169742])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.02073187e-04, 1.00056965e-02, 2.06468579e-03,-1.66731034e-04,
 -9.99184595e-06,-1.75008506e-03,-3.98092657e-04,-8.05586200e-05,
  4.52735086e-05,-6.94848200e-04,-1.41282435e-04,-6.55984478e-05,
  2.18959807e-04, 7.97007724e-04, 2.64808947e-03, 5.02549550e-04,
  2.95082504e-06, 3.83117700e-04,-4.90521903e+00, 6.38003925e-03,
  2.19706417e-03, 1.78593140e-04]


--- Step 2255 ---
qpos:
[-0.01509713, 1.28252896,-0.02270688, 0.94830858, 0.00437384, 1.29960401,
 -0.02945577, 0.94588357, 0.01669558, 1.3260051 ,-0.02363472, 0.95465688,
  1.38695688,-0.00151385, 1.19491   , 0.06295554,-0.03705764,-0.1052593 ,
  0.07948167, 0.65919982,-0.01060672,-0.00440619, 0.75188009]

qacc:
[-7.31080089e-01,-2.62060186e+01, 3.55483475e+01,-1.97037013e+01,
 -1.18265708e-01,-2.23655784e+01, 5.31422543e+01,-5.22474776e+01,
  3.63643646e-02,-7.33532704e+00, 1.08449353e+01, 1.58904742e+01,
  3.22353882e-01,-2.47026065e+00,-1.53286701e+01, 2.61076802e+01,
 -4.02370012e+00, 3.10105999e+00,-1.89162380e+00,-1.84740361e+02,
  2.33993193e+02, 2.13513275e+01]

qfrc_actuator:
[ 2.95829986e-03, 7.36549645e-02, 1.08426416e-02, 2.00153456e-03,
  1.71497877e-05, 6.74161322e-02, 1.06785541e-02, 2.15590276e-03,
 -2.95729680e-03, 4.53685717e-02, 1.04506836e-02, 2.14968941e-03,
  0.00000000e+00,-1.64238019e-03, 0.00000000e+00,-1.38096435e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002528199034039745
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30638923,  0.08757136, -0.94786966, -0.0269344 ,  0.99615825,
        0.08332636,  0.95152518,  0.        ,  0.30757084])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0727479 , -0.04267177,  0.22425939])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003479766942105972
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.59525486e-14, -1.59525486e-14,  1.00000000e+00,  2.54483807e-28,
        1.00000000e+00,  1.59525486e-14, -1.00000000e+00,  0.00000000e+00,
        1.59525486e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00727439, -0.12886458,  0.06169199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.00345701e-04, 1.18169487e-02, 2.60865367e-03,-2.08340285e-04,
 -3.41915083e-05,-1.75324778e-03,-3.59504714e-04,-1.31233135e-04,
  1.02110297e-05,-6.91136364e-04,-9.00885937e-05, 7.25313174e-05,
  3.47864375e-04, 9.27465850e-04, 3.22409847e-03, 7.99473169e-04,
  1.16574756e-06,-1.19162971e-05,-4.90509246e+00, 6.37418842e-03,
  2.19938169e-03, 5.04714447e-05]


--- Step 2256 ---
qpos:
[-0.01509821, 1.28301565,-0.02277233, 0.94831501, 0.00437428, 1.3002675 ,
 -0.029452  , 0.94589226, 0.01669652, 1.32622264,-0.02363929, 0.95466526,
  1.38701846,-0.00153514, 1.19498039, 0.06294089,-0.0370771 ,-0.10526109,
  0.07945566, 0.65917311,-0.01101153,-0.00461816, 0.75189642]

qacc:
[-2.49641493e-01,-2.27056136e+01, 2.54623771e+01,-9.38534999e+00,
 -1.29045457e-01,-1.74261586e+01, 3.33481894e+01,-1.34915910e+01,
 -1.38150285e-01,-8.74693358e+00, 2.05898469e+01,-1.45612022e+01,
  3.47791442e-01,-2.37194053e+00,-9.66049276e+00, 1.49479813e+01,
 -3.58189558e+00, 2.74519179e+00,-2.77569153e+00,-1.63775260e+02,
  2.07708047e+02, 1.87949000e+01]

qfrc_actuator:
[ 2.98540851e-03, 7.36749862e-02, 1.08832985e-02, 1.97487534e-03,
  6.55089805e-08, 6.67163007e-02, 1.06777901e-02, 2.18471091e-03,
 -3.00331059e-03, 4.51709011e-02, 1.05082634e-02, 2.15103539e-03,
  0.00000000e+00,-1.62881757e-03, 0.00000000e+00,-1.36199690e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029093645284116246
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30595143,  0.0875772 , -0.94801053, -0.02689772,  0.99615774,
        0.08334434,  0.95166708,  0.        ,  0.30713151])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0727428 , -0.0426783 ,  0.22427299])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003502544689349893
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  3.1697612e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -3.1697612e-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([ 0.0072231 , -0.12884088,  0.06169009])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.22176494e-05, 1.34592459e-02, 2.97960400e-03,-1.95199340e-04,
 -3.72198815e-05,-1.74941121e-03,-3.89379031e-04,-3.63645511e-05,
 -3.98838357e-05,-5.96877681e-04,-8.57503110e-05,-1.97624253e-05,
  4.59536287e-04, 1.04904842e-03, 3.85882112e-03, 8.76831778e-04,
  7.83200658e-06, 3.16652256e-05,-4.90501372e+00, 6.38918715e-03,
  2.20142465e-03, 1.18099712e-04]


--- Step 2257 ---
qpos:
[-0.01509954, 1.28347255,-0.02284562, 0.94832132, 0.00437445, 1.30091734,
 -0.02944873, 0.94590089, 0.01669703, 1.32643614,-0.02364348, 0.9546718 ,
  1.38707776,-0.00155823, 1.19504387, 0.062925  ,-0.03708145,-0.10524885,
  0.07943411, 0.65916633,-0.0113993 ,-0.00427653, 0.75189861]

qacc:
[-1.09511846e-01,-1.81850717e+01, 1.24056466e+01, 6.24899469e+00,
 -1.11337627e-01,-1.66464661e+01, 3.28127457e+01,-2.06304874e+01,
 -1.77608797e-01,-9.52202823e+00, 2.83586456e+01,-4.32207620e+01,
 -2.90664495e-01,-1.48256299e+00,-6.50610865e+00, 7.86973043e+00,
  3.77996683e+00, 3.50354673e+00, 1.11227075e+00, 2.13818954e+02,
  1.76183782e+02,-9.14727781e+00]

qfrc_actuator:
[ 3.02020877e-03, 7.38484912e-02, 1.09204784e-02, 1.97441229e-03,
 -1.01774044e-05, 6.60572143e-02, 1.06580917e-02, 2.18042518e-03,
 -3.03109626e-03, 4.50215370e-02, 1.05441486e-02, 2.05971835e-03,
  0.00000000e+00,-1.53988043e-03, 0.00000000e+00,-1.37961448e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003263345545935076
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30555041,  0.08758272, -0.94813934, -0.02686417,  0.99615725,
        0.08336096,  0.95179686,  0.        ,  0.3067291 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07273782, -0.04268425,  0.22428578])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0035098574499502627
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.97697314e-15,  2.37236777e-14,  1.00000000e+00, -4.69010736e-29,
        1.00000000e+00, -2.37236777e-14, -1.00000000e+00,  0.00000000e+00,
        1.97697314e-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([-0.06821062, -0.12637752,  0.0616892 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.60974508e-05, 1.52008819e-02, 3.37929198e-03,-1.65523550e-04,
 -3.21584970e-05,-1.70940082e-03,-4.08150078e-04,-6.80351864e-05,
 -5.11834079e-05,-4.98304085e-04,-9.12411289e-05,-1.11660077e-04,
  5.54178397e-04, 1.24425579e-03, 4.29200445e-03, 9.12821072e-04,
  1.06796346e-04,-2.82780737e-05,-4.90503326e+00, 6.38810869e-03,
  2.19784163e-03, 9.17045367e-05]


--- Step 2258 ---
qpos:
[-0.01510112, 1.28390178,-0.02292586, 0.94832699, 0.00437442, 1.30155386,
 -0.02944617, 0.94590872, 0.01669746, 1.32664608,-0.02364807, 0.95467824,
  1.38713492,-0.001583  , 1.19510297, 0.0629083 ,-0.0370724 ,-0.10522424,
  0.07941217, 0.65917647,-0.01177269,-0.00344121, 0.75188825]

qacc:
[-1.03075809e-01,-1.86536089e+01, 1.83052724e+01,-5.94752729e+00,
 -8.62145127e-02,-1.69670329e+01, 3.58727116e+01,-3.20883941e+01,
 -3.85459255e-02,-3.73930361e+00, 6.77995857e+00,-4.88224491e+00,
 -3.49992457e-01,-1.30143947e+00,-4.00439105e+00, 4.54620829e+00,
  3.34847066e+00, 3.09496812e+00,-9.46774141e-02, 1.90412125e+02,
  1.57409039e+02,-7.71464260e+00]

qfrc_actuator:
[ 2.98852017e-03, 7.40184915e-02, 1.09945561e-02, 1.95393837e-03,
 -1.62349143e-05, 6.54100082e-02, 1.06275185e-02, 2.13893538e-03,
 -3.01221617e-03, 4.48666900e-02, 1.05316112e-02, 2.05666778e-03,
  0.00000000e+00,-1.47621366e-03, 0.00000000e+00,-1.43635062e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003592169315552174
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30518517,  0.08758785, -0.9482565 , -0.02683364,  0.9961568 ,
        0.08337618,  0.9519149 ,  0.        ,  0.30636258])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07273306, -0.04268963,  0.22429781])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0035105805612218183
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.27305081e-14,  1.77890933e-14,  1.00000000e+00, -4.04355129e-28,
        1.00000000e+00, -1.77890933e-14, -1.00000000e+00,  0.00000000e+00,
        2.27305081e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06820571, -0.12637895,  0.06168884])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.70696354e-05, 1.68564595e-02, 3.84462230e-03,-1.78867228e-04,
 -2.50030166e-05,-1.67988728e-03,-4.14240826e-04,-1.05344684e-04,
 -1.11776621e-05,-4.53048984e-04,-1.23725996e-04,-2.27806815e-05,
  6.68096296e-04, 1.39766869e-03, 4.63610512e-03, 9.17430516e-04,
 -7.84481684e-06, 5.98273429e-05,-4.90505042e+00, 6.39075500e-03,
  2.19882412e-03, 1.20827832e-04]


--- Step 2259 ---
qpos:
[-0.01510218, 1.28430492,-0.02301182, 0.94833184, 0.0043741 , 1.3021776 ,
 -0.02944461, 0.94591596, 0.01669806, 1.32685223,-0.02365241, 0.9546839 ,
  1.38719081,-0.00160969, 1.19516147, 0.0628912 ,-0.037079  ,-0.10521202,
  0.07938973, 0.65920528,-0.01216321,-0.00321091, 0.75185779]

qacc:
[ 2.21177973e-01,-2.02585027e+01, 2.64592331e+01,-1.64113739e+01,
 -1.24956732e-01,-1.50656174e+01, 3.00692277e+01,-2.47026091e+01,
  7.87966365e-02,-7.03235634e+00, 1.84871945e+01,-2.27189128e+01,
  2.96509226e-01,-1.98680349e+00, 2.33325576e-01,-2.23722000e+00,
 -3.91380748e+00,-3.09752121e+00,-1.26626535e-01,-2.33021288e+02,
 -1.92817249e+02,-1.71711529e+01]

qfrc_actuator:
[ 2.95253233e-03, 7.40719136e-02, 1.10930198e-02, 1.92200692e-03,
 -3.74872340e-05, 6.48105814e-02, 1.05908253e-02, 2.11139729e-03,
 -2.98324972e-03, 4.46741823e-02, 1.05439252e-02, 2.01681852e-03,
  0.00000000e+00,-1.49809977e-03, 0.00000000e+00,-1.56972917e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.17435905,  0.17058419, -0.03608478,  0.17058419,  0.18227921,
        0.0374411 , -0.03608478,  0.0374411 ,  0.35135499,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038989105907719784
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04852835e-01,  8.75926047e-02, -9.48362950e-01, -2.68058855e-02,
        9.96156381e-01,  8.33901008e-02,  9.52022160e-01, -3.46944695e-18,
        3.06029094e-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([ 0.07272868, -0.04269452,  0.2243091 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0034712598909978354
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.59916437e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.59916437e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0007874 , -0.0808722 ,  0.06169147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.30087975e-05, 1.82896103e-02, 4.29002764e-03,-1.78882901e-04,
 -3.59980586e-05,-1.61797410e-03,-4.16353372e-04,-9.15731038e-05,
  2.24897992e-05,-4.69363147e-04,-9.11216715e-05,-5.71264886e-05,
  7.74549483e-04, 1.46085610e-03, 4.85436024e-03, 8.25117980e-04,
  1.21991992e-04, 3.78975642e-04,-4.90517137e+00, 6.40117895e-03,
  2.19046848e-03, 2.30683929e-04]


--- Step 2260 ---
qpos:
[-0.01510226, 1.28468368,-0.02310324, 0.94833575, 0.00437335, 1.30278836,
 -0.02944324, 0.94592247, 0.01669863, 1.32705355,-0.0236556 , 0.95468977,
  1.3872461 ,-0.00163823, 1.19521864, 0.06287357,-0.03709952,-0.10521087,
  0.07936246, 0.65925157,-0.01256976,-0.00351641, 0.75180916]

qacc:
[ 4.21051815e-01,-1.88647397e+01, 2.47969758e+01,-1.70813801e+01,
 -1.78863621e-01,-1.77916548e+01, 3.89846926e+01,-3.42187781e+01,
 -1.70564362e-02,-9.07687593e+00, 2.15421299e+01,-1.31983740e+01,
  8.13461552e-01,-2.37306445e+00,-4.74900370e-01,-1.42830191e+00,
 -3.47713191e+00,-2.76690875e+00,-1.20536024e+00,-2.06636219e+02,
 -1.70436250e+02,-1.57938461e+01]

qfrc_actuator:
[ 2.94880892e-03, 7.41003834e-02, 1.11544086e-02, 1.88365858e-03,
 -6.76836279e-05, 6.41735901e-02, 1.05865372e-02, 2.07456750e-03,
 -3.00172917e-03, 4.43897418e-02, 1.05884049e-02, 2.02662256e-03,
  0.00000000e+00,-1.55266144e-03, 0.00000000e+00,-1.64268409e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00041870622701347185
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30455076,  0.08759681, -0.94845961, -0.02678062,  0.99615601,
        0.08340263,  0.95211955,  0.        ,  0.30572597])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07272493, -0.04269904,  0.22431968])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.55817314,  1.15950389, -8.55817314,  9.71040685,
        7.9273971 ,  1.15950389,  7.9273971 , 67.14762633,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003505709469778656
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.58344985e-14,  2.37517477e-14,  1.00000000e+00,  3.76097013e-28,
        1.00000000e+00, -2.37517477e-14, -1.00000000e+00,  0.00000000e+00,
       -1.58344985e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00072529, -0.08091933,  0.06168857])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.26536176e-06, 1.96192028e-02, 4.63699041e-03,-1.75030713e-04,
 -5.13966365e-05,-1.62117288e-03,-3.71653827e-04,-9.87720251e-05,
 -5.11188138e-06,-5.64939707e-04,-5.94383561e-05,-7.80798774e-06,
  8.38212292e-04, 1.50277885e-03, 4.88285227e-03, 7.71384690e-04,
 -1.26324789e-06, 2.10121444e-05,-4.90505333e+00, 6.40211302e-03,
  2.19510713e-03, 1.23697919e-04]


--- Step 2261 ---
qpos:
[-0.01510241, 1.28504153,-0.0231992 , 0.94833883, 0.00437221, 1.30338609,
 -0.02944171, 0.94592918, 0.01669879, 1.32725055,-0.02365783, 0.95469742,
  1.38730081,-0.00166796, 1.19526836, 0.0628551 ,-0.03710895,-0.10519914,
  0.07933938, 0.65931209,-0.01296714,-0.00323123, 0.75175061]

qacc:
[-2.64254464e-02,-1.66818410e+01, 2.30112813e+01,-1.67568723e+01,
 -1.66182877e-01,-1.72115788e+01, 3.50769992e+01,-1.98898069e+01,
 -1.72388979e-01,-5.19720839e+00, 6.53242154e+00, 1.74351880e+01,
  7.06005125e-01,-1.82844209e+00,-8.52796355e+00, 1.36569623e+01,
  2.77179301e+00, 2.64506217e+00, 1.04397057e+00, 2.25140109e+02,
  1.91344011e+02,-4.92197521e+00]

qfrc_actuator:
[ 2.92826471e-03, 7.41936239e-02, 1.12133390e-02, 1.85963776e-03,
 -8.52484478e-05, 6.35371222e-02, 1.06012822e-02, 2.08581534e-03,
 -3.04852363e-03, 4.42124455e-02, 1.06511774e-02, 2.11878872e-03,
  0.00000000e+00,-1.57287952e-03, 0.00000000e+00,-1.50156439e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.18545305,  0.17035006, -0.07330545,  0.17035006,  0.21594455,
        0.07085734, -0.07330545,  0.07085734,  0.35011409,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00044573253423334236
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3042771 ,  0.08760034, -0.94854711, -0.02675764,  0.9961557 ,
        0.08341372,  0.95220768,  0.        ,  0.30545135])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07272169, -0.04270326,  0.22432959])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00358696473566496
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.13981957, -0.06990979,  0.98770598, -0.00979873,  0.99755332,
        0.06921967, -0.99012851,  0.        , -0.1401625 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06815059, -0.12633591,  0.06168542])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.67055523e-05, 2.09285861e-02, 4.96882366e-03,-1.52329379e-04,
 -4.78094325e-05,-1.61377533e-03,-3.48349137e-04,-4.96666874e-05,
 -4.97052139e-05,-5.02963484e-04,-5.47605685e-05, 7.37931876e-05,
  8.67899995e-04, 1.57526683e-03, 4.94832444e-03, 9.38667368e-04,
  1.56033940e-04,-3.83125030e-06,-4.90506083e+00, 6.39559287e-03,
  2.20290050e-03, 1.23080834e-04]


--- Step 2262 ---
qpos:
[-0.01510463, 1.28538387,-0.02329752, 0.9483441 , 0.0043709 , 1.30397159,
 -0.02944035, 0.94593559, 0.01669877, 1.32744464,-0.02366062, 0.95470399,
  1.38735459,-0.00169759, 1.19530123, 0.062835  ,-0.03710316,-0.10520038,
  0.07932834, 0.65936173,-0.01279926,-0.0029897 , 0.75171095]

qacc:
[-8.83812220e-01,-1.02001284e+01, 4.24893003e+00, 3.13623209e+01,
 -6.94704602e-02,-1.60973979e+01, 3.37281635e+01,-2.50287445e+01,
 -7.48523060e-02,-4.16881021e+00, 1.11384385e+01,-2.01818002e+01,
  2.83200509e-02,-2.58330412e-01,-1.99635969e+01, 3.36037314e+01,
  3.80264699e+00,-3.24401414e+00, 3.01192868e+00, 1.69895163e+02,
 -2.26997478e+02, 9.11221883e+00]

qfrc_actuator:
[ 2.89828248e-03, 7.43497616e-02, 1.13075547e-02, 2.00427671e-03,
 -7.73421920e-05, 6.29772237e-02, 1.06094145e-02, 2.07200642e-03,
 -3.04091388e-03, 4.41186262e-02, 1.06359063e-02, 2.06345179e-03,
  0.00000000e+00,-1.53689234e-03, 0.00000000e+00,-1.08945147e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004708537376605995
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30402765,  0.08760357, -0.9486268 , -0.0267367 ,  0.99615542,
        0.08342383,  0.95228795,  0.        ,  0.30520102])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07271837, -0.04270713,  0.22433897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.08081513, -4.94457622,  7.08081513, 31.24323026,
       32.37386504, -4.94457622, 32.37386504, 54.99692987,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003563603715348432
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.86789109e-15,  9.73578217e-15,  1.00000000e+00,  4.73927272e-29,
        1.00000000e+00, -9.73578217e-15, -1.00000000e+00,  0.00000000e+00,
       -4.86789109e-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([-0.0612021 , -0.08934173,  0.06168354])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.37033864e-05, 2.21274703e-02, 5.28938743e-03, 3.49540268e-05,
 -2.02351224e-05,-1.52696074e-03,-3.49399307e-04,-7.26969780e-05,
 -2.15919623e-05,-3.81848154e-04,-1.17773234e-04,-6.98400386e-05,
  8.97145501e-04, 1.67180499e-03, 5.31953899e-03, 1.39280333e-03,
  4.37950129e-06, 4.09933047e-05,-4.90507458e+00, 6.41746971e-03,
  2.19265773e-03, 1.38289939e-04]


--- Step 2263 ---
qpos:
[-0.01510814, 1.28571014,-0.02339788, 0.94835144, 0.00436969, 1.30454459,
 -0.0294392 , 0.94594321, 0.01669898, 1.32763555,-0.02366497, 0.95470994,
  1.38740744,-0.00172743, 1.1953229 , 0.06281399,-0.03709671,-0.10521892,
  0.07933501, 0.65942226,-0.01227929,-0.0031265 , 0.75166597]

qacc:
[-5.50562027e-01,-1.20218884e+01, 9.56233105e+00, 2.55977399e+01,
  4.07885439e-02,-1.37756010e+01, 2.26473592e+01, 2.20779409e+00,
  9.60738714e-02,-1.06000537e+00,-3.04077166e-01,-5.05265053e+00,
 -2.17241532e-02,-4.01527753e-01,-1.38236358e+01, 2.42932075e+01,
  1.67283767e-01,-4.32358481e+00, 4.42951888e+00,-2.60607842e+01,
 -2.57011531e+02,-8.78403669e+00]

qfrc_actuator:
[ 2.90017641e-03, 7.46176064e-02, 1.14580854e-02, 2.10538619e-03,
 -5.42234896e-05, 6.23434164e-02, 1.05961048e-02, 2.13234727e-03,
 -3.00072923e-03, 4.39154361e-02, 1.05394295e-02, 2.02826086e-03,
  0.00000000e+00,-1.48576102e-03, 0.00000000e+00,-9.75179596e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004938966996744579
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30379519,  0.08760721, -0.94870093, -0.02671737,  0.9961551 ,
        0.08343384,  0.95236267,  0.        ,  0.30496776])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07271405, -0.04271061,  0.22434803])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0035745216100829674
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.70604554e-16,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.70604554e-16, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03534551, -0.08580789,  0.06168256])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.15977428e-05, 2.31678633e-02, 5.55753296e-03, 2.65593186e-05,
  1.11726646e-05,-1.55363550e-03,-3.54639666e-04, 3.47058436e-06,
  2.75599165e-05,-4.40789602e-04,-1.86690560e-04,-5.12992780e-05,
  9.43321447e-04, 1.71813191e-03, 6.16180251e-03, 1.58887885e-03,
  5.98407316e-05, 1.15787761e-05,-4.90501354e+00, 6.39154451e-03,
  2.18596764e-03, 1.47595157e-04]


--- Step 2264 ---
qpos:
[-0.0151112 , 1.28601694,-0.02350205, 0.94835792, 0.00436879, 1.30510503,
 -0.02943846, 0.94595118, 0.01669937, 1.32782276,-0.02367003, 0.95471576,
  1.38745912,-0.0017584 , 1.19534275, 0.06279315,-0.03710259,-0.10524719,
  0.07933377, 0.65949767,-0.0117731 ,-0.0037533 , 0.75160503]

qacc:
[ 1.89882928e-01,-1.67908710e+01, 2.56667976e+01,-2.00826656e+01,
  1.36866660e-01,-1.47930417e+01, 2.76241197e+01,-1.19947130e+01,
  7.85931236e-02,-3.14201223e+00, 4.62297224e+00,-3.04465622e+00,
 -5.80489154e-02,-1.00683944e+00,-3.22249832e+00, 7.30565368e+00,
 -3.08373817e+00,-2.43219037e+00,-1.98134968e+00,-1.88634948e+02,
 -1.56258970e+02,-1.38467098e+01]

qfrc_actuator:
[ 2.93899743e-03, 7.49414886e-02, 1.15897737e-02, 2.03760741e-03,
 -2.21701737e-05, 6.17059272e-02, 1.05700342e-02, 2.14702759e-03,
 -2.99459021e-03, 4.37190677e-02, 1.05019697e-02, 2.02290032e-03,
  0.00000000e+00,-1.40750940e-03, 0.00000000e+00,-1.12845805e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005151730800437987
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30357996,  0.08761101, -0.94876948, -0.02669961,  0.99615476,
        0.08344352,  0.9524318 ,  0.        ,  0.30475181])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07270921, -0.04271375,  0.2243567 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.47221715,  1.67580232,  8.47221715,  9.03088597,
       -1.99455439,  1.67580232, -1.99455439, 18.72006964,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0035652903159708316
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.55698825e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.55698825e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00060967, -0.08102627,  0.06168334])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14816613e-04, 2.42926066e-02, 5.79100110e-03,-1.44275023e-04,
  3.85528693e-05,-1.57069155e-03,-3.70953495e-04,-4.13906662e-05,
  2.24888460e-05,-4.79445191e-04,-1.46469201e-04,-2.48073434e-05,
  9.89656273e-04, 1.80780113e-03, 6.72102142e-03, 1.48057829e-03,
  1.15478277e-05,-2.40925099e-05,-4.90502891e+00, 6.36993422e-03,
  2.18944297e-03, 1.00202797e-04]


--- Step 2265 ---
qpos:
[-0.01511326, 1.28630431,-0.02361174, 0.94836364, 0.00436825, 1.30565362,
 -0.02943779, 0.94595885, 0.0166999 , 1.32800606,-0.02367428, 0.95472039,
  1.38750986,-0.00179029, 1.19536058, 0.06277199,-0.03709327,-0.10526318,
  0.07933594, 0.65958111,-0.01126409,-0.00383113, 0.75153922]

qacc:
[ 4.34419133e-01,-1.19004518e+01, 9.59625406e+00,-5.04703651e+00,
  1.48841666e-01,-1.58829779e+01, 3.36448810e+01,-2.51772405e+01,
  5.89678667e-02,-9.38757620e+00, 2.68471029e+01,-3.47152593e+01,
 -1.85916271e-02,-8.54963576e-01,-2.02990768e+00, 2.69897974e+00,
  3.80089757e+00, 3.06876629e+00, 8.53914876e-01, 2.07269370e+02,
  1.80005574e+02,-1.39865085e+00]

qfrc_actuator:
[ 2.94549943e-03, 7.54863528e-02, 1.16949807e-02, 1.99486067e-03,
 -2.77192467e-06, 6.11778062e-02, 1.05898456e-02, 2.13468523e-03,
 -2.99117494e-03, 4.35463359e-02, 1.05529525e-02, 1.96416325e-03,
  0.00000000e+00,-1.36525208e-03, 0.00000000e+00,-1.21219048e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20940701,  0.17929146, -0.10819368,  0.17929146,  0.26810453,
        0.09726967, -0.10819368,  0.09726967,  0.37059592,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005350002899189993
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3033869 ,  0.0876144 , -0.94883092, -0.02668367,  0.99615446,
        0.08345216,  0.95249377,  0.        ,  0.30455809])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07270473, -0.0427166 ,  0.22436485])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003574416701773657
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.30015234e-14,  2.71777251e-14,  1.00000000e+00, -8.96906332e-28,
        1.00000000e+00, -2.71777251e-14, -1.00000000e+00,  0.00000000e+00,
        3.30015234e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06812951, -0.12629215,  0.06168266])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.89995992e-05, 2.58087791e-02, 6.08601521e-03,-1.43913283e-04,
  4.19823497e-05,-1.47518492e-03,-3.31556512e-04,-7.04602187e-05,
  1.67716484e-05,-4.68515111e-04,-6.02232098e-05,-7.75418215e-05,
  1.04844978e-03, 1.90676657e-03, 6.81181253e-03, 1.38843033e-03,
  2.19400222e-07, 2.18836963e-04,-4.90508131e+00, 6.34886194e-03,
  2.19887858e-03, 1.62301433e-04]


--- Step 2266 ---
qpos:
[-0.01511392, 1.28657268,-0.02372806, 0.94836814, 0.00436785, 1.30619121,
 -0.02943763, 0.94596662, 0.01670082, 1.32818512,-0.02367727, 0.95472671,
  1.38756007,-0.00182306, 1.19537721, 0.06275032,-0.03709887,-0.10526683,
  0.07932922, 0.65962583,-0.01132234,-0.00388426, 0.75149883]

qacc:
[ 5.92148441e-01,-9.13685587e+00, 2.19775217e+00,-4.18908553e+00,
  6.62478543e-02,-1.28960786e+01, 2.44214011e+01,-1.31049337e+01,
  1.65013420e-01,-6.06084776e+00, 9.64858454e+00, 1.37177047e+01,
  2.03245011e-01,-9.79077049e-01,-2.67772341e-01,-1.68758398e+00,
 -3.72975711e+00, 3.08472799e+00,-2.22059311e+00,-1.77960294e+02,
  2.21087651e+02, 2.41630130e+01]

qfrc_actuator:
[ 2.91410691e-03, 7.61715482e-02, 1.17875460e-02, 1.93187604e-03,
 -8.87520748e-06, 6.06841086e-02, 1.05837496e-02, 2.14214248e-03,
 -2.95391570e-03, 4.33362157e-02, 1.06202624e-02, 2.05205957e-03,
  0.00000000e+00,-1.34433883e-03, 0.00000000e+00,-1.34253139e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005533337886829866
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03217601e-01,  8.76171637e-02, -9.48884777e-01, -2.66696317e-02,
        9.96154221e-01,  8.34595598e-02,  9.52548066e-01,  3.46944695e-18,
        3.04388210e-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([ 0.0727006 , -0.04271921,  0.22437247])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.63485587,  0.16137201,  8.63485587,  8.66534649,
       -1.55084397,  0.16137201, -1.55084397, 91.62048401,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0035877784241902244
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.54722908e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.54722908e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00695308, -0.1288007 ,  0.06168169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.66147897e-05, 2.74630598e-02, 6.45474421e-03,-1.68533490e-04,
  1.85021267e-05,-1.38099614e-03,-3.35139226e-04,-4.73369982e-05,
  4.72431916e-05,-4.84552609e-04,-3.35010845e-05, 7.07054526e-05,
  1.09496802e-03, 1.97459718e-03, 6.91284284e-03, 1.27439783e-03,
  2.61443171e-05,-3.59342209e-05,-4.90501499e+00, 6.36331627e-03,
  2.19127685e-03, 8.23127513e-05]


--- Step 2267 ---
qpos:
[-0.01511283, 1.28682321,-0.02385029, 0.94837171, 0.00436767, 1.30671799,
 -0.02943855, 0.9459741 , 0.01670215, 1.32836048,-0.02368013, 0.95473404,
  1.38760978,-0.00185689, 1.19539602, 0.06272832,-0.03711781,-0.10525959,
  0.07931024, 0.65963705,-0.01188489,-0.00391439, 0.75148013]

qacc:
[ 7.50399216e-01,-9.10661426e+00, 3.31692120e+00,-2.47241132e+00,
  8.88155255e-02,-1.17618824e+01, 2.18159349e+01,-1.54659222e+01,
  1.73346100e-01,-3.43351631e+00, 3.29257151e+00, 1.11817139e+01,
  1.81505713e-01,-1.05588233e+00, 4.18434061e+00,-1.00531544e+01,
 -3.33448183e+00, 2.72288549e+00,-3.06580533e+00,-1.57831762e+02,
  1.96887215e+02, 2.08495523e+01]

qfrc_actuator:
[ 2.89470653e-03, 7.67530020e-02, 1.19113490e-02, 1.89301770e-03,
  5.28063827e-06, 6.01439503e-02, 1.05270756e-02, 2.12569586e-03,
 -2.93216060e-03, 4.31588191e-02, 1.06255851e-02, 2.10125842e-03,
  0.00000000e+00,-1.31815607e-03, 0.00000000e+00,-1.55378868e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005702303921690972
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30307272,  0.0876192 , -0.94893087, -0.02665751,  0.99615404,
        0.08346557,  0.95259451,  0.        ,  0.30424283])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07269687, -0.04272161,  0.22437956])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -5.00356191,  7.03925743, -5.00356191, 36.61130577,
       19.8848183 ,  7.03925743, 19.8848183 , 22.77065556,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003586364038864545
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.54783928e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.54783928e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0069478 , -0.12880974,  0.0616817 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.22710284e-05, 2.89921605e-02, 6.91004756e-03,-1.46111560e-04,
  2.49717818e-05,-1.37526443e-03,-3.67008449e-04,-6.80032508e-05,
  4.97025258e-05,-4.51047664e-04,-9.12366999e-05, 3.57630817e-05,
  1.12170999e-03, 2.04537339e-03, 6.97176154e-03, 1.08825955e-03,
  6.09833294e-06, 2.10911055e-06,-4.90500257e+00, 6.38980567e-03,
  2.19938800e-03, 1.21527132e-04]


--- Step 2268 ---
qpos:
[-0.01511088, 1.2870606 ,-0.02397588, 0.94837458, 0.00436782, 1.30723356,
 -0.02943922, 0.94598165, 0.01670353, 1.32853288,-0.02368392, 0.95473845,
  1.38765879,-0.00189143, 1.19541102, 0.06270589,-0.03712197,-0.10523921,
  0.07929453, 0.65966381,-0.01243535,-0.00340445, 0.75145022]

qacc:
[ 3.68746944e-01,-9.38820546e+00, 1.12488425e+01,-9.73422576e+00,
  1.44599502e-01,-1.52557395e+01, 3.18681763e+01,-1.97897315e+01,
  2.17534176e-02,-6.46446434e+00, 2.22867403e+01,-5.12236820e+01,
  1.01859591e-01,-7.98515691e-01,-4.35836823e+00, 7.00064981e+00,
  3.69268939e+00, 3.28635626e+00, 8.15590097e-01, 2.06984386e+02,
  1.73685857e+02,-6.35156880e+00]

qfrc_actuator:
[ 2.93483420e-03, 7.72076517e-02, 1.20558139e-02, 1.88658168e-03,
  3.14771827e-05, 5.95978811e-02, 1.05473502e-02, 2.13076072e-03,
 -2.95538861e-03, 4.30199607e-02, 1.05765940e-02, 1.94970592e-03,
  0.00000000e+00,-1.28827681e-03, 0.00000000e+00,-1.47626212e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005859737393190366
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02950474e-01,  8.76204202e-02, -9.48969795e-01, -2.66471345e-02,
        9.96153935e-01,  8.34701639e-02,  9.52633686e-01, -3.46944695e-18,
        3.04120140e-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([ 0.07269378, -0.04272387,  0.22438612])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003614616925957964
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.71886652e-15,  1.72770853e-14,  1.00000000e+00, -1.16082430e-28,
        1.00000000e+00, -1.72770853e-14, -1.00000000e+00,  0.00000000e+00,
        6.71886652e-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([-0.06808205, -0.12624853,  0.06167933])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.20156153e-04, 3.03372946e-02, 7.34932873e-03,-1.06023658e-04,
  4.08157368e-05,-1.38476299e-03,-2.93151403e-04,-4.77495460e-05,
  6.16936359e-06,-4.06265543e-04,-1.46586459e-04,-1.66501866e-04,
  1.14654283e-03, 2.12904899e-03, 6.86280321e-03, 1.18253334e-03,
  7.55145682e-05,-5.58998371e-05,-4.90506828e+00, 6.39727840e-03,
  2.20028191e-03, 7.80700198e-05]


--- Step 2269 ---
qpos:
[-0.0151082 , 1.28728637,-0.02410438, 0.94837719, 0.004368  , 1.30773831,
 -0.02943951, 0.94598849, 0.01670482, 1.32870115,-0.02368759, 0.95474141,
  1.38770689,-0.00192648, 1.19542083, 0.06268292,-0.03711708,-0.10520939,
  0.07927639, 0.65970648,-0.01297217,-0.00239738, 0.75140757]

qacc:
[ 3.10826234e-01,-7.84359659e+00, 7.71648664e+00,-2.52722749e+00,
  1.50769373e-02,-1.64877965e+01, 3.80880521e+01,-3.45162945e+01,
 -3.69929620e-02,-8.22123816e+00, 2.31898564e+01,-3.42535274e+01,
 -1.12621672e-01,-4.65194272e-01,-6.04864649e+00, 1.00120741e+01,
  2.26369789e+00, 2.35820557e+00,-6.06940607e-01, 1.91356687e+02,
  1.58944343e+02,-7.11440991e+00]

qfrc_actuator:
[ 2.99311760e-03, 7.76063988e-02, 1.21592405e-02, 1.88199475e-03,
  1.14268566e-05, 5.90884823e-02, 1.05773888e-02, 2.09523194e-03,
 -2.96990722e-03, 4.27629466e-02, 1.05670134e-02, 1.87651914e-03,
  0.00000000e+00,-1.23835627e-03, 0.00000000e+00,-1.42051565e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006005686916454415
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02843948e-01,  8.76211789e-02, -9.49003726e-01, -2.66379970e-02,
        9.96153868e-01,  8.34738768e-02,  9.52667812e-01,  3.46944695e-18,
        3.04013222e-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([ 0.07269072, -0.04272591,  0.22439235])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  6.20618799, -6.00583112,  6.20618799, 16.07256934,
        7.68428043, -6.00583112,  7.68428043, 16.57699466,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0036353049439690178
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.12677735, -0.06338867,  0.98990372, -0.00805244,  0.99798892,
        0.06287513, -0.99189851,  0.        , -0.12703282])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06810391, -0.12626382,  0.06168029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05158279e-04, 3.13910384e-02, 7.62071526e-03,-7.52316762e-05,
  3.88079658e-06,-1.33819328e-03,-2.76228863e-04,-8.60091321e-05,
 -1.07897618e-05,-5.16449539e-04,-1.10641869e-04,-9.31458079e-05,
  1.18196961e-03, 2.21505186e-03, 7.05311986e-03, 1.25977125e-03,
 -5.74667225e-06, 1.36117718e-04,-4.90513042e+00, 6.41256805e-03,
  2.19303319e-03, 1.42691153e-04]


--- Step 2270 ---
qpos:
[-0.01510406, 1.28749971,-0.0242359 , 0.94838014, 0.00436781, 1.30823282,
 -0.02944033, 0.94599589, 0.01670613, 1.32886517,-0.02369076, 0.9547445 ,
  1.3877543 ,-0.0019623 , 1.19543094, 0.06265964,-0.03712784,-0.10519155,
  0.07925937, 0.65976568,-0.01352438,-0.00202272, 0.75134695]

qacc:
[ 6.22615175e-01,-7.59135555e+00, 4.37442305e+00, 7.95954252e+00,
 -1.57909411e-01,-1.10388913e+01, 1.86231489e+01,-3.15654719e+00,
  8.56991278e-03,-6.69393678e+00, 1.48530338e+01,-8.75573022e+00,
 -5.68461423e-02,-6.32726866e-01, 1.37948815e+00,-4.22869605e+00,
 -3.91127493e+00,-2.99546570e+00, 2.81235670e-01,-2.42584922e+02,
 -2.02683690e+02,-1.62169825e+01]

qfrc_actuator:
[ 3.00882706e-03, 7.79575912e-02, 1.22744489e-02, 1.89611225e-03,
 -3.62020799e-05, 5.86051928e-02, 1.05597886e-02, 2.12486764e-03,
 -2.96132883e-03, 4.25616608e-02, 1.05981728e-02, 1.88555019e-03,
  0.00000000e+00,-1.21182966e-03, 0.00000000e+00,-1.57283982e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23278518,  0.23235175, -0.01419881,  0.23235175,  0.23370299,
        0.01501912, -0.01419881,  0.01501912,  0.47856067,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000614041986778148
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02751274e-01,  8.76215426e-02, -9.49033261e-01, -2.66299568e-02,
        9.96153836e-01,  8.34768239e-02,  9.52697492e-01, -3.46944695e-18,
        3.03920201e-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([ 0.07268753, -0.0427277 ,  0.22439829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0036773621505838336
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.50953724e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.50953724e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00041051, -0.0812104 ,  0.06167415])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.25948799e-04, 3.23215839e-02, 7.88162657e-03,-4.77240385e-05,
 -4.54008302e-05,-1.28407323e-03,-3.13941991e-04,-1.98566739e-05,
  2.30007596e-06,-5.12428104e-04,-8.51837852e-05,-1.14404821e-05,
  1.22695200e-03, 2.26783155e-03, 7.31208114e-03, 1.13419135e-03,
  1.49608720e-04, 5.53300381e-04,-4.90529425e+00, 6.43482974e-03,
  2.17776726e-03, 2.86559898e-04]


--- Step 2271 ---
qpos:
[-0.0150993 , 1.28770339,-0.0243686 , 0.94838393, 0.00436746, 1.30871677,
 -0.02944077, 0.94600531, 0.01670763, 1.3290262 ,-0.02369403, 0.95474691,
  1.38780079,-0.00199859, 1.19543849, 0.06263604,-0.0371525 ,-0.10518446,
  0.0792389 , 0.65984094,-0.01409157,-0.00220589, 0.75126992]

qacc:
[ 2.68026090e-01,-8.05744952e+00, 9.26340540e+00, 7.69702714e+00,
 -6.69993676e-02,-1.14220911e+01, 1.63738956e+01, 1.58389021e+01,
  8.31456561e-02,-4.85753893e+00, 1.24594008e+01,-1.68058261e+01,
 -2.91652816e-01,-2.24193976e-01,-2.82827944e+00, 4.41632571e+00,
 -3.47745994e+00,-2.68621508e+00,-8.63134077e-01,-2.14412966e+02,
 -1.78260134e+02,-1.52068896e+01]

qfrc_actuator:
[ 3.03347611e-03, 7.81791875e-02, 1.24157392e-02, 1.95645130e-03,
 -2.89746378e-05, 5.80880504e-02, 1.05853791e-02, 2.22811162e-03,
 -2.93896439e-03, 4.24843390e-02, 1.06178390e-02, 1.85414948e-03,
  0.00000000e+00,-1.16336874e-03, 0.00000000e+00,-1.53046102e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006266572847565509
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30267331,  0.08762128, -0.94905815, -0.02662302,  0.99615386,
        0.08347876,  0.95272246,  0.        ,  0.30384193])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07268469, -0.04272934,  0.22440388])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.5480295 ,  1.23205869, -8.5480295 ,  9.39740375,
        5.2801002 ,  1.23205869,  5.2801002 , 45.26972593,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037161610408891
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.49377679e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.49377679e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00034225, -0.0812657 ,  0.06167102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.74320805e-04, 3.31628497e-02, 8.17331706e-03,-4.62997748e-06,
 -1.95085899e-05,-1.29328855e-03,-2.62499058e-04, 5.57895109e-05,
  2.38022123e-05,-3.78813746e-04,-9.06015584e-05,-4.91117828e-05,
  1.26119576e-03, 2.35562558e-03, 7.29730521e-03, 1.19253132e-03,
  6.18277596e-07, 6.54204200e-05,-4.90512593e+00, 6.42585937e-03,
  2.18900726e-03, 1.41209518e-04]


--- Step 2272 ---
qpos:
[-0.01509406, 1.28789835,-0.02450164, 0.94838898, 0.0043672 , 1.30919042,
 -0.02944063, 0.94601415, 0.01670921, 1.32918429,-0.02369723, 0.95475064,
  1.38784636,-0.00203527, 1.19544351, 0.06261222,-0.03716137,-0.1051915 ,
  0.07923332, 0.65990228,-0.01407128,-0.00242973, 0.75121573]

qacc:
[ 2.04587888e-01,-8.34930314e+00, 1.08812725e+01, 1.04502374e+01,
  3.92803838e-02,-1.61104514e+01, 3.74270701e+01,-3.27581354e+01,
  3.18607050e-02,-1.77387985e+00,-1.51897580e+00, 1.83477088e+01,
 -3.47401880e-01,-1.00264666e-01,-3.02567307e+00, 5.20237198e+00,
  3.94852709e+00,-3.53069928e+00, 3.72218471e+00, 1.78472501e+02,
 -2.34277477e+02, 1.18360301e+01]

qfrc_actuator:
[ 3.06373692e-03, 7.83252365e-02, 1.25543005e-02, 2.02613816e-03,
 -6.65016201e-06, 5.75905248e-02, 1.06184403e-02, 2.19631460e-03,
 -2.94401761e-03, 4.23575858e-02, 1.06310060e-02, 1.92351802e-03,
  0.00000000e+00,-1.11949135e-03, 0.00000000e+00,-1.51316018e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006384601373890901
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02605692e-01,  8.76206992e-02, -9.49079769e-01, -2.66168933e-02,
        9.96153910e-01,  8.34801050e-02,  9.52744108e-01,  3.46944695e-18,
        3.03774034e-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([ 0.07268187, -0.04273078,  0.22440922])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037303810687439876
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.97616518e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.97616518e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06100808, -0.08947038,  0.06166969])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.75518095e-04, 3.37906647e-02, 8.37081544e-03, 2.31193541e-05,
  1.08054259e-05,-1.26633878e-03,-2.48738548e-04,-7.62765477e-05,
  9.06784958e-06,-3.56511120e-04,-7.27231250e-05, 5.45748615e-05,
  1.30752172e-03, 2.42381542e-03, 7.42513558e-03, 1.22550213e-03,
  1.57696132e-04,-4.81833811e-05,-4.90510114e+00, 6.41153748e-03,
  2.20207979e-03, 1.15624326e-04]


--- Step 2273 ---
qpos:
[-0.01508939, 1.28808657,-0.02463379, 0.94839319, 0.00436696, 1.30965445,
 -0.02944082, 0.94601978, 0.0167108 , 1.32933907,-0.02369988, 0.95475691,
  1.38789096,-0.00207217, 1.19544202, 0.06258869,-0.03715624,-0.10521103,
  0.0792366 , 0.65995131,-0.01352851,-0.00269029, 0.75118174]

qacc:
[-2.44864551e-01,-1.27194626e+01, 3.25025348e+01,-3.36304342e+01,
  8.23743115e-03,-1.72133104e+01, 4.74885268e+01,-7.23384185e+01,
  6.39419920e-03,-1.45765858e+00,-5.59610906e+00, 3.61791487e+01,
 -2.26521330e-01,-1.55067707e-01,-1.04974962e+01, 2.27466937e+01,
  3.50046964e+00,-3.12652965e+00, 2.21491044e+00, 1.58538689e+02,
 -2.08512073e+02, 1.03895898e+01]

qfrc_actuator:
[ 3.06175768e-03, 7.84643810e-02, 1.27086185e-02, 1.99417087e-03,
 -1.09586071e-05, 5.71264815e-02, 1.06023608e-02, 2.03203159e-03,
 -2.94772611e-03, 4.21845545e-02, 1.06578960e-02, 2.05161906e-03,
  0.00000000e+00,-1.07826144e-03, 0.00000000e+00,-1.31558824e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006495289407179687
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30254671,  0.08761986, -0.94909865, -0.02661145,  0.99615398,
        0.08348096,  0.95276299,  0.        ,  0.3037148 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07267905, -0.04273205,  0.22441435])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037368018771079536
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.57072127e-15,  2.97105135e-14,  1.00000000e+00,  1.65508989e-28,
        1.00000000e+00, -2.97105135e-14, -1.00000000e+00,  0.00000000e+00,
       -5.57072127e-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([-0.06100157, -0.08947221,  0.06166914])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.01510080e-04, 3.43642679e-02, 8.54253914e-03,-7.13313567e-05,
  1.99402328e-06,-1.21914030e-03,-2.94903465e-04,-2.10630550e-04,
  1.72205754e-06,-3.83866278e-04,-4.95719244e-05, 1.16902204e-04,
  1.35392458e-03, 2.48505823e-03, 7.55110535e-03, 1.43445608e-03,
  1.94265257e-05, 2.90534786e-05,-4.90500407e+00, 6.38373209e-03,
  2.18911264e-03, 1.71374300e-04]


--- Step 2274 ---
qpos:
[-0.0150855 , 1.28826828,-0.02476486, 0.94839627, 0.00436686, 1.31010881,
 -0.02944073, 0.94602407, 0.01671253, 1.3294896 ,-0.02370195, 0.95476406,
  1.38793482,-0.00210917, 1.1954337 , 0.06256565,-0.03713861,-0.10524173,
  0.07924356, 0.659989  ,-0.0125179 ,-0.00298411, 0.75116504]

qacc:
[-3.28827337e-01,-1.34107820e+01, 3.57549629e+01,-4.01674142e+01,
  5.86703017e-02,-1.57448985e+01, 3.87688244e+01,-4.30183716e+01,
  5.61205252e-02,-5.62574175e+00, 9.84342259e+00, 4.26806162e+00,
 -1.05044505e-01,-1.66806517e-01,-1.15959678e+01, 2.58930214e+01,
  3.12508810e+00,-2.79031203e+00, 9.22460124e-01, 1.41828714e+02,
 -1.86831581e+02, 9.11084806e+00]

qfrc_actuator:
[ 3.05904948e-03, 7.85121295e-02, 1.28357738e-02, 1.93829669e-03,
  4.29511029e-06, 5.66682116e-02, 1.06284961e-02, 1.96864327e-03,
 -2.93284476e-03, 4.18965393e-02, 1.06570052e-02, 2.08894299e-03,
  0.00000000e+00,-1.05638550e-03, 0.00000000e+00,-1.13455041e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006597959941786607
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30249329,  0.08761913, -0.94911574, -0.02660653,  0.99615405,
        0.08348177,  0.95278009,  0.        ,  0.30366116])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07267588, -0.04273309,  0.22441934])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003699180475099789
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.50063376e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.50063376e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06104557, -0.089444  ,  0.06167197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.75544441e-04, 3.47476720e-02, 8.62454422e-03,-8.56515138e-05,
  1.63788991e-05,-1.20024892e-03,-2.52641206e-04,-1.12809435e-04,
  1.59763262e-05,-5.07580412e-04,-7.82321804e-05, 2.74424372e-05,
  1.40177328e-03, 2.51857549e-03, 7.87686492e-03, 1.60095974e-03,
 -9.56926804e-06, 1.17503398e-05,-4.90504682e+00, 6.37333416e-03,
  2.18659553e-03, 1.24728639e-04]


--- Step 2275 ---
qpos:
[-0.01508112, 1.28844104,-0.02489567, 0.94839995, 0.00436676, 1.31055389,
 -0.02944055, 0.9460279 , 0.0167144 , 1.32963562,-0.02370347, 0.95477129,
  1.38797827,-0.00214658, 1.1954263 , 0.06254315,-0.0371337 ,-0.10528293,
  0.07924324, 0.66004515,-0.01152608,-0.00376951, 0.75112805]

qacc:
[ 2.10792916e-01,-1.14320852e+01, 2.18763608e+01,-6.41376253e+00,
  4.50957362e-03,-1.32053477e+01, 2.93065367e+01,-2.49187914e+01,
  6.19989612e-02,-7.26228814e+00, 1.63900381e+01,-1.05255105e+01,
 -6.86438054e-02,-3.01294231e-01,-2.44811407e-01, 2.82374278e+00,
 -3.17865498e+00,-2.62418705e+00,-1.82206011e+00,-1.90741039e+02,
 -1.55005055e+02,-1.66785361e+01]

qfrc_actuator:
[ 3.05633107e-03, 7.84897508e-02, 1.29638510e-02, 1.95748186e-03,
 -4.34458239e-06, 5.62350596e-02, 1.06439713e-02, 1.94744857e-03,
 -2.92468492e-03, 4.16483137e-02, 1.06747028e-02, 2.09019470e-03,
  0.00000000e+00,-1.04615058e-03, 0.00000000e+00,-1.24779855e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006692644851085082
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30244505,  0.08761857, -0.94913117, -0.02660211,  0.9961541 ,
        0.08348258,  0.95279553,  0.        ,  0.30361271])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07267232, -0.04273394,  0.22442419])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0036633571377366406
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.57654102e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.57654102e-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([ 0.00042073, -0.08123573,  0.06167473])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.39742051e-04, 3.50493386e-02, 8.69884442e-03,-9.49153593e-06,
  9.43888791e-07,-1.15339315e-03,-2.51915248e-04,-6.65566252e-05,
  1.76545866e-05,-5.44422441e-04,-8.96744279e-05,-1.52192142e-05,
  1.43895685e-03, 2.53464549e-03, 8.21863705e-03, 1.46288704e-03,
  3.88603177e-05,-7.19491349e-05,-4.90518821e+00, 6.37500751e-03,
  2.19180794e-03, 4.73907704e-06]


--- Step 2276 ---
qpos:
[-0.0150767 , 1.28860605,-0.025025  , 0.94840333, 0.00436648, 1.31098995,
 -0.02944123, 0.94603217, 0.01671624, 1.32977819,-0.02370515, 0.95477808,
  1.38802122,-0.00218441, 1.195419  , 0.06252153,-0.03711394,-0.1053119 ,
  0.07924696, 0.66011019,-0.01052935,-0.00399677, 0.75108435]

qacc:
[ 1.35952688e-02,-1.46880808e+01, 3.62726567e+01,-3.02768424e+01,
 -7.73922819e-02,-8.79227235e+00, 1.34647199e+01,-8.52845780e-01,
 -1.07715087e-02,-4.87459378e+00, 1.13033488e+01,-1.27122712e+01,
 -5.05648683e-02,-3.62164564e-01,-2.51663645e+00, 9.01536836e+00,
  3.71003042e+00, 3.05674255e+00, 1.00880503e+00, 2.11271403e+02,
  1.82411272e+02,-2.34435756e+00]

qfrc_actuator:
[ 3.03489835e-03, 7.84658501e-02, 1.31461190e-02, 1.94940321e-03,
 -2.72474706e-05, 5.57849532e-02, 1.05998770e-02, 1.96898198e-03,
 -2.93837700e-03, 4.15324364e-02, 1.06856029e-02, 2.07025484e-03,
  0.00000000e+00,-1.02480314e-03, 0.00000000e+00,-1.21830134e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25151526,  0.24453928, -0.05882575,  0.24453928,  0.26610698,
        0.06065795, -0.05882575,  0.06065795,  0.503671  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006782038192479321
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30240509,  0.08761775, -0.94914398, -0.02659835,  0.99615417,
        0.08348293,  0.95280832,  0.        ,  0.30357257])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07266905, -0.0427347 ,  0.2244288 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0036614120788251853
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.46368392e-14,  7.58056592e-15,  1.00000000e+00, -1.86761184e-28,
        1.00000000e+00, -7.58056592e-15, -1.00000000e+00,  0.00000000e+00,
        2.46368392e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06804785, -0.12617655,  0.06167488])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.85882512e-04, 3.54718645e-02, 8.86781951e-03,-4.78083462e-05,
 -2.23928254e-05,-1.14281918e-03,-3.00868317e-04,-2.13433657e-05,
 -3.21122348e-06,-4.35915262e-04,-1.06211238e-04,-3.88352907e-05,
  1.45971416e-03, 2.57703947e-03, 8.17279998e-03, 1.46601025e-03,
 -6.56174727e-05, 2.99133307e-04,-4.90526024e+00, 6.35164810e-03,
  2.19692543e-03, 9.75978294e-05]


--- Step 2277 ---
qpos:
[-0.01507289, 1.28876419,-0.02515278, 0.94840649, 0.00436613, 1.31141686,
 -0.02944187, 0.94603699, 0.01671785, 1.32991834,-0.02370769, 0.95478245,
  1.38806346,-0.00222231, 1.19540898, 0.06250059,-0.03711116,-0.1053275 ,
  0.0792458 , 0.66013747,-0.01017251,-0.00419063, 0.75106423]

qacc:
[-2.55208921e-01,-1.35860780e+01, 3.38642205e+01,-2.75388911e+01,
 -3.02813117e-02,-1.11569732e+01, 2.07645458e+01,-5.91017980e+00,
 -9.89214362e-02,-5.03188016e+00, 1.74445526e+01,-4.14825777e+01,
 -3.22082575e-01, 1.43706441e-01,-6.06033655e+00, 1.53928408e+01,
 -4.24419985e+00, 3.34241769e+00,-1.21836995e+00,-1.98803226e+02,
  2.51128839e+02, 2.34207120e+01]

qfrc_actuator:
[ 3.02025539e-03, 7.84079076e-02, 1.32885787e-02, 1.94339378e-03,
 -2.30142546e-05, 5.53458810e-02, 1.06097057e-02, 1.99767836e-03,
 -2.96506704e-03, 4.14612173e-02, 1.06574041e-02, 1.94932171e-03,
  0.00000000e+00,-9.78853224e-04, 0.00000000e+00,-1.10372181e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006866728906099843
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02371105e-01,  8.76168547e-02, -9.49154888e-01, -2.65950833e-02,
        9.96154248e-01,  8.34830209e-02,  9.52819194e-01, -3.46944695e-18,
        3.03538439e-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([ 0.07266598, -0.04273538,  0.22443319])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037573090108988794
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.95483555e-14,  2.95483555e-14,  1.00000000e+00,  8.73105314e-28,
        1.00000000e+00, -2.95483555e-14, -1.00000000e+00,  0.00000000e+00,
       -2.95483555e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00653179, -0.12868927,  0.06166783])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.02101988e-04, 3.58001794e-02, 8.93668190e-03,-3.81989418e-05,
 -8.97977609e-06,-1.13407416e-03,-2.49103959e-04,-1.42612447e-05,
 -2.85134120e-05,-3.35159952e-04,-1.26686784e-04,-1.37653208e-04,
  1.48454013e-03, 2.64503755e-03, 8.16770995e-03, 1.53656220e-03,
  6.08010245e-05,-1.02162812e-04,-4.90515003e+00, 6.35302801e-03,
  2.19498735e-03,-2.94410540e-05]


--- Step 2278 ---
qpos:
[-0.01507055, 1.28891599,-0.02527967, 0.94841024, 0.0043659 , 1.31183487,
 -0.02944193, 0.94604139, 0.01671919, 1.33005581,-0.02370965, 0.95478357,
  1.38810444,-0.00225962, 1.19539289, 0.06247987,-0.03712343,-0.10533133,
  0.07923581, 0.6601322 ,-0.01038056,-0.00435448, 0.75106508]

qacc:
[-6.27768385e-01,-9.71316671e+00, 2.04577012e+01,-7.08565480e+00,
  5.42540611e-02,-1.39924732e+01, 3.24229129e+01,-2.74616168e+01,
 -1.15170854e-01,-1.06777057e+01, 3.71612214e+01,-6.81447019e+01,
 -1.03613743e+00, 1.27253507e+00,-9.52890699e+00, 2.04878092e+01,
 -3.76347050e+00, 2.94288419e+00,-2.20829399e+00,-1.75308216e+02,
  2.21867600e+02, 2.04754310e+01]

qfrc_actuator:
[ 3.01030432e-03, 7.83495108e-02, 1.33709731e-02, 1.97415252e-03,
 -2.53643261e-06, 5.49349200e-02, 1.06513493e-02, 1.97713396e-03,
 -2.98158518e-03, 4.13461270e-02, 1.06952708e-02, 1.78769860e-03,
  0.00000000e+00,-8.65080042e-04, 0.00000000e+00,-9.20491387e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006945637309699604
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02342183e-01,  8.76160716e-02, -9.49164174e-01, -2.65922999e-02,
        9.96154317e-01,  8.34830857e-02,  9.52828450e-01,  3.46944695e-18,
        3.03509383e-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([ 0.07266286, -0.04273592,  0.22443742])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -0.9749897 ,  8.58115213, -0.9749897 , 87.15595038,
        8.92138811,  8.58115213,  8.92138811,  9.65001092,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037945261521306756
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.46292710e-14,  2.92585419e-14,  1.00000000e+00,  4.28031137e-28,
        1.00000000e+00, -2.92585419e-14, -1.00000000e+00,  0.00000000e+00,
       -1.46292710e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00645819, -0.12865448,  0.06166507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.82130071e-04, 3.60840196e-02, 8.94115418e-03, 3.01390365e-06,
  1.51524269e-05,-1.09070991e-03,-2.09466840e-04,-6.15710975e-05,
 -3.32620639e-05,-3.30229706e-04,-4.61639665e-05,-1.78265179e-04,
  1.51994949e-03, 2.76252407e-03, 8.30414508e-03, 1.68587293e-03,
 -5.91029312e-06, 1.11183255e-05,-4.90502307e+00, 6.38101214e-03,
  2.20196903e-03, 9.42236150e-05]


--- Step 2279 ---
qpos:
[-0.01506889, 1.28906006,-0.02540634, 0.94841448, 0.00436599, 1.31224462,
 -0.02944176, 0.94604547, 0.01672029, 1.33018991,-0.0237107 , 0.95478555,
  1.38814434,-0.00229657, 1.19537464, 0.06245959,-0.03714911,-0.10532474,
  0.07921354, 0.6600983 ,-0.01108993,-0.00449134, 0.75108394]

qacc:
[-2.91990988e-01,-9.90531682e+00, 1.90427741e+01,-5.93120143e+00,
  1.37287274e-01,-1.19721985e+01, 2.65819267e+01,-2.14046978e+01,
 -1.03200539e-01,-5.39309340e+00, 1.04856326e+01, 2.99129800e+00,
 -9.48437146e-01, 1.06976578e+00,-4.46148686e+00, 1.11394288e+01,
 -3.35044738e+00, 2.60412271e+00,-3.07050544e+00,-1.55440770e+02,
  1.97011193e+02, 1.79318198e+01]

qfrc_actuator:
[ 3.02203392e-03, 7.82753083e-02, 1.34528844e-02, 1.99076020e-03,
  2.75186871e-05, 5.45619783e-02, 1.06760045e-02, 1.96330484e-03,
 -2.99186775e-03, 4.11526705e-02, 1.07361821e-02, 1.83425558e-03,
  0.00000000e+00,-7.82241598e-04, 0.00000000e+00,-9.08908273e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007016979591569147
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30231845,  0.08761567, -0.94917177, -0.02659009,  0.99615435,
        0.08348336,  0.95283604,  0.        ,  0.30348555])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07265939, -0.04273629,  0.22444152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037761608717692963
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.94008402e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.94008402e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00648629, -0.12867579,  0.06166629])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.68316123e-05, 3.63257477e-02, 8.97884106e-03,-9.42720359e-06,
  3.89246821e-05,-1.02229868e-03,-2.14841463e-04,-5.35052843e-05,
 -2.98287341e-05,-3.91333369e-04,-3.41957494e-05, 3.14643777e-05,
  1.58285294e-03, 2.81695130e-03, 8.60787181e-03, 1.68686612e-03,
  4.19930208e-05,-2.53574372e-06,-4.90501288e+00, 6.38858166e-03,
  2.20194089e-03, 1.03520693e-04]


--- Step 2280 ---
qpos:
[-0.01506705, 1.28919515,-0.02553309, 0.94841903, 0.00436627, 1.31264593,
 -0.02944099, 0.94604972, 0.01672104, 1.33032082,-0.02371189, 0.95478949,
  1.3881837 ,-0.00233355, 1.195359  , 0.06244004,-0.0371595 ,-0.10530391,
  0.07919699, 0.6600848 ,-0.01178094,-0.00406281, 0.75108772]

qacc:
[ 8.27844900e-02,-1.10816169e+01, 2.13164105e+01,-9.46885014e+00,
  8.12900558e-02,-1.24452306e+01, 2.69163811e+01,-1.62626503e+01,
 -1.44803268e-01,-4.53946680e-01,-7.52239862e+00, 3.11313488e+01,
 -5.04171747e-01, 4.52161547e-01, 1.68713328e+00,-2.17208990e-01,
  3.82271837e+00, 3.56044583e+00, 1.43230661e+00, 2.18463651e+02,
  1.79844143e+02,-9.54356410e+00]

qfrc_actuator:
[ 2.99331633e-03, 7.81777995e-02, 1.35525637e-02, 1.99872633e-03,
  2.75689975e-05, 5.41437667e-02, 1.07083510e-02, 1.97130823e-03,
 -3.01608078e-03, 4.09849886e-02, 1.07251037e-02, 1.93188775e-03,
  0.00000000e+00,-7.53471904e-04, 0.00000000e+00,-1.01838358e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007082033917306281
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30230188,  0.08761538, -0.94917708, -0.02658854,  0.99615438,
        0.08348355,  0.95284134,  0.        ,  0.3034689 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07265594, -0.04273654,  0.22444541])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003743826133907606
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.57540965e-14,  1.85342312e-15,  1.00000000e+00,  2.91990066e-29,
        1.00000000e+00, -1.85342312e-15, -1.00000000e+00,  0.00000000e+00,
       -1.57540965e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06793532, -0.12610186,  0.06166836])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.13254968e-05, 3.66139129e-02, 9.06724971e-03,-2.64279561e-05,
  2.29060970e-05,-1.03046603e-03,-1.94135041e-04,-2.96049341e-05,
 -4.17396028e-05,-3.90766945e-04,-9.06145658e-05, 8.59585923e-05,
  1.63733236e-03, 2.82883324e-03, 8.71612271e-03, 1.55523370e-03,
  1.68126467e-04,-1.03624612e-04,-4.90508403e+00, 6.38237896e-03,
  2.19682155e-03, 3.48183487e-05]


--- Step 2281 ---
qpos:
[-0.01506543, 1.28932262,-0.02565885, 0.94842311, 0.00436652, 1.31303882,
 -0.02944034, 0.94605338, 0.01672147, 1.33044889,-0.02371355, 0.95479319,
  1.38822294,-0.00237054, 1.19534474, 0.06242143,-0.03715637,-0.10527053,
  0.07918108, 0.66008835,-0.01245672,-0.00313144, 0.75107816]

qacc:
[-9.58321476e-02,-1.34423727e+01, 3.27193363e+01,-2.89867058e+01,
 -1.47379122e-02,-1.17259529e+01, 2.60707525e+01,-2.40061036e+01,
 -1.35927624e-01,-2.87417874e+00, 5.40365716e+00,-5.84248884e+00,
 -1.00439594e-01, 8.24988079e-02,-8.00739993e-01, 5.76509042e+00,
  3.37738478e+00, 3.13567346e+00, 1.58532965e-01, 1.93944381e+02,
  1.60349746e+02,-7.87855063e+00]

qfrc_actuator:
[ 2.92197400e-03, 7.80351420e-02, 1.36808665e-02, 1.98375751e-03,
  9.61981342e-06, 5.37018670e-02, 1.06915808e-02, 1.93881605e-03,
 -3.03070402e-03, 4.08516844e-02, 1.07012569e-02, 1.91670015e-03,
  0.00000000e+00,-7.56913087e-04, 0.00000000e+00,-1.00567617e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007142718398160108
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30229393,  0.08761492, -0.94917965, -0.0265877 ,  0.99615442,
        0.08348334,  0.95284389,  0.        ,  0.30346092])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07265292, -0.04273676,  0.22444904])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037389363475077014
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.41260113e-14,  7.42338811e-15,  1.00000000e+00, -1.79096746e-28,
        1.00000000e+00, -7.42338811e-15, -1.00000000e+00,  0.00000000e+00,
        2.41260113e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06793939, -0.12611007,  0.06166847])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.72354010e-04, 3.69193546e-02, 9.19930346e-03,-5.62428532e-05,
 -4.51483715e-06,-1.05383446e-03,-2.41779196e-04,-6.91943697e-05,
 -3.91779164e-05,-3.65453714e-04,-1.08082690e-04,-2.72286829e-05,
  1.66406498e-03, 2.82708338e-03, 8.58603550e-03, 1.53163524e-03,
 -2.24842006e-05, 7.15954808e-05,-4.90512304e+00, 6.38988534e-03,
  2.19783812e-03, 9.17769854e-05]


--- Step 2282 ---
qpos:
[-0.01506301, 1.28944111,-0.0257837 , 0.94842676, 0.00436666, 1.31342355,
 -0.02944065, 0.94605804, 0.01672178, 1.33057405,-0.02371584, 0.95479842,
  1.38826225,-0.00240803, 1.19533734, 0.06240401,-0.03716894,-0.10524957,
  0.07916563, 0.66011074,-0.01315107,-0.00281512, 0.7510479 ]

qacc:
[ 3.40684019e-01,-1.50099490e+01, 3.56103979e+01,-3.03134192e+01,
 -4.65099954e-02,-6.42368305e+00, 5.99471771e+00, 1.14421030e+01,
 -4.86137895e-02, 5.35927473e-01,-9.44985450e+00, 2.77013727e+01,
  9.58218144e-02,-4.14093080e-01, 6.54816323e+00,-8.18404395e+00,
 -3.92433067e+00,-3.10085425e+00, 1.15772363e-01,-2.37021406e+02,
 -1.95862213e+02,-1.77064957e+01]

qfrc_actuator:
[ 2.89640939e-03, 7.78498721e-02, 1.38253196e-02, 1.95566693e-03,
 -1.22644031e-06, 5.33023839e-02, 1.06458278e-02, 1.98921246e-03,
 -3.02170490e-03, 4.07044162e-02, 1.06701435e-02, 1.99502470e-03,
  0.00000000e+00,-7.61930144e-04, 0.00000000e+00,-1.20420261e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.26313955,  0.26186079,  0.02591046,  0.26186079,  0.26586663,
       -0.02756088,  0.02591046, -0.02756088,  0.54168016,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007199413727369229
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30229231,  0.08761446, -0.94918021, -0.02658742,  0.99615446,
        0.08348294,  0.95284441,  0.        ,  0.30345928])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07265019, -0.04273698,  0.22445244])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037124842975836264
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.99051238e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.99051238e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00031226, -0.08133253,  0.06167017])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.86654647e-04, 3.71141135e-02, 9.29482368e-03,-6.12822572e-05,
 -1.35427270e-05,-1.03478359e-03,-2.81900518e-04, 1.06674801e-05,
 -1.40455186e-05,-3.72167387e-04,-1.15700919e-04, 6.38830224e-05,
  1.67003947e-03, 2.82327357e-03, 8.51771720e-03, 1.28630235e-03,
  4.98511649e-05, 4.76311081e-04,-4.90526799e+00, 6.40479186e-03,
  2.18895578e-03, 2.29864832e-04]


--- Step 2283 ---
qpos:
[-0.01505964, 1.28955062,-0.025908  , 0.94842972, 0.00436653, 1.31379979,
 -0.02944118, 0.9460643 , 0.01672179, 1.33069663,-0.02371924, 0.95480489,
  1.38830135,-0.00244604, 1.19533649, 0.06238755,-0.03718111,-0.10524743,
  0.07917345, 0.66014403,-0.01346103,-0.00291006, 0.75101278]

qacc:
[ 4.07560083e-01,-1.44697540e+01, 3.43903139e+01,-3.22401620e+01,
 -1.11801025e-01,-7.81343238e+00, 8.72975218e+00, 1.63783237e+01,
 -1.33319455e-01, 1.72166617e+00,-1.22127032e+01, 2.65088807e+01,
 -1.18617157e-01,-2.54614888e-01, 6.77061150e+00,-9.61363317e+00,
  1.01043461e-01,-4.70959755e+00, 5.81658285e+00,-2.75094723e+01,
 -2.80036231e+02,-8.94434056e+00]

qfrc_actuator:
[ 2.89737918e-03, 7.77322114e-02, 1.39613846e-02, 1.91985925e-03,
 -2.54746984e-05, 5.28781860e-02, 1.06368247e-02, 2.07024836e-03,
 -3.05186798e-03, 4.05854906e-02, 1.06172687e-02, 2.05675857e-03,
  0.00000000e+00,-7.31892655e-04, 0.00000000e+00,-1.35256663e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007254420778804033
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30229839,  0.08761365, -0.94917834, -0.02658771,  0.99615453,
        0.08348201,  0.95284247,  0.        ,  0.30346536])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07264823, -0.04273726,  0.22445555])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00375276140519519
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.43762434e-14,  1.47920811e-14,  1.00000000e+00,  6.56416994e-28,
        1.00000000e+00, -1.47920811e-14, -1.00000000e+00,  0.00000000e+00,
       -4.43762434e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03537215, -0.08604705,  0.06166696])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.25563612e-04, 3.74448630e-02, 9.38525988e-03,-7.54671668e-05,
 -3.22556222e-05,-1.05433788e-03,-2.43631621e-04, 4.25444550e-05,
 -3.83862161e-05,-3.46298773e-04,-1.36966035e-04, 4.89881975e-05,
  1.66640902e-03, 2.87910222e-03, 8.17439307e-03, 1.07869079e-03,
  8.99429577e-07, 1.63135212e-05,-4.90513360e+00, 6.41089998e-03,
  2.19367889e-03, 9.83998987e-05]


--- Step 2284 ---
qpos:
[-0.01505754, 1.28965557,-0.02603024, 0.9484321 , 0.00436598, 1.3141681 ,
 -0.02944198, 0.94606973, 0.0167216 , 1.33081743,-0.02372364, 0.95481128,
  1.38833949,-0.00248359, 1.19533117, 0.06237148,-0.03717946,-0.10525749,
  0.07919066, 0.66016635,-0.01323731,-0.00304531, 0.7509966 ]

qacc:
[-5.40422511e-01,-1.25671158e+01, 3.49548027e+01,-3.42433058e+01,
 -1.77731251e-01,-1.11056141e+01, 2.53837616e+01,-2.67817944e+01,
 -7.89733835e-02, 2.50446969e-01,-3.46329202e+00, 3.21887580e+00,
 -7.84984120e-01, 9.79814060e-01,-7.72585585e+00, 1.75740949e+01,
  3.45561954e+00,-3.04703234e+00, 2.34615004e+00, 1.60978657e+02,
 -2.13853646e+02, 9.32693037e+00]

qfrc_actuator:
[ 2.87828899e-03, 7.76231935e-02, 1.40924103e-02, 1.91535740e-03,
 -5.75658857e-05, 5.25137738e-02, 1.06317652e-02, 2.02663719e-03,
 -3.05202485e-03, 4.05554233e-02, 1.05875654e-02, 2.05495952e-03,
  0.00000000e+00,-6.45091512e-04, 0.00000000e+00,-1.09827793e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007307478774110296
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3023125 ,  0.08761246, -0.94917396, -0.02658858,  0.99615464,
        0.08348048,  0.95283797,  0.        ,  0.30347949])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07264702, -0.04273756,  0.22445836])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.62240385, -0.49084494, -8.62240385,  8.82633607,
       -3.33714153, -0.49084494, -3.33714153, 67.25809876,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037598858485272807
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.47640523e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.47640523e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06097779, -0.08950996,  0.06166656])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.92371692e-04, 3.77837798e-02, 9.48861082e-03,-4.54657635e-05,
 -5.11099348e-05,-9.96854284e-04,-2.38207475e-04,-8.08374008e-05,
 -2.27388729e-05,-2.47709788e-04,-1.11589291e-04,-1.47505341e-05,
  1.67760810e-03, 2.99298156e-03, 7.84686072e-03, 1.28493382e-03,
  4.46992358e-05,-1.54892008e-05,-4.90502828e+00, 6.39681155e-03,
  2.19317191e-03, 1.38426592e-04]


--- Step 2285 ---
qpos:
[-0.01505715, 1.28975723,-0.0261501 , 0.94843426, 0.00436517, 1.31452893,
 -0.02944303, 0.94607317, 0.0167216 , 1.33093624,-0.0237282 , 0.95481966,
  1.38837693,-0.00252033, 1.19531817, 0.06235567,-0.03716543,-0.10527847,
  0.07921204, 0.66017858,-0.01253645,-0.00321665, 0.75099716]

qacc:
[-7.28482150e-01,-1.10990065e+01, 3.14164831e+01,-2.76551552e+01,
 -1.07924879e-01,-1.25434935e+01, 3.30970070e+01,-4.68939639e+01,
  7.74880282e-02, 1.21010971e+00,-1.10889767e+01, 3.36586703e+01,
 -6.73500940e-01, 1.13489203e+00,-1.20469862e+01, 2.57662950e+01,
  3.09462405e+00,-2.73019222e+00, 1.04473756e+00, 1.43897296e+02,
 -1.91197720e+02, 8.34175545e+00]

qfrc_actuator:
[ 2.86675600e-03, 7.75185394e-02, 1.42009287e-02, 1.91205551e-03,
 -5.85964840e-05, 5.21703120e-02, 1.06292159e-02, 1.92779597e-03,
 -3.01642779e-03, 4.04723710e-02, 1.05898574e-02, 2.15788321e-03,
  0.00000000e+00,-5.96020219e-04, 0.00000000e+00,-8.50751348e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007355278256521332
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02328981e-01,  8.76116172e-02, -9.49168790e-01, -2.65897764e-02,
        9.96154709e-01,  8.34792146e-02,  9.52832709e-01, -3.46944695e-18,
        3.03496012e-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([ 0.07264554, -0.04273773,  0.22446109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003728783908563918
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.37404991e-15,  2.97743997e-14,  1.00000000e+00,  2.49332309e-28,
        1.00000000e+00, -2.97743997e-14, -1.00000000e+00,  0.00000000e+00,
       -8.37404991e-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([-0.0610165 , -0.08948688,  0.06166912])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.40524596e-04, 3.79065342e-02, 9.49398093e-03,-1.96214607e-05,
 -3.11417294e-05,-9.46689252e-04,-2.27447091e-04,-1.37061417e-04,
  2.22472376e-05,-2.43095481e-04,-5.93191973e-05, 9.21479294e-05,
  1.72483834e-03, 3.01968661e-03, 8.07031475e-03, 1.51282947e-03,
 -2.97359438e-06, 6.71141088e-06,-4.90500860e+00, 6.38781277e-03,
  2.18983925e-03, 1.45867401e-04]


--- Step 2286 ---
qpos:
[-0.01505736, 1.28985411,-0.02626818, 0.94843584, 0.00436436, 1.31488212,
 -0.02944411, 0.94607507, 0.01672173, 1.33105186,-0.02373137, 0.95483026,
  1.38841419,-0.00255667, 1.19530161, 0.06234045,-0.03715104,-0.10531478,
  0.0792435 , 0.66019901,-0.01153437,-0.00371074, 0.75099298]

qacc:
[-2.53712073e-01,-1.20884939e+01, 3.30457679e+01,-3.24552116e+01,
 -1.64390326e-03,-1.25871135e+01, 3.21291672e+01,-4.09710218e+01,
  5.84949329e-02,-4.06229197e+00, 3.71861010e+00, 2.44657377e+01,
 -1.58258720e-01, 3.93825898e-01,-7.06710498e+00, 1.71227038e+01,
  8.89452738e-02,-3.83402626e+00, 2.51823383e+00,-2.17183779e+01,
 -2.19604620e+02,-7.14050073e+00]

qfrc_actuator:
[ 2.87845814e-03, 7.74348129e-02, 1.43125596e-02, 1.87382937e-03,
 -4.09870942e-05, 5.17888940e-02, 1.06282557e-02, 1.85054613e-03,
 -3.01293072e-03, 4.02696990e-02, 1.06464064e-02, 2.26835818e-03,
  0.00000000e+00,-5.87875990e-04, 0.00000000e+00,-7.84820654e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007396808428875024
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02346332e-01,  8.76112800e-02, -9.49163294e-01, -2.65911993e-02,
        9.96154739e-01,  8.34784075e-02,  9.52827164e-01, -3.46944695e-18,
        3.03513421e-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([ 0.0726435 , -0.04273777,  0.22446377])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0036746175360241815
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.51066473e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.51066473e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03537035, -0.08597909,  0.06167344])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.43405813e-04, 3.79868432e-02, 9.48694859e-03,-4.73166082e-05,
 -7.51520194e-07,-9.56420934e-04,-2.16464177e-04,-1.14969648e-04,
  1.66821463e-05,-3.46766285e-04, 4.91389104e-06, 1.03852819e-04,
  1.76059616e-03, 2.98784603e-03, 8.45499530e-03, 1.56643180e-03,
  3.03330011e-05,-4.44551355e-05,-4.90509714e+00, 6.39047268e-03,
  2.19410316e-03, 7.18013042e-05]


--- Step 2287 ---
qpos:
[-0.01505718, 1.28994423,-0.02638532, 0.94843614, 0.00436364, 1.31522799,
 -0.02944567, 0.94607638, 0.01672182, 1.33116459,-0.02373285, 0.95483966,
  1.38845154,-0.00259311, 1.19528686, 0.06232622,-0.03712416,-0.10534004,
  0.07927334, 0.66023164,-0.01052247,-0.00372121, 0.7509791 ]

qacc:
[ 1.63373460e-01,-1.36054854e+01, 3.63033638e+01,-4.21330675e+01,
  3.72489704e-02,-9.32449999e+00, 2.00270857e+01,-1.96066937e+01,
 -1.98720325e-02,-1.05010266e+01, 3.20933202e+01,-4.00190034e+01,
  9.53122320e-02,-1.53954011e-01,-2.85562930e-01, 4.87487642e+00,
  3.12371871e+00, 2.76386990e+00,-4.03918128e-01, 1.84895637e+02,
  1.56031292e+02,-5.02179111e+00]

qfrc_actuator:
[ 2.86816703e-03, 7.73486965e-02, 1.44257036e-02, 1.79735376e-03,
 -3.00942235e-05, 5.14410989e-02, 1.06103760e-02, 1.82211604e-03,
 -3.02872112e-03, 4.01392592e-02, 1.07340354e-02, 2.20479355e-03,
  0.00000000e+00,-5.86438089e-04, 0.00000000e+00,-8.63809981e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007433451887330564
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30236654,  0.08761109, -0.94915687, -0.02659292,  0.99615476,
        0.08347766,  0.9528207 ,  0.        ,  0.3035337 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07264128, -0.04273777,  0.22446635])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0036564420298168115
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.46703271e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.46703271e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06808202, -0.12620213,  0.06167525])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.23920197e-04, 3.81392260e-02, 9.51119463e-03,-9.46007637e-05,
  1.04141270e-05,-9.25307471e-04,-2.33379582e-04,-6.56197733e-05,
 -5.89397089e-06,-3.18946748e-04, 2.33960076e-05,-7.11055459e-05,
  1.76890312e-03, 2.97044032e-03, 8.63314120e-03, 1.45724267e-03,
 -2.40700671e-05, 5.36019711e-05,-4.90523137e+00, 6.38707234e-03,
  2.19891589e-03, 2.45641482e-05]


--- Step 2288 ---
qpos:
[-0.0150559 , 1.29002671,-0.02650226, 0.94843599, 0.00436317, 1.31556631,
 -0.02944691, 0.9460794 , 0.01672194, 1.3312745 ,-0.02373308, 0.95484547,
  1.38848892,-0.00262981, 1.19527693, 0.06231272,-0.037114  ,-0.10535253,
  0.07929682, 0.66023076,-0.01012122,-0.00369727, 0.75098551]

qacc:
[ 4.70848954e-01,-1.13793783e+01, 2.59140838e+01,-2.29191973e+01,
  1.07944894e-01,-7.83622804e+00, 1.00816836e+01, 1.58140828e+01,
  1.74544052e-02,-1.32054918e+01, 4.58067780e+01,-7.91982806e+01,
 -2.32899674e-02,-1.23901234e-01, 4.89149496e+00,-6.76757406e+00,
 -4.18110294e+00, 3.19187065e+00,-1.58775817e+00,-1.88807154e+02,
  2.40490073e+02, 2.06020591e+01]

qfrc_actuator:
[ 2.87944630e-03, 7.73005295e-02, 1.45398827e-02, 1.76987127e-03,
 -5.56829950e-06, 5.10807104e-02, 1.06360643e-02, 1.91140385e-03,
 -3.02044839e-03, 3.99821405e-02, 1.07861808e-02, 2.02160504e-03,
  0.00000000e+00,-5.70941449e-04, 0.00000000e+00,-1.01261349e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007466957823357503
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02392290e-01,  8.76107077e-02, -9.49148706e-01, -2.65950662e-02,
        9.96154789e-01,  8.34765749e-02,  9.52812471e-01, -3.46944695e-18,
        3.03559541e-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([ 0.07263936, -0.04273779,  0.22446872])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003739046774791699
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.48463377e-14,  2.96926755e-14,  1.00000000e+00,  4.40827488e-28,
        1.00000000e+00, -2.96926755e-14, -1.00000000e+00,  0.00000000e+00,
       -1.48463377e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00655116, -0.12876354,  0.06166955])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.31741100e-04, 3.84278647e-02, 9.57841611e-03,-5.79727344e-05,
  3.06193349e-05,-9.22456112e-04,-1.84193332e-04, 5.36683749e-05,
  4.85148304e-06,-3.31803745e-04,-9.67550985e-06,-1.93439738e-04,
  1.76479742e-03, 2.99142770e-03, 8.54276983e-03, 1.25961719e-03,
  1.90745151e-04,-1.78318608e-04,-4.90517652e+00, 6.37690588e-03,
  2.19919834e-03,-4.94618853e-05]


--- Step 2289 ---
qpos:
[-0.01505386, 1.29010328,-0.02661842, 0.94843774, 0.00436282, 1.31589783,
 -0.02944814, 0.94608308, 0.01672213, 1.33138139,-0.02373348, 0.95485087,
  1.38852602,-0.00266636, 1.19526953, 0.06229924,-0.03711868,-0.10535374,
  0.07931023, 0.66020079,-0.01026056,-0.00364252, 0.75101023]

qacc:
[ 3.27282465e-01,-6.58416556e+00, 8.24248939e+00, 1.85450077e+01,
  5.31877938e-02,-7.84744206e+00, 1.34810468e+01, 1.87079608e-01,
  2.74660946e-02,-4.25926327e+00, 9.94639456e+00,-1.15693294e+01,
 -4.56102026e-01, 5.82698793e-01, 3.73703753e+00,-7.55494982e+00,
 -3.71028863e+00, 2.81960434e+00,-2.52049458e+00,-1.66999296e+02,
  2.13007349e+02, 1.81242817e+01]

qfrc_actuator:
[ 2.90279443e-03, 7.72077241e-02, 1.46550406e-02, 1.87798097e-03,
 -8.56860362e-06, 5.07869417e-02, 1.06517890e-02, 1.94499023e-03,
 -3.01555928e-03, 3.97923352e-02, 1.07635617e-02, 2.00027466e-03,
  0.00000000e+00,-5.29059408e-04, 0.00000000e+00,-1.06143313e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007498296167321034
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30242514,  0.08760991, -0.94913831, -0.02659771,  0.99615486,
        0.08347489,  0.95280197,  0.        ,  0.30359249])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07263802, -0.04273785,  0.22447084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037625029629917983
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.95075655e-14,  1.47537827e-14,  1.00000000e+00,  4.35348210e-28,
        1.00000000e+00, -1.47537827e-14, -1.00000000e+00,  0.00000000e+00,
       -2.95075655e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00651505, -0.12874677,  0.06166816])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.63537034e-04, 3.87171088e-02, 9.68332355e-03, 7.26072205e-05,
  1.49847220e-05,-8.40991906e-04,-1.84491658e-04, 2.25347423e-06,
  7.80563204e-06,-3.81672023e-04,-9.42931599e-05,-3.57845018e-05,
  1.76351320e-03, 3.04678759e-03, 8.30208197e-03, 1.17409009e-03,
  3.84166161e-05,-2.92749552e-05,-4.90503245e+00, 6.38773942e-03,
  2.20250648e-03, 8.18261734e-05]


--- Step 2290 ---
qpos:
[-0.01505176, 1.2901755 ,-0.02673289, 0.94844093, 0.00436239, 1.31622321,
 -0.02945031, 0.94608644, 0.01672224, 1.33148641,-0.02373584, 0.95485769,
  1.38856293,-0.0027026 , 1.19526215, 0.06228583,-0.0371366 ,-0.10534494,
  0.07931032, 0.66014503,-0.01088108,-0.00356012, 0.75105091]

qacc:
[ 2.67436041e-02,-7.80199305e+00, 1.56316905e+01, 5.74898404e+00,
 -3.67565472e-02,-6.06543281e+00, 1.06961638e+01,-9.07630184e+00,
 -3.58182481e-02, 5.32158905e+00,-2.31735256e+01, 3.76601064e+01,
 -3.54405161e-01, 5.73138756e-01,-1.58907588e-01, 6.73029802e-01,
 -3.30838479e+00, 2.50449254e+00,-3.33064604e+00,-1.48555815e+02,
  1.89685522e+02, 1.59642393e+01]

qfrc_actuator:
[ 2.88002143e-03, 7.70716993e-02, 1.47701335e-02, 1.95875745e-03,
 -2.80569846e-05, 5.04999018e-02, 1.06084468e-02, 1.92777238e-03,
 -3.03049327e-03, 3.97440261e-02, 1.06792338e-02, 2.07433093e-03,
  0.00000000e+00,-5.07156353e-04, 0.00000000e+00,-1.03208036e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000752722090125401
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02462878e-01,  8.76088139e-02, -9.49126389e-01, -2.66006949e-02,
        9.96154956e-01,  8.34727938e-02,  9.52789909e-01,  3.46944695e-18,
        3.03630350e-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([ 0.07263699, -0.04273792,  0.22447278])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037344564110864398
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.97291735e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.97291735e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00657201, -0.12878193,  0.06167042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.24637522e-04, 3.88759731e-02, 9.75967980e-03, 5.82062015e-05,
 -1.07010101e-05,-7.90748548e-04,-2.29159408e-04,-4.73199084e-05,
 -1.02786464e-05,-2.79582668e-04,-1.70739823e-04, 5.93133247e-05,
  1.77713185e-03, 3.06181667e-03, 8.17569556e-03, 1.20291449e-03,
  4.51332063e-09,-2.32688187e-07,-4.90500041e+00, 6.38326694e-03,
  2.20027600e-03, 1.07254956e-04]


--- Step 2291 ---
qpos:
[-0.0150501 , 1.29024417,-0.02684516, 0.94844322, 0.0043621 , 1.31654189,
 -0.02945289, 0.94609098, 0.01672252, 1.33158964,-0.02373931, 0.95486357,
  1.38859941,-0.00273864, 1.19525282, 0.062273  ,-0.03716637,-0.10532719,
  0.07929427, 0.66006596,-0.01193235,-0.00345279, 0.75110494]

qacc:
[-1.91180061e-01,-1.21336587e+01, 3.57777415e+01,-3.90966588e+01,
  6.26025970e-02,-5.66876959e+00, 5.45827405e+00, 1.31454224e+01,
  7.14542516e-02,-9.91064302e-01, 2.30040399e+00,-1.17546640e+01,
 -3.22768703e-01, 3.98341554e-01,-4.60705327e+00, 1.19961871e+01,
 -2.96323042e+00, 2.23608866e+00,-4.03263041e+00,-1.32926839e+02,
  1.69868989e+02, 1.40713292e+01]

qfrc_actuator:
[ 2.88323196e-03, 7.69993139e-02, 1.49017201e-02, 1.91632526e-03,
 -4.01853043e-06, 5.01479535e-02, 1.05838745e-02, 1.98729762e-03,
 -3.00394054e-03, 3.96741531e-02, 1.06307646e-02, 2.02641803e-03,
  0.00000000e+00,-4.61944906e-04, 0.00000000e+00,-9.38137664e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007553461744853295
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02503159e-01,  8.76076697e-02, -9.49113657e-01, -2.66038873e-02,
        9.96155056e-01,  8.34705755e-02,  9.52777031e-01, -3.46944695e-18,
        3.03670756e-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([ 0.07263603, -0.042738  ,  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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0036649072179040718
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.5146673e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.5146673e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00670261, -0.12885817,  0.06167557])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.24519814e-04, 3.90207688e-02, 9.80706002e-03,-5.60010088e-05,
  1.77097445e-05,-8.38040037e-04,-2.07090067e-04, 2.84598019e-05,
  2.05414336e-05,-2.56785986e-04,-1.20842345e-04,-5.96581912e-05,
  1.78695196e-03, 3.09270849e-03, 8.17475117e-03, 1.29326298e-03,
  4.17248516e-05,-5.54933966e-05,-4.90504761e+00, 6.36858047e-03,
  2.19394147e-03, 5.95511108e-05]


--- Step 2292 ---
qpos:
[-0.01504924, 1.29030985,-0.02695498, 0.94844424, 0.00436202, 1.31685333,
 -0.02945519, 0.94609518, 0.01672317, 1.33169044,-0.02374185, 0.9548712 ,
  1.38863523,-0.00277438, 1.19524063, 0.06226087,-0.03718495,-0.10529699,
  0.07928034, 0.66001254,-0.01295812,-0.00280519, 0.75113758]

qacc:
[-3.35055451e-01,-1.27313738e+01, 3.93865811e+01,-4.71044064e+01,
  8.77130719e-02,-1.08513235e+01, 2.46108393e+01,-2.06927557e+01,
  1.58977477e-01,-2.68037807e+00, 1.37259890e+00, 2.04880407e+01,
 -5.25842937e-01, 6.45022083e-01,-6.29266423e+00, 1.59481249e+01,
  2.79502241e+00, 3.11223393e+00, 5.28151999e-01, 2.11439373e+02,
  1.68906761e+02,-1.35217571e+01]

qfrc_actuator:
[ 2.88476660e-03, 7.69482889e-02, 1.50420068e-02, 1.85497397e-03,
  1.04319886e-05, 4.97600715e-02, 1.05881614e-02, 1.96723081e-03,
 -2.97046750e-03, 3.95742567e-02, 1.06924964e-02, 2.12015225e-03,
  0.00000000e+00,-4.02767728e-04, 0.00000000e+00,-8.23732170e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007576643740384234
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30254471,  0.08760664, -0.94910051, -0.02660723,  0.99615515,
        0.08346843,  0.95276375,  0.        ,  0.30371244])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07263499, -0.04273801,  0.22447635])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.0441779 ,  3.1429252 , -8.0441779 ,  8.03557727,
       -1.53768611,  3.1429252 , -1.53768611,  4.70072411,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003617140190350834
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04896151e-01, -5.24480757e-02,  9.93099188e-01, -5.50918384e-03,
        9.98623653e-01,  5.21579288e-02, -9.94467921e-01,  8.67361738e-19,
       -1.05040724e-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([-0.06819158, -0.12631195,  0.06168077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.00521051e-04, 3.91463767e-02, 9.83704616e-03,-7.30293421e-05,
  2.48430993e-05,-8.93483194e-04,-1.82733025e-04,-5.01525990e-05,
  4.56440441e-05,-2.67971240e-04,-3.99872728e-06, 8.13497997e-05,
  1.80809632e-03, 3.14260508e-03, 8.27218853e-03, 1.37862183e-03,
  1.39878091e-04,-1.69878413e-04,-4.90515025e+00, 6.34733865e-03,
  2.18456587e-03,-3.80658995e-05]


--- Step 2293 ---
qpos:
[-0.01504913, 1.29037288,-0.02706245, 0.94844587, 0.00436198, 1.3171579 ,
 -0.02945724, 0.94609875, 0.01672391, 1.33178909,-0.02374313, 0.95487985,
  1.38867065,-0.00280953, 1.19522549, 0.06224901,-0.03720184,-0.10528507,
  0.07929078, 0.65997457,-0.0135892 ,-0.00259115, 0.75116056]

qacc:
[-3.22083307e-01,-8.80163365e+00, 2.32606213e+01,-1.14656078e+01,
  1.98221672e-02,-1.07786514e+01, 2.55648963e+01,-2.52493749e+01,
  3.88782214e-02,-4.48224013e+00, 9.14241556e+00, 5.20212668e+00,
 -5.40152293e-01, 9.21911892e-01,-5.14397298e+00, 1.17817774e+01,
  4.24758970e-01,-4.56917473e+00, 6.09510833e+00,-3.24999300e+01,
 -2.91227761e+02,-1.23480135e+01]

qfrc_actuator:
[ 2.86806036e-03, 7.68754486e-02, 1.51686420e-02, 1.88953450e-03,
  1.25989145e-06, 4.94426146e-02, 1.06092332e-02, 1.93595887e-03,
 -2.98637350e-03, 3.94932069e-02, 1.07655002e-02, 2.17229055e-03,
  0.00000000e+00,-3.70902695e-04, 0.00000000e+00,-7.32899652e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007596662608168499
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02586783e-01,  8.76058499e-02, -9.49087169e-01, -2.66106846e-02,
        9.96155216e-01,  8.34664987e-02,  9.52750288e-01, -3.46944695e-18,
        3.03754654e-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([ 0.07263379, -0.04273795,  0.22447803])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003633213572334551
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.24140267e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.24140267e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03539513, -0.08597231,  0.0616775 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.77896196e-04, 3.92230678e-02, 9.84158799e-03, 2.54756513e-05,
  5.41845440e-06,-8.51266281e-04,-1.76314700e-04,-6.41395544e-05,
  1.10720340e-05,-2.28289874e-04, 2.24994933e-05, 4.61232655e-05,
  1.84122998e-03, 3.15985803e-03, 8.41579646e-03, 1.43479987e-03,
 -5.89672477e-05, 1.65008651e-04,-4.90523991e+00, 6.35729224e-03,
  2.18954011e-03, 7.35791304e-05]


--- Step 2294 ---
qpos:
[-0.01504951, 1.29043358,-0.0271678 , 0.94844823, 0.00436178, 1.31745628,
 -0.02945961, 0.94610119, 0.01672447, 1.33188639,-0.02374425, 0.95488664,
  1.38870579,-0.00284406, 1.19520608, 0.06223731,-0.0372056 ,-0.10528597,
  0.07931462, 0.659935  ,-0.01368715,-0.00249037, 0.75119389]

qacc:
[-2.12502958e-01,-7.48666555e+00, 1.92582668e+01,-6.83440823e+00,
 -6.94801473e-02,-9.18232062e+00, 2.24440661e+01,-2.85343618e+01,
 -7.29666400e-02,-5.41536239e+00, 1.92814407e+01,-3.74357953e+01,
 -3.92672745e-01, 7.99272489e-01,-6.74614111e+00, 1.45103968e+01,
  3.28353326e+00,-3.20619837e+00, 3.34709914e+00, 1.33390110e+02,
 -2.37683626e+02, 2.55709013e+00]

qfrc_actuator:
[ 2.91170437e-03, 7.68081280e-02, 1.52684431e-02, 1.92700650e-03,
 -2.20079730e-05, 4.91699483e-02, 1.06047997e-02, 1.88064829e-03,
 -3.01402054e-03, 3.94419169e-02, 1.07735500e-02, 2.07522992e-03,
  0.00000000e+00,-3.38077683e-04, 0.00000000e+00,-6.02815540e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007613567573075374
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30262914,  0.08760528, -0.94907372, -0.02661423,  0.99615527,
        0.08346477,  0.95273674,  0.        ,  0.30379716])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07263238, -0.04273784,  0.22447966])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.9025188 ,  3.48381595, -7.9025188 , 15.93193441,
       16.5489182 ,  3.48381595, 16.5489182 , 46.17512547,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0036481132600276888
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.97012165e-07,  1.97012179e-07,  1.00000000e+00,  3.88137959e-14,
        1.00000000e+00, -1.97012179e-07, -1.00000000e+00,  0.00000000e+00,
       -1.97012165e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05607854, -0.08879104,  0.06167654])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.64522057e-05, 3.92881470e-02, 9.82363092e-03, 3.24056009e-05,
 -2.01101800e-05,-7.82235037e-04,-1.93235600e-04,-8.70595835e-05,
 -2.10648984e-05,-1.72441860e-04,-3.27220518e-05,-1.01944367e-04,
  1.86166915e-03, 3.16391212e-03, 8.56328390e-03, 1.55101437e-03,
  6.26822998e-06,-1.87723164e-05,-4.90506696e+00, 6.37813127e-03,
  2.18639802e-03, 1.05851630e-04]


--- Step 2295 ---
qpos:
[-0.01504908, 1.29049026,-0.02727137, 0.94845049, 0.00436151, 1.31774844,
 -0.02946177, 0.9461026 , 0.0167248 , 1.33198288,-0.02374669, 0.95489258,
  1.38874064,-0.00287865, 1.19518814, 0.06222632,-0.03720819,-0.10530239,
  0.07935162, 0.6599079 ,-0.01346329,-0.0027415 , 0.75122087]

qacc:
[ 3.51097336e-01,-1.02898871e+01, 2.73772402e+01,-2.22931044e+01,
 -2.67522941e-02,-1.05008291e+01, 2.65311892e+01,-3.11836828e+01,
 -1.01138485e-01, 1.05336695e+00,-3.00274747e+00,-6.58345934e+00,
 -2.15179608e-01, 1.41284437e-01, 7.10488651e-02, 2.93649618e+00,
  2.92174161e-01,-3.87858396e+00, 3.29257234e+00,-2.59096749e+01,
 -2.36924708e+02,-9.58840226e+00]

qfrc_actuator:
[ 2.99160409e-03, 7.67626008e-02, 1.54047089e-02, 1.91260552e-03,
 -1.80361113e-05, 4.88729535e-02, 1.06210280e-02, 1.82940210e-03,
 -3.03073239e-03, 3.94085425e-02, 1.07077272e-02, 2.03315496e-03,
  0.00000000e+00,-3.04944787e-04, 0.00000000e+00,-6.79954045e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007626761681967312
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02671694e-01,  8.76048568e-02, -9.49060185e-01, -2.66178479e-02,
        9.96155304e-01,  8.34631721e-02,  9.52723116e-01, -3.46944695e-18,
        3.03839866e-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([ 0.07263066, -0.0427377 ,  0.22448125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.62571138,  0.42881232, -8.62571138,  8.71480037,
        1.57778262,  0.42881232,  1.57778262, 40.37401875,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003630572889966696
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.52899151e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.52899151e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03540704, -0.08597866,  0.06167818])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.39482804e-06, 3.93583806e-02, 9.85463887e-03,-1.84397127e-05,
 -7.89708255e-06,-7.72329064e-04,-1.61663965e-04,-8.19645509e-05,
 -2.90877068e-05,-1.38811846e-04,-1.06298899e-04,-5.03701850e-05,
  1.87547840e-03, 3.16663106e-03, 8.77725841e-03, 1.46614679e-03,
 -6.06273099e-08, 6.18203274e-06,-4.90499934e+00, 6.38672566e-03,
  2.18736875e-03, 1.58624166e-04]


--- Step 2296 ---
qpos:
[-0.01504748, 1.29054191,-0.02737362, 0.94845199, 0.00436137, 1.3180346 ,
 -0.02946358, 0.9461037 , 0.01672491, 1.33207828,-0.02375044, 0.95489801,
  1.38877528,-0.00291355, 1.19517445, 0.06221619,-0.03719878,-0.10532817,
  0.07938922, 0.65987649,-0.0127966 ,-0.00303295, 0.75125899]

qacc:
[ 4.98729629e-01,-1.14616822e+01, 3.09718215e+01,-3.25425740e+01,
  5.52656675e-02,-9.34895913e+00, 2.16035544e+01,-1.84419811e+01,
 -9.42868955e-02, 1.20412692e+00,-4.62360244e+00,-1.30844523e+00,
 -1.36241277e-01,-9.73954371e-02, 3.64028991e+00,-3.58503344e+00,
  2.99914274e+00,-2.34231958e+00, 1.47621515e-01, 1.30954745e+02,
 -1.79722113e+02, 4.41193905e+00]

qfrc_actuator:
[ 3.00337291e-03, 7.66795213e-02, 1.55268157e-02, 1.86760915e-03,
  2.24506905e-06, 4.85993779e-02, 1.06492614e-02, 1.81647209e-03,
 -3.04074826e-03, 3.93326434e-02, 1.06344906e-02, 2.00603619e-03,
  0.00000000e+00,-2.88944431e-04, 0.00000000e+00,-7.93267817e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007638525455867518
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02716375e-01,  8.76041593e-02, -9.49045999e-01, -2.66215637e-02,
        9.96155365e-01,  8.34612549e-02,  9.52708816e-01,  3.46944695e-18,
        3.03884700e-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([ 0.07262914, -0.04273754,  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, -6.93951302,  5.14100534, -6.93951302, 37.58466851,
       39.07545809,  5.14100534, 39.07545809, 61.38181563,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00358022434511851
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.75246826e-15,  1.55049365e-14,  1.00000000e+00,  1.20201528e-28,
        1.00000000e+00, -1.55049365e-14, -1.00000000e+00,  0.00000000e+00,
       -7.75246826e-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([-0.06125764, -0.08944022,  0.06168247])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.09365324e-05, 3.94761282e-02, 9.88699556e-03,-5.89076376e-05,
  1.56025960e-05,-7.37053997e-04,-1.43973186e-04,-4.23180742e-05,
 -2.71246112e-05,-1.75574233e-04,-1.13996158e-04,-3.53741212e-05,
  1.88966597e-03, 3.18643640e-03, 8.70420014e-03, 1.31799293e-03,
  3.52454091e-06, 3.44609803e-05,-4.90503032e+00, 6.39948550e-03,
  2.18797929e-03, 1.58477644e-04]


--- Step 2297 ---
qpos:
[-0.01504588, 1.29058917,-0.02747548, 0.94845362, 0.00436141, 1.31831425,
 -0.02946456, 0.94610501, 0.01672499, 1.33217184,-0.02375359, 0.95490096,
  1.38880924,-0.00294807, 1.19516118, 0.06220623,-0.03718852,-0.10536779,
  0.07943252, 0.65985449,-0.01185452,-0.00362384, 0.75129114]

qacc:
[ 1.26308059e-03,-6.57587793e+00, 1.42297830e+01,-8.07332277e+00,
  7.52876367e-02,-1.04337957e+01, 2.32839486e+01,-1.36640871e+01,
 -1.39516652e-02,-8.30748679e+00, 2.91704199e+01,-5.26570640e+01,
 -8.03341746e-01, 1.04093938e+00, 1.91215204e-01, 3.66714150e-01,
  2.11083450e-01,-3.45685558e+00, 1.42585119e+00,-2.15680283e+01,
 -2.02185378e+02,-7.83311094e+00]

qfrc_actuator:
[ 2.97358858e-03, 7.65765261e-02, 1.55691801e-02, 1.87597375e-03,
  1.43917404e-05, 4.82533568e-02, 1.06844642e-02, 1.82620613e-03,
 -3.02891468e-03, 3.92318554e-02, 1.06638483e-02, 1.88139193e-03,
  0.00000000e+00,-2.11936268e-04, 0.00000000e+00,-7.68970716e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007649766056006431
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3027646 ,  0.08760306, -0.94903072, -0.02662547,  0.99615546,
        0.08345886,  0.95269338,  0.        ,  0.30393308])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07262809, -0.0427374 ,  0.22448404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.61974324, -0.53554019, -8.61974324,  8.88044916,
       -3.92865862, -0.53554019, -3.92865862, 71.86976708,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0035115869338937303
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.58079957e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.58079957e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03541168, -0.08587454,  0.06168812])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.09119934e-04, 3.96243373e-02, 9.86372623e-03,-1.24707579e-05,
  2.13055306e-05,-7.85288778e-04,-1.26922768e-04,-1.71670282e-05,
 -4.11928454e-06,-2.21842330e-04,-1.90149811e-05,-1.33868924e-04,
  1.90070539e-03, 3.27985834e-03, 8.49171002e-03, 1.29852567e-03,
  5.41310840e-06, 1.10843930e-05,-4.90512823e+00, 6.41440426e-03,
  2.19595992e-03, 9.55600157e-05]


--- Step 2298 ---
qpos:
[-0.01504464, 1.29063331,-0.02757671, 0.94845625, 0.00436161, 1.31858716,
 -0.02946464, 0.94610611, 0.0167251 , 1.33226304,-0.02375524, 0.9549017 ,
  1.38884278,-0.0029819 , 1.19514618, 0.06219611,-0.03716932,-0.10539778,
  0.07947188, 0.65985056,-0.01089553,-0.00374055, 0.75130855]

qacc:
[-1.53578486e-01,-4.08963116e+00, 6.37338157e+00, 7.92612301e+00,
  6.96610842e-02,-1.16241108e+01, 2.76869487e+01,-2.22603165e+01,
  1.69005077e-02,-1.09453523e+01, 3.63740060e+01,-5.54623013e+01,
 -7.08965551e-01, 1.18954772e+00,-1.98715915e+00, 3.40151013e+00,
  2.23776742e+00, 2.40456239e+00,-9.85927452e-01, 1.83785424e+02,
  1.50211529e+02,-8.87483439e+00]

qfrc_actuator:
[ 2.95507626e-03, 7.65517139e-02, 1.56351126e-02, 1.93351808e-03,
  2.15592450e-05, 4.79022858e-02, 1.07232302e-02, 1.81364319e-03,
 -3.02182381e-03, 3.90995490e-02, 1.07356136e-02, 1.77140320e-03,
  0.00000000e+00,-1.69908823e-04, 0.00000000e+00,-7.14999106e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000765838329431702
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30281664,  0.08760192, -0.94901422, -0.0266297 ,  0.99615556,
        0.08345631,  0.95267673,  0.        ,  0.30398529])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07262717, -0.04273723,  0.22448523])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0034891410424312775
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.10121237, -0.05060619,  0.99357691, -0.00512854,  0.99871869,
        0.05034565, -0.99485162,  0.        , -0.10134222])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06841729, -0.12650958,  0.06169209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.27744354e-04, 3.98186371e-02, 9.91046409e-03, 3.84125111e-05,
  1.96829078e-05,-8.12878818e-04,-1.30105858e-04,-3.98338558e-05,
  4.70873356e-06,-2.63306794e-04, 2.22666728e-05,-1.20102656e-04,
  1.93430497e-03, 3.30325150e-03, 8.47124910e-03, 1.34456609e-03,
 -3.00829728e-05, 1.41870974e-04,-4.90527189e+00, 6.42390611e-03,
  2.19971466e-03, 6.71500400e-05]


--- Step 2299 ---
qpos:
[-0.01504239, 1.29067257,-0.02767734, 0.94845867, 0.00436179, 1.31885417,
 -0.0294648 , 0.94610634, 0.01672527, 1.33235203,-0.02375581, 0.95490286,
  1.38887671,-0.00301589, 1.19513673, 0.06218654,-0.03716553,-0.10541601,
  0.07950229, 0.65981507,-0.01050676,-0.00382542, 0.75134482]

qacc:
[ 4.32200100e-01,-8.42593585e+00, 2.01553272e+01,-1.68385270e+01,
 -6.49227258e-03,-9.02790492e+00, 2.18490969e+01,-2.52411274e+01,
  2.47527465e-02,-5.10567493e+00, 1.23298121e+01,-4.57868656e+00,
  1.40068755e-01,-1.54574559e-01, 6.50202088e+00,-1.08630694e+01,
 -3.85448613e+00, 2.94183344e+00,-2.23509966e+00,-1.76307024e+02,
  2.24547898e+02, 1.93221438e+01]

qfrc_actuator:
[ 2.92593657e-03, 7.65387914e-02, 1.57502921e-02, 1.91313923e-03,
  7.92964260e-06, 4.76397732e-02, 1.07282314e-02, 1.77028987e-03,
 -3.01763753e-03, 3.90028616e-02, 1.07961893e-02, 1.79519589e-03,
  0.00000000e+00,-2.02578534e-04, 0.00000000e+00,-9.27006444e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007663936881186217
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30287104,  0.08760085, -0.94899696, -0.02663415,  0.99615566,
        0.08345377,  0.95265931,  0.        ,  0.30403988])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07262615, -0.04273705,  0.22448634])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  6.75098028, -5.38618994,  6.75098028, 38.26153125,
       37.13179903, -5.38618994, 37.13179903, 55.17687665,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003496850768371265
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.93730629e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.93730629e-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([ 0.00706926, -0.12908492,  0.06169036])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.38855090e-04, 3.99613676e-02, 9.99421103e-03,-3.17546221e-05,
 -2.06998219e-06,-7.40833677e-04,-1.70284522e-04,-7.20785509e-05,
  7.01008717e-06,-2.42134491e-04, 8.07210305e-06, 1.39742914e-05,
  1.95528494e-03, 3.23711086e-03, 8.55749973e-03, 1.14076663e-03,
  1.16346013e-04,-1.24498269e-04,-4.90519057e+00, 6.40033164e-03,
  2.20570853e-03,-2.16317756e-05]


--- Step 2300 ---
qpos:
[-0.01503944, 1.29070778,-0.02777691, 0.94846003, 0.00436205, 1.31911605,
 -0.0294656 , 0.94610671, 0.01672549, 1.33243947,-0.02375556, 0.95490391,
  1.38891077,-0.00305009, 1.19513176, 0.0621776 ,-0.03717554,-0.10542377,
  0.07952047, 0.65975204,-0.0106253 ,-0.00388176, 0.75139822]

qacc:
[ 2.98176047e-01,-9.94859131e+00, 2.81990817e+01,-3.41060160e+01,
  2.93695470e-02,-4.77078736e+00, 7.14997926e+00,-1.40144221e+00,
  2.31913842e-02,-4.42943937e+00, 1.22025855e+01,-1.08983880e+01,
  3.80156780e-02,-1.36079860e-01, 4.73218626e+00,-6.93667332e+00,
 -3.44869173e+00, 2.61731499e+00,-3.05927276e+00,-1.56759879e+02,
  1.99856264e+02, 1.71138170e+01]

qfrc_actuator:
[ 2.90694462e-03, 7.65360265e-02, 1.58770378e-02, 1.86456496e-03,
  1.74409692e-05, 4.74322680e-02, 1.07135901e-02, 1.78020822e-03,
 -3.01522839e-03, 3.89638333e-02, 1.08498668e-02, 1.79100799e-03,
  0.00000000e+00,-1.90737866e-04, 0.00000000e+00,-1.01521096e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007669584033632264
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02929538e-01,  8.75994309e-02, -9.48978416e-01, -2.66388607e-02,
        9.96155781e-01,  8.34507723e-02,  9.52640576e-01, -3.46944695e-18,
        3.04098559e-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([ 0.07262569, -0.04273696,  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,   1.75939455,   8.45525326,   1.75939455,
        79.89753782, -14.8282396 ,   8.45525326, -14.8282396 ,
        11.72186836,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0035090583901513234
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.16387732e-14,  3.16387732e-14,  1.00000000e+00,  1.00101197e-27,
        1.00000000e+00, -3.16387732e-14, -1.00000000e+00,  0.00000000e+00,
       -3.16387732e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00705447, -0.12907991,  0.06168987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.08457101e-04, 4.02031519e-02, 1.00906837e-02,-6.99425088e-05,
  8.26470175e-06,-6.54755939e-04,-1.81347700e-04,-1.85825714e-05,
  6.58986980e-06,-1.71549638e-04, 7.62131058e-06,-1.06748578e-05,
  1.93623612e-03, 3.25743663e-03, 8.28050800e-03, 1.02490210e-03,
  1.62416290e-05,-1.20009724e-05,-4.90504449e+00, 6.39892333e-03,
  2.20382831e-03, 9.05264113e-05]


--- Step 2301 ---
qpos:
[-0.01503863, 1.29074428,-0.02787363, 0.94846023, 0.00436238, 1.31937322,
 -0.02946746, 0.94610822, 0.01672576, 1.33252543,-0.02375557, 0.9549053 ,
  1.38894419,-0.0030833 , 1.19511749, 0.06216872,-0.03719795,-0.10542216,
  0.07952355, 0.65966448,-0.0111979 ,-0.00391244, 0.75146662]

qacc:
[-9.11256028e-01,-8.02315032e+00, 3.05981972e+01,-4.08782925e+01,
  3.67064048e-02,-1.35485420e+00,-5.37688154e+00, 2.08448229e+01,
  1.83920218e-02,-6.88311490e-01,-7.53110974e-01, 5.43696725e+00,
 -6.53708330e-01, 1.24407249e+00,-1.38786416e+01, 2.87017171e+01,
 -3.10120131e+00, 2.34199124e+00,-3.77402479e+00,-1.40239934e+02,
  1.78925143e+02, 1.51849180e+01]

qfrc_actuator:
[ 2.87619817e-03, 7.65049520e-02, 1.59745300e-02, 1.83550584e-03,
  2.30059110e-05, 4.72238461e-02, 1.06700062e-02, 1.83918788e-03,
 -3.01390508e-03, 3.88708719e-02, 1.08282318e-02, 1.80589538e-03,
  0.00000000e+00,-1.16574701e-04, 0.00000000e+00,-6.03361773e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007675380553158681
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30299088,  0.08759776, -0.94895899, -0.02664374,  0.99615593,
        0.08344746,  0.95262093,  0.        ,  0.30416009])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07262568, -0.04273694,  0.22448807])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   1.14709625,   8.55984504,   1.14709625,
        86.65008134, -10.45454005,   8.55984504, -10.45454005,
        10.03736606,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003475688677147565
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.19425336e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.19425336e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00712274, -0.12912111,  0.06169261])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.74097605e-04, 4.03738192e-02, 1.01356468e-02,-4.64485281e-05,
  1.04075357e-05,-6.08574005e-04,-1.93139399e-04, 3.39675833e-05,
  5.25789346e-06,-1.87258937e-04,-5.46786410e-05, 9.90339820e-06,
  1.92969893e-03, 3.34252076e-03, 8.05643693e-03, 1.40560195e-03,
  1.19995993e-05,-2.32935405e-06,-4.90499821e+00, 6.38532162e-03,
  2.19753281e-03, 1.10878079e-04]


--- Step 2302 ---
qpos:
[-0.01503861, 1.29077905,-0.0279688 , 0.94846144, 0.00436265, 1.31962584,
 -0.02947035, 0.94611214, 0.0167262 , 1.33260923,-0.02375633, 0.95490625,
  1.388977  ,-0.00311579, 1.19510229, 0.06215987,-0.03723157,-0.10541213,
  0.07950906, 0.65955463,-0.01217939,-0.00391993, 0.75154773]

qacc:
[-3.38384389e-01,-4.69283323e+00, 1.04793942e+01, 3.77242774e+00,
 -2.92811223e-02, 9.03177534e-01,-1.51052225e+01, 4.39032046e+01,
  7.50495421e-02,-1.52930377e+00, 2.41698657e+00,-5.70649638e+00,
 -9.12856169e-01, 1.40459899e+00,-1.37648081e+00, 3.00735733e+00,
 -2.80173792e+00, 2.10693165e+00,-4.39274885e+00,-1.26255583e+02,
  1.61162942e+02, 1.34917353e+01]

qfrc_actuator:
[ 2.87646024e-03, 7.64531808e-02, 1.60522455e-02, 1.87195266e-03,
  8.40543944e-06, 4.70164993e-02, 1.06274869e-02, 1.96204939e-03,
 -2.99549140e-03, 3.86928248e-02, 1.07621397e-02, 1.77856683e-03,
  0.00000000e+00,-4.16311730e-05, 0.00000000e+00,-6.72286297e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007677065005407546
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03048257e-01,  8.75967838e-02, -9.48940755e-01, -2.66484891e-02,
        9.96156014e-01,  8.34449194e-02,  9.52602547e-01, -3.46944695e-18,
        3.04217666e-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([ 0.07262486, -0.0427368 ,  0.22448896])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0034056650282542067
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.25993019e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.25993019e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00725662, -0.12919876,  0.06169792])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.66980043e-04, 4.02574758e-02, 1.00706541e-02, 4.84490613e-05,
 -8.49405789e-06,-5.82641358e-04,-1.82834810e-04, 1.00100870e-04,
  2.15609334e-05,-2.92577605e-04,-1.08679031e-04,-3.41236828e-05,
  1.96144646e-03, 3.36883418e-03, 8.52199824e-03, 1.33354104e-03,
  7.57615415e-05,-6.56636419e-05,-4.90502376e+00, 6.36361455e-03,
  2.18795140e-03, 6.69035141e-05]


--- Step 2303 ---
qpos:
[-0.01503818, 1.29081127,-0.02806254, 0.94846282, 0.00436266, 1.31987299,
 -0.02947163, 0.94611642, 0.01672684, 1.33269109,-0.02375847, 0.95490516,
  1.38900957,-0.00314813, 1.19508912, 0.06215139,-0.03725307,-0.10538856,
  0.07949646, 0.65947374,-0.01313199,-0.00339834, 0.7516052 ]

qacc:
[ 1.72892019e-01,-6.94844158e+00, 1.83019672e+01,-1.23895187e+01,
 -1.09352783e-01,-1.08845223e+01, 2.61206370e+01,-1.50956614e+01,
  8.17994659e-02,-2.35918203e+00, 8.74282461e+00,-2.99633183e+01,
 -3.87820587e-01, 5.13185335e-01, 1.91740640e+00,-2.26456348e+00,
  3.03017308e+00, 3.38110747e+00, 4.71149647e-01, 2.08475120e+02,
  1.63828857e+02,-1.55070803e+01]

qfrc_actuator:
[ 2.93034454e-03, 7.64092546e-02, 1.61537741e-02, 1.87497287e-03,
 -1.81732973e-05, 4.67405167e-02, 1.07102575e-02, 1.97949187e-03,
 -2.98472716e-03, 3.85892858e-02, 1.06877437e-02, 1.67328228e-03,
  0.00000000e+00,-1.96000859e-05, 0.00000000e+00,-7.45623697e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000767723324448924
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03105820e-01,  8.75960447e-02, -9.48922439e-01, -2.66533243e-02,
        9.96156079e-01,  8.34425992e-02,  9.52584097e-01,  3.46944695e-18,
        3.04275431e-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([ 0.07262399, -0.04273664,  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([ 8.63636364, -8.21263655,  2.67196141, -8.21263655,  8.2203079 ,
       -1.27880386,  2.67196141, -1.27880386,  4.70578618,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00344147263044626
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.09293561, -0.0464678 ,  0.99458721, -0.00432318,  0.99891979,
        0.04626626, -0.99566274,  0.        , -0.0930361 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06851143, -0.12663459,  0.06169645])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.33937463e-05, 4.03002796e-02, 1.00952922e-02, 5.27262783e-07,
 -3.16034888e-05,-6.32891671e-04,-4.93510698e-05,-2.70890297e-06,
  2.35261902e-05,-2.88144595e-04,-1.44973443e-04,-1.17809154e-04,
  1.99204625e-03, 3.35580954e-03, 8.56849486e-03, 1.25882348e-03,
  1.87963089e-04,-1.80921683e-04,-4.90510068e+00, 6.33673888e-03,
  2.17592101e-03,-2.18251507e-05]


--- Step 2304 ---
qpos:
[-0.01503756, 1.2908428 ,-0.02815325, 0.948465  , 0.00436253, 1.32011489,
 -0.02947153, 0.94611915, 0.01672764, 1.33277121,-0.02376118, 0.95490379,
  1.38904183,-0.00318027, 1.1950766 , 0.06214329,-0.0372578 ,-0.10537653,
  0.07949701, 0.65939386,-0.01349518,-0.00294055, 0.75167079]

qacc:
[ 8.65371558e-02,-7.66386023e+00, 2.22543827e+01,-9.47801980e+00,
 -5.73059614e-02,-1.32855905e+01, 3.81771326e+01,-4.77569559e+01,
  6.96280076e-02,-1.23070688e+00, 1.82389282e+00,-3.68666072e+00,
 -3.79915404e-01, 5.00663829e-01,-1.64922889e-01, 2.02830277e+00,
  4.19143627e+00,-2.88083477e+00, 3.28923861e+00, 1.70388340e+02,
 -2.42591170e+02, 8.75993536e-01]

qfrc_actuator:
[ 2.96226354e-03, 7.63537834e-02, 1.63223316e-02, 1.92939505e-03,
 -1.62160749e-05, 4.64793409e-02, 1.07772244e-02, 1.89926943e-03,
 -2.97863946e-03, 3.85488419e-02, 1.06802932e-02, 1.66503318e-03,
  0.00000000e+00, 6.45441440e-06, 0.00000000e+00,-7.15446251e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007677141481211396
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03164434e-01,  8.75951699e-02, -9.48903795e-01, -2.66582101e-02,
        9.96156156e-01,  8.34401199e-02,  9.52565308e-01,  3.46944695e-18,
        3.04334248e-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([ 0.07262332, -0.04273651,  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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003419375063135298
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.11714863e-15,  1.62342973e-14,  1.00000000e+00, -1.31776204e-28,
        1.00000000e+00, -1.62342973e-14, -1.00000000e+00,  0.00000000e+00,
        8.11714863e-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([-0.06152636, -0.08940237,  0.06169653])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.16943879e-05, 4.03718440e-02, 1.01919102e-02, 4.67228173e-05,
 -1.66805150e-05,-6.22821521e-04,-6.28041600e-05,-1.00359138e-04,
  2.00088556e-05,-2.32154574e-04,-8.37353622e-05,-2.36595595e-05,
  2.00418800e-03, 3.37437207e-03, 8.46695976e-03, 1.27053834e-03,
 -4.34672024e-05, 8.16419331e-05,-4.90515878e+00, 6.33837980e-03,
  2.18751717e-03, 6.56732033e-05]


--- Step 2305 ---
qpos:
[-0.01503615, 1.2908719 ,-0.02824224, 0.94846873, 0.00436263, 1.32035222,
 -0.02947176, 0.94612197, 0.01672842, 1.33284963,-0.02376296, 0.95490295,
  1.38907374,-0.00321231, 1.19506777, 0.06213532,-0.03724771,-0.10537496,
  0.07950511, 0.65931365,-0.0133339 ,-0.00253709, 0.75174549]

qacc:
[ 3.36994486e-01,-5.20701705e+00, 9.97188345e+00, 1.07687321e+01,
  9.45526729e-02,-4.96910705e+00, 8.78451544e+00,-3.71864783e+00,
 -8.96850873e-03,-3.82899407e+00, 8.74226152e+00,-5.15335866e-01,
 -5.43096468e-01, 6.37634504e-01, 5.09635812e+00,-9.80449981e+00,
  3.70578349e+00,-2.61719039e+00, 1.88608443e+00, 1.52512108e+02,
 -2.15093544e+02, 1.98588628e+00]

qfrc_actuator:
[ 2.98104434e-03, 7.63438046e-02, 1.64401872e-02, 1.99619271e-03,
  2.05964194e-05, 4.62645377e-02, 1.07632782e-02, 1.90423271e-03,
 -2.99315869e-03, 3.85113200e-02, 1.07482536e-02, 1.69630085e-03,
  0.00000000e+00, 5.25830947e-05, 0.00000000e+00,-8.54100939e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007677456508448123
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03220825e-01,  8.75942621e-02, -9.48885861e-01, -2.66628903e-02,
        9.96156235e-01,  8.34376715e-02,  9.52547228e-01, -3.46944695e-18,
        3.04390832e-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([ 0.07262269, -0.04273637,  0.22449134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.16200973,  2.82283086, -8.16200973, 13.07697465,
       12.83970314,  2.82283086, 12.83970314, 45.76142958,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003439019054205114
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.07963058e-15,  3.22831309e-14,  1.00000000e+00,  2.93118903e-28,
        1.00000000e+00, -3.22831309e-14, -1.00000000e+00,  0.00000000e+00,
       -9.07963058e-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([-0.06151295, -0.08942922,  0.06169505])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.30000772e-05, 4.03961092e-02, 1.01588400e-02, 7.29043000e-05,
  2.69644427e-05,-5.76403589e-04,-1.46138300e-04,-1.75389868e-05,
 -2.67284473e-06,-1.83507534e-04, 1.23270861e-05, 2.14952725e-05,
  2.01950570e-03, 3.41163032e-03, 8.43501175e-03, 1.11299275e-03,
  8.08405298e-07, 1.18782538e-04,-4.90503157e+00, 6.35854098e-03,
  2.19132030e-03, 1.72445091e-04]


--- Step 2306 ---
qpos:
[-0.0150344 , 1.29089809,-0.0283309 , 0.94847025, 0.00436289, 1.32058479,
 -0.02947179, 0.94612413, 0.01672926, 1.3329266 ,-0.02376408, 0.9549042 ,
  1.38910527,-0.0032443 , 1.1950591 , 0.06212777,-0.03723608,-0.10538962,
  0.07952759, 0.6592473 ,-0.01284373,-0.00249573, 0.75181235]

qacc:
[ 1.43078754e-01,-8.50892501e+00, 2.76665853e+01,-4.78199340e+01,
  7.04581219e-02,-7.90408101e+00, 1.95933782e+01,-2.16202622e+01,
  2.52360389e-02,-5.71084706e-02,-6.32938580e+00, 3.05821743e+01,
 -3.16068520e-01, 3.06162807e-01,-1.01254900e+00, 3.94461641e+00,
  3.87472270e-01,-4.05729050e+00, 3.59714290e+00,-2.75991415e+01,
 -2.42915261e+02,-1.06238899e+01]

qfrc_actuator:
[ 2.99127422e-03, 7.63631437e-02, 1.64744497e-02, 1.87407727e-03,
  2.47601691e-05, 4.60257132e-02, 1.07729492e-02, 1.87052542e-03,
 -2.98441650e-03, 3.84584596e-02, 1.07891891e-02, 1.80384969e-03,
  0.00000000e+00, 9.30113430e-05, 0.00000000e+00,-8.27669418e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007678523893693973
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03277894e-01,  8.75931070e-02, -9.48867729e-01, -2.66675541e-02,
        9.96156337e-01,  8.34349684e-02,  9.52528929e-01,  3.46944695e-18,
        3.04448090e-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([ 0.07262239, -0.04273628,  0.22449201])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.62956567,  0.34259764, -8.62956567,  8.72650367,
        2.27050408,  0.34259764,  2.27050408, 65.82725392,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0034291571265100823
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.61879871e-14,  1.51762379e-14,  1.00000000e+00,  2.45672743e-28,
        1.00000000e+00, -1.51762379e-14, -1.00000000e+00,  0.00000000e+00,
       -1.61879871e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03548426, -0.08585824,  0.06169589])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.22245916e-05, 4.05370995e-02, 1.01068862e-02,-1.26580958e-04,
  2.00250202e-05,-5.88522133e-04,-1.20488922e-04,-5.53450333e-05,
  7.20539014e-06,-1.51834651e-04, 7.04287615e-06, 1.03078903e-04,
  2.03715656e-03, 3.44738352e-03, 8.25058717e-03, 1.13290393e-03,
  1.19226130e-04, 7.05896805e-05,-4.90503595e+00, 6.38068227e-03,
  2.20013522e-03, 1.72976800e-04]


--- Step 2307 ---
qpos:
[-0.01503343, 1.29092344,-0.02841827, 0.94846936, 0.00436312, 1.32081299,
 -0.02947182, 0.94612481, 0.01673018, 1.33300218,-0.02376551, 0.95490644,
  1.38913633,-0.00327585, 1.19504677, 0.06212063,-0.03723605,-0.10541481,
  0.07954136, 0.65920549,-0.01237833,-0.00292741, 0.75185526]

qacc:
[-3.30627501e-01,-8.69633729e+00, 3.19317242e+01,-5.49352513e+01,
 -1.22828136e-02,-8.24406382e+00, 2.29807801e+01,-3.42528070e+01,
  3.19304740e-02, 6.67960494e-01,-6.36378909e+00, 1.76925269e+01,
 -4.33773264e-01, 6.71670942e-01,-6.59549500e+00, 1.52820833e+01,
 -2.90310422e+00,-2.63202503e+00,-2.18099308e+00,-1.85859037e+02,
 -1.46430738e+02,-2.01218031e+01]

qfrc_actuator:
[ 2.96100713e-03, 7.63660171e-02, 1.65480260e-02, 1.76602750e-03,
  9.30289189e-06, 4.58277476e-02, 1.07786440e-02, 1.79657404e-03,
 -2.97954236e-03, 3.83613160e-02, 1.07605477e-02, 1.84886486e-03,
  0.00000000e+00, 1.30035209e-04, 0.00000000e+00,-6.67024620e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007677892143259299
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03337421e-01,  8.75918189e-02, -9.48848819e-01, -2.66723931e-02,
        9.96156450e-01,  8.34320693e-02,  9.52509838e-01, -3.46944695e-18,
        3.04507812e-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([ 0.07262218, -0.04273615,  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([ 8.63636364, -8.55248266,  1.20075694, -8.55248266,  8.92334749,
        2.04406431,  1.20075694,  2.04406431, 23.19536723,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003420674558517904
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.62281299e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.62281299e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00075189, -0.08102184,  0.06169682])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.29223817e-04, 4.06853832e-02, 1.01640992e-02,-1.23833534e-04,
 -3.68337372e-06,-5.50449622e-04,-1.25019892e-04,-9.60851131e-05,
  9.16600289e-06,-1.77204001e-04,-5.45576021e-05, 4.32294976e-05,
  2.05635215e-03, 3.48264313e-03, 8.24256543e-03, 1.27247240e-03,
  7.23581439e-05,-3.52528012e-05,-4.90507481e+00, 6.40915581e-03,
  2.20026033e-03, 1.09658832e-04]


--- Step 2308 ---
qpos:
[-0.01503366, 1.29094876,-0.02850444, 0.94846815, 0.00436325, 1.32103677,
 -0.02947212, 0.94612532, 0.01673087, 1.33307694,-0.02376829, 0.95490782,
  1.38916709,-0.00330649, 1.1950292 , 0.06211337,-0.03724659,-0.10544948,
  0.07954328, 0.65918477,-0.0119343 ,-0.00378448, 0.75187678]

qacc:
[-5.14250713e-01,-3.83951065e+00, 1.31346538e+01,-1.51299715e+01,
 -3.97304581e-02,-5.39958158e+00, 1.09517175e+01,-8.75088525e+00,
 -9.57415814e-02, 1.11268510e+00,-3.20047486e+00,-6.54720612e+00,
 -5.75298724e-01, 1.21052648e+00,-7.32054660e+00, 1.45023854e+01,
 -2.64272583e+00,-2.37164461e+00,-2.95942294e+00,-1.66858595e+02,
 -1.32009158e+02,-1.75851362e+01]

qfrc_actuator:
[ 2.92517121e-03, 7.63581056e-02, 1.65908409e-02, 1.75625098e-03,
 -4.55048561e-08, 4.56025589e-02, 1.07643264e-02, 1.78831851e-03,
 -3.01253406e-03, 3.83268947e-02, 1.06908552e-02, 1.80338018e-03,
  0.00000000e+00, 1.64612296e-04, 0.00000000e+00,-5.14764526e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000767485358243284
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03396516e-01,  8.75907703e-02, -9.48830022e-01, -2.66772675e-02,
        9.96156542e-01,  8.34294099e-02,  9.52490880e-01,  3.46944695e-18,
        3.04567107e-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([ 0.0726217 , -0.04273596,  0.2244932 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  1.00025967,  8.57824326,  1.00025967, 55.72515455,
       -5.49075342,  8.57824326, -5.49075342,  9.27660885,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0033766592338879964
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.64396664e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.64396664e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0008223 , -0.08097034,  0.06170033])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.26264682e-04, 4.07194183e-02, 1.01425428e-02,-1.36311146e-05,
 -1.15383862e-05,-5.58690574e-04,-1.39293044e-04,-3.03342003e-05,
 -2.75444586e-05,-1.42303502e-04,-1.09312227e-04,-5.12182236e-05,
  2.07966686e-03, 3.49618615e-03, 8.42609655e-03, 1.40464890e-03,
  6.71703583e-07, 9.86972379e-05,-4.90510406e+00, 6.41472760e-03,
  2.19191733e-03, 1.43340151e-04]


--- Step 2309 ---
qpos:
[-0.01503447, 1.29097272,-0.02858979, 0.94846662, 0.00436329, 1.32125611,
 -0.02947349, 0.94612612, 0.01673155, 1.3331505 ,-0.02377077, 0.95491067,
  1.38919757,-0.00333651, 1.19501066, 0.0621063 ,-0.03724253,-0.10547074,
  0.07954883, 0.65918153,-0.01147578,-0.00409002, 0.75188516]

qacc:
[-2.46277994e-01,-4.54790859e+00, 1.33375918e+01,-1.43904368e+01,
 -4.29433151e-02,-2.45622169e+00, 3.92955946e-01, 5.80813242e+00,
 -2.09058267e-03, 1.54195690e-01,-5.35712260e+00, 2.22923685e+01,
 -5.77148207e-01, 1.02660065e+00,-1.93995533e+00, 4.81315244e+00,
  3.65035501e+00, 3.35382582e+00, 9.05499837e-01, 2.12194337e+02,
  1.76438261e+02,-7.63389103e+00]

qfrc_actuator:
[ 2.92223982e-03, 7.63077471e-02, 1.66325252e-02, 1.73331277e-03,
 -5.65209371e-06, 4.53628428e-02, 1.07027580e-02, 1.80101955e-03,
 -2.99696386e-03, 3.82945784e-02, 1.07219722e-02, 1.88256299e-03,
  0.00000000e+00, 2.14815561e-04, 0.00000000e+00,-5.26951494e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.27527763,  0.2751885 , -0.00700435,  0.2751885 ,  0.27546949,
        0.00753813, -0.00700435,  0.00753813,  0.5714377 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007668877503373937
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30345449,  0.0875901 , -0.94881154, -0.02668216,  0.9961566 ,
        0.08342714,  0.95247227,  0.        ,  0.30462529])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07262077, -0.04273573,  0.22449382])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00337086520579305
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.23396188e-15,  1.64679238e-14,  1.00000000e+00,  1.35596257e-28,
        1.00000000e+00, -1.64679238e-14, -1.00000000e+00,  0.00000000e+00,
       -8.23396188e-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([-0.06859894, -0.12675722,  0.06170081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.88940900e-05, 4.06706556e-02, 1.01243242e-02,-2.03688338e-05,
 -1.24245195e-05,-5.78559732e-04,-1.87844748e-04,-8.52380050e-06,
 -6.43719236e-07,-1.34387361e-04,-1.06725653e-05, 7.06789168e-05,
  2.09438636e-03, 3.50106842e-03, 8.68795520e-03, 1.39833720e-03,
  1.07863133e-04, 4.01760336e-04,-4.90519830e+00, 6.41203295e-03,
  2.18954145e-03, 2.30480958e-04]


--- Step 2310 ---
qpos:
[-0.01503634, 1.29099707,-0.02867306, 0.9484653 , 0.00436323, 1.32147118,
 -0.02947572, 0.9461274 , 0.0167323 , 1.33322177,-0.02377211, 0.95491485,
  1.38922776,-0.00336575, 1.19498926, 0.06209942,-0.03722545,-0.10548008,
  0.0795534 , 0.65919414,-0.01100437,-0.00390335, 0.75188214]

qacc:
[-4.46543633e-01,-4.73290017e+00, 1.56278525e+01,-1.14031376e+01,
 -3.67751392e-02,-2.44759860e+00, 2.51143755e-01, 7.94081669e+00,
  3.07143201e-02,-3.80213535e+00, 6.10219351e+00, 1.14042676e+01,
 -5.93059476e-01, 1.14504337e+00,-4.78243715e+00, 1.07094859e+01,
  3.25703570e+00, 2.98095489e+00,-2.42557987e-01, 1.89362112e+02,
  1.57480080e+02,-6.92083870e+00]

qfrc_actuator:
[ 2.90340023e-03, 7.62687593e-02, 1.67266841e-02, 1.75585802e-03,
 -8.96857639e-06, 4.51694409e-02, 1.06669990e-02, 1.82589845e-03,
 -2.98789204e-03, 3.81222168e-02, 1.07592114e-02, 1.94580523e-03,
  0.00000000e+00, 2.56573836e-04, 0.00000000e+00,-4.07275046e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007661554319379135
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30351297,  0.0875896 , -0.94879289, -0.02668715,  0.99615665,
        0.08342502,  0.9524535 ,  0.        ,  0.30468398])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07261979, -0.04273552,  0.22449441])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0033814394837054507
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.53903994e-14,  8.20821303e-15,  1.00000000e+00,  1.26327677e-28,
        1.00000000e+00, -8.20821303e-15, -1.00000000e+00,  0.00000000e+00,
       -1.53903994e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06858563, -0.12675105,  0.06170009])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.88367448e-05, 4.06992836e-02, 1.01773311e-02, 1.79917142e-05,
 -1.06574291e-05,-5.52040661e-04,-1.70796528e-04, 2.13502706e-06,
  8.73046257e-06,-2.47166591e-04, 1.17762800e-05, 6.06966655e-05,
  2.10860207e-03, 3.51246401e-03, 8.73700687e-03, 1.50895351e-03,
 -9.31646844e-06, 4.03849205e-05,-4.90506269e+00, 6.39528748e-03,
  2.19869474e-03, 1.09902309e-04]


--- Step 2311 ---
qpos:
[-0.01503872, 1.2910212 ,-0.02875426, 0.94846499, 0.00436326, 1.32168176,
 -0.02947809, 0.94612963, 0.01673314, 1.33329049,-0.02377359, 0.95491984,
  1.38925795,-0.00339437, 1.19496782, 0.0620928 ,-0.03722389,-0.10547769,
  0.07954823, 0.65917585,-0.01108593,-0.0036867 , 0.75189807]

qacc:
[-2.21797217e-01,-4.12884549e+00, 1.10510613e+01, 2.35457290e+00,
  3.37489313e-02,-3.87252990e+00, 3.53270448e+00, 1.09499660e+01,
  3.59669125e-02,-1.58504300e+00,-5.19315297e-01, 1.14662730e+01,
 -3.94739371e-01, 8.89029997e-01,-7.50633947e-01, 2.65022289e+00,
 -3.88125738e+00, 2.93012705e+00,-2.43683051e+00,-1.71118185e+02,
  2.17605093e+02, 1.91032938e+01]

qfrc_actuator:
[ 2.87571655e-03, 7.62531490e-02, 1.68329980e-02, 1.80529695e-03,
  6.86779568e-06, 4.49521779e-02, 1.06647109e-02, 1.87553816e-03,
 -2.98279410e-03, 3.79384092e-02, 1.07281514e-02, 1.98128517e-03,
  0.00000000e+00, 2.75102854e-04, 0.00000000e+00,-4.21604405e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007653131318089111
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03569099e-01,  8.75894423e-02, -9.48774943e-01, -2.66920347e-02,
        9.96156659e-01,  8.34232922e-02,  9.52435477e-01,  3.46944695e-18,
        3.04740320e-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([ 0.07261854, -0.0427353 ,  0.22449502])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0033983045329745165
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.26699098e-14,  2.45024323e-14,  1.00000000e+00,  8.00492253e-28,
        1.00000000e+00, -2.45024323e-14, -1.00000000e+00,  0.00000000e+00,
       -3.26699098e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00727766, -0.12921035,  0.06169887])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.41430265e-05, 4.06643403e-02, 1.01801340e-02, 5.70714078e-05,
  9.53715739e-06,-5.57543637e-04,-1.29880264e-04, 2.84309725e-05,
  1.02828107e-05,-3.16873002e-04,-7.62852886e-05, 3.00178979e-05,
  2.12348024e-03, 3.49250563e-03, 8.88051861e-03, 1.48462675e-03,
  1.15205823e-04,-4.22751436e-05,-4.90504608e+00, 6.38775576e-03,
  2.19861732e-03, 8.43852073e-05]


--- Step 2312 ---
qpos:
[-0.01504035, 1.29104222,-0.02883477, 0.94846527, 0.00436385, 1.32188693,
 -0.02947978, 0.94613215, 0.01673406, 1.33335741,-0.02377625, 0.95492487,
  1.3892881 ,-0.00342294, 1.19495296, 0.06208665,-0.03723616,-0.1054649 ,
  0.07953009, 0.65913027,-0.01166044,-0.00344289, 0.75193049]

qacc:
[ 3.19382247e-01,-4.93806407e+00, 9.96993436e+00, 7.59747851e-02,
  2.38822589e-01,-8.47897746e+00, 1.85055067e+01,-9.42678518e+00,
  3.04922504e-02, 8.96251071e-01,-5.82189435e+00, 6.52481864e+00,
 -3.91299455e-01, 5.08718746e-01, 8.29673699e+00,-1.48299766e+01,
 -3.45983097e+00, 2.60167232e+00,-3.24121122e+00,-1.52387478e+02,
  1.94132854e+02, 1.67608077e+01]

qfrc_actuator:
[ 2.87812393e-03, 7.62165028e-02, 1.69102687e-02, 1.81671817e-03,
  6.95700792e-05, 4.46337669e-02, 1.06821218e-02, 1.88609427e-03,
 -2.98012197e-03, 3.78731801e-02, 1.06746800e-02, 1.98233146e-03,
  0.00000000e+00, 3.15049457e-04, 0.00000000e+00,-6.58483514e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007644840495310903
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03623451e-01,  8.75894668e-02, -9.48757548e-01, -2.66968212e-02,
        9.96156657e-01,  8.34217863e-02,  9.52418017e-01,  3.46944695e-18,
        3.04794883e-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([ 0.07261727, -0.04273513,  0.22449563])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0033998212971575736
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.63276674e-14,  2.44915010e-14,  1.00000000e+00,  3.99889082e-28,
        1.00000000e+00, -2.44915010e-14, -1.00000000e+00,  0.00000000e+00,
       -1.63276674e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0072725 , -0.12921108,  0.06169868])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.69995979e-06, 4.06382050e-02, 1.01537893e-02, 1.74482015e-05,
  6.83003112e-05,-6.52907433e-04,-1.05824051e-04,-9.01373423e-06,
  8.76926512e-06,-2.54929797e-04,-1.23211403e-04,-9.77406602e-06,
  2.12317265e-03, 3.50207348e-03, 8.88248156e-03, 1.23553295e-03,
  8.94091598e-06, 2.58586824e-05,-4.90500792e+00, 6.38573662e-03,
  2.19875341e-03, 1.26901470e-04]


--- Step 2313 ---
qpos:
[-0.01504184, 1.29106138,-0.02891442, 0.94846487, 0.00436492, 1.32208723,
 -0.02948195, 0.94613445, 0.01673458, 1.33342328,-0.02377957, 0.95492771,
  1.38931807,-0.00345132, 1.19494073, 0.0620809 ,-0.03726084,-0.10544282,
  0.0794962 , 0.65906007,-0.012677  ,-0.00317443, 0.75197676]

qacc:
[ 6.11662747e-02,-5.93219647e+00, 1.77883529e+01,-2.20684567e+01,
  2.07951184e-01,-5.43760330e+00, 1.04903344e+01,-8.59539945e+00,
 -1.62639724e-01,-3.36127721e+00, 1.36963292e+01,-3.64557966e+01,
 -3.85708686e-01, 5.44781919e-01, 2.69216004e+00,-3.70926851e+00,
 -3.09822844e+00, 2.32214105e+00,-3.93926303e+00,-1.36528092e+02,
  1.74194295e+02, 1.47189111e+01]

qfrc_actuator:
[ 2.86202031e-03, 7.62234859e-02, 1.69884281e-02, 1.78760351e-03,
  8.88670409e-05, 4.43994087e-02, 1.06573280e-02, 1.87350231e-03,
 -3.03218455e-03, 3.78793587e-02, 1.06621229e-02, 1.87441343e-03,
  0.00000000e+00, 3.50416457e-04, 0.00000000e+00,-6.74170750e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007638423112896822
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03680127e-01,  8.75892353e-02, -9.48739430e-01, -2.67017335e-02,
        9.96156677e-01,  8.34199710e-02,  9.52399810e-01,  3.46944695e-18,
        3.04851771e-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([ 0.07261659, -0.04273507,  0.22449611])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0033580917331142435
  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([ 0.00734635, -0.12925551,  0.06170159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.92003867e-05, 4.08011372e-02, 1.01979165e-02,-4.09567471e-05,
  5.95138253e-05,-6.17981343e-04,-1.65031445e-04,-3.51902506e-05,
 -4.68573299e-05,-1.59598465e-04,-7.66943009e-05,-1.19206494e-04,
  2.12525902e-03, 3.53558055e-03, 8.55398797e-03, 1.19598439e-03,
 -5.44940659e-06, 1.44639626e-06,-4.90505261e+00, 6.37220446e-03,
  2.19413292e-03, 9.08702943e-05]


--- Step 2314 ---
qpos:
[-0.01504381, 1.2910812 ,-0.02899183, 0.94846348, 0.00436579, 1.32228284,
 -0.029484  , 0.94613757, 0.01673463, 1.33348831,-0.02378245, 0.95493019,
  1.38934789,-0.00347933, 1.19492636, 0.06207553,-0.03728403,-0.10543943,
  0.07948593, 0.65900445,-0.01330135,-0.00333378, 0.75201403]

qacc:
[-2.05418830e-01,-6.89299677e+00, 2.55473027e+01,-3.40357021e+01,
 -8.69565382e-02,-5.11448454e+00, 7.53933055e+00, 5.98896561e+00,
 -2.04144597e-01,-2.93359732e+00, 8.95200627e+00,-1.13488563e+01,
 -2.35507174e-01, 4.86992596e-01,-4.24283926e+00, 1.03256981e+01,
  3.69332415e-01,-4.67291887e+00, 5.90724584e+00,-3.15332852e+01,
 -2.88360535e+02,-1.17769473e+01]

qfrc_actuator:
[ 2.87062150e-03, 7.62388765e-02, 1.71021678e-02, 1.75294602e-03,
  2.87105107e-05, 4.41993365e-02, 1.06791194e-02, 1.91841867e-03,
 -3.06340284e-03, 3.78928578e-02, 1.07095766e-02, 1.86309903e-03,
  0.00000000e+00, 3.65125689e-04, 0.00000000e+00,-5.39505377e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007632468843854316
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30373774,  0.08758895, -0.94872101, -0.02670671,  0.9961567 ,
        0.08341808,  0.9523813 ,  0.        ,  0.3049096 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07261616, -0.04273505,  0.22449652])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0033967011348305237
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.63426657e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.63426657e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03551318, -0.08586645,  0.06169822])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.77315239e-05, 4.09092257e-02, 1.02683740e-02,-4.19183475e-05,
 -2.51136764e-05,-5.76703806e-04,-1.19112561e-04, 2.10150973e-05,
 -5.88360418e-05,-9.37166545e-05, 4.01660491e-06,-2.09697376e-05,
  2.13437535e-03, 3.54152425e-03, 8.42299326e-03, 1.31059388e-03,
  4.60180694e-05,-8.87816475e-05,-4.90515601e+00, 6.35124895e-03,
  2.18599304e-03, 6.10893405e-07]


--- Step 2315 ---
qpos:
[-0.01504546, 1.29110092,-0.02906718, 0.9484621 , 0.00436624, 1.32247318,
 -0.02948437, 0.94614049, 0.01673453, 1.33355202,-0.02378406, 0.9549339 ,
  1.38937791,-0.00350717, 1.19491252, 0.06207045,-0.03729185,-0.10544782,
  0.07948704, 0.65894433,-0.01335831,-0.0035458 , 0.75206473]

qacc:
[ 1.41002554e-01,-5.64140097e+00, 1.82342787e+01,-1.56059063e+01,
 -1.77326876e-01,-1.17769967e+01, 3.04813666e+01,-2.54646585e+01,
 -6.09546039e-02,-3.03339940e+00, 5.34333111e+00, 1.03054733e+01,
  3.79232741e-02, 1.21800283e-01,-1.34956252e-01, 1.58509850e+00,
  3.84330911e+00,-2.94371045e+00, 2.84136483e+00, 1.67142356e+02,
 -2.30796017e+02, 4.81791140e+00]

qfrc_actuator:
[ 2.89461356e-03, 7.62042858e-02, 1.72000273e-02, 1.75105587e-03,
 -7.60809485e-06, 4.39328596e-02, 1.07639426e-02, 1.90811859e-03,
 -3.04635746e-03, 3.78221933e-02, 1.07744347e-02, 1.92654238e-03,
  0.00000000e+00, 3.49421426e-04, 0.00000000e+00,-5.63295976e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007626108966281055
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03792594e-01,  8.75888430e-02, -9.48703460e-01, -2.67115018e-02,
        9.96156712e-01,  8.34164317e-02,  9.52363668e-01, -3.46944695e-18,
        3.04964662e-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([ 0.07261552, -0.04273501,  0.22449697])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -5.83036769,  6.37130987, -5.83036769, 49.48364294,
       37.37923008,  6.37130987, 37.37923008, 42.84199166,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0034408474911116066
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.06649399e-15,  1.61329880e-14,  1.00000000e+00,  1.30136651e-28,
        1.00000000e+00, -1.61329880e-14, -1.00000000e+00,  0.00000000e+00,
       -8.06649399e-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([-0.06154783, -0.08950525,  0.06169478])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.62035683e-06, 4.08418302e-02, 1.02541338e-02, 5.76954514e-06,
 -5.11374733e-05,-6.09574798e-04,-4.11296556e-05,-3.03196008e-05,
 -1.76401253e-05,-1.22769719e-04, 4.63344996e-05, 6.03867419e-05,
  2.14201007e-03, 3.50745583e-03, 8.52960355e-03, 1.26826962e-03,
  1.50821608e-04,-8.32178943e-05,-4.90505529e+00, 6.37939017e-03,
  2.18278744e-03, 8.70445814e-05]


--- Step 2316 ---
qpos:
[-0.01504639, 1.29111911,-0.02914155, 0.94846125, 0.00436656, 1.32265949,
 -0.02948554, 0.9461426 , 0.01673458, 1.33361439,-0.02378525, 0.95493666,
  1.38940816,-0.00353491, 1.19490151, 0.06206549,-0.03728598,-0.10546685,
  0.07949413, 0.65887938,-0.01290903,-0.00380376, 0.75212822]

qacc:
[ 3.03181924e-01,-3.76921085e+00, 8.79451358e+00,-6.35175052e-01,
 -5.66553049e-02,-4.51558030e+00, 1.00000393e+01,-1.55427552e+01,
  6.17995349e-02,-4.51617943e+00, 1.45006918e+01,-2.26436470e+01,
 -2.42386607e-02, 1.63825796e-01, 3.87181688e+00,-7.43836429e+00,
  3.42371990e+00,-2.66254321e+00, 1.49846148e+00, 1.49514536e+02,
 -2.05591140e+02, 4.82881051e+00]

qfrc_actuator:
[ 2.89171572e-03, 7.61401889e-02, 1.72521448e-02, 1.76821872e-03,
  6.17740361e-06, 4.37532566e-02, 1.07252176e-02, 1.86538702e-03,
 -3.01825133e-03, 3.77195929e-02, 1.07777290e-02, 1.87362756e-03,
  0.00000000e+00, 3.51033899e-04, 0.00000000e+00,-6.64482149e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000762032210713897
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03845574e-01,  8.75886615e-02, -9.48686510e-01, -2.67161044e-02,
        9.96156728e-01,  8.34147672e-02,  9.52346637e-01, -3.46944695e-18,
        3.05017840e-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([ 0.07261491, -0.04273503,  0.22449741])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.63170784,  0.28354289, -8.63170784,  8.71580572,
        2.41840255,  0.28354289,  2.41840255, 82.25818556,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003445732789003661
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.05505746e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.05505746e-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([-0.06154658, -0.08951639,  0.06169443])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.90073251e-05, 4.07821628e-02, 1.02035997e-02, 2.22803874e-05,
 -1.63692996e-05,-5.27136708e-04,-1.63734688e-04,-6.26476666e-05,
  1.77289982e-05,-1.60084736e-04,-1.37110966e-05,-5.36989672e-05,
  2.13194260e-03, 3.50124963e-03, 8.50398607e-03, 1.15225829e-03,
  3.31541932e-05, 1.72948253e-05,-4.90501059e+00, 6.39770925e-03,
  2.18641232e-03, 1.54876001e-04]


--- Step 2317 ---
qpos:
[-0.01504752, 1.29113741,-0.02921477, 0.94846044, 0.00436687, 1.32284223,
 -0.02948777, 0.94614484, 0.01673485, 1.33367541,-0.02378604, 0.95493807,
  1.38943835,-0.0035622 , 1.19488792, 0.06206037,-0.03727006,-0.10547494,
  0.07949955, 0.65883623,-0.01244034,-0.00356369, 0.75217508]

qacc:
[-8.28338797e-02,-2.86636020e+00, 9.40119341e+00,-7.55465674e+00,
 -4.74432115e-03,-1.59926451e+00,-7.15728424e-01, 4.46379694e+00,
  9.48736119e-02,-5.19989367e+00, 1.75386610e+01,-2.98605363e+01,
 -2.36722226e-01, 5.66865741e-01,-3.33194021e+00, 6.17418378e+00,
  2.50935127e+00, 2.73826607e+00,-4.18986347e-01, 1.93791417e+02,
  1.56919575e+02,-1.05026226e+01]

qfrc_actuator:
[ 2.90767692e-03, 7.61308831e-02, 1.72948242e-02, 1.77854752e-03,
  1.44024095e-05, 4.36088970e-02, 1.06851817e-02, 1.87489731e-03,
 -3.00149354e-03, 3.76516461e-02, 1.07976887e-02, 1.80583698e-03,
  0.00000000e+00, 3.80795726e-04, 0.00000000e+00,-5.45744788e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007615276932877793
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30389909,  0.08758826, -0.94866941, -0.02672069,  0.99615676,
        0.08341288,  0.95232943,  0.        ,  0.30507155])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07261454, -0.04273511,  0.22449779])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -0.89851997,  8.58949584, -0.89851997, 68.50994057,
        6.26318539,  8.58949584,  6.26318539,  9.29153564,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0034564508733080615
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.80548111e-02, -3.90274056e-02,  9.96184876e-01, -3.04859937e-03,
        9.99238141e-01,  3.89081537e-02, -9.96944408e-01, -8.67361738e-19,
       -7.81143233e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0684784 , -0.12674298,  0.06169472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.85537700e-05, 4.08497234e-02, 1.01974457e-02, 6.52785068e-06,
 -1.43992163e-06,-4.71208581e-04,-1.63815072e-04,-1.22852487e-05,
  2.72516683e-05,-1.61165218e-04,-1.44959892e-05,-7.40950637e-05,
  2.12017792e-03, 3.52687955e-03, 8.36228683e-03, 1.26568535e-03,
  6.70825803e-06, 2.85888566e-05,-4.90508460e+00, 6.42215094e-03,
  2.19602866e-03, 1.25676917e-04]


--- Step 2318 ---
qpos:
[-0.01504907, 1.29115615,-0.02928691, 0.94846009, 0.0043672 , 1.32302134,
 -0.02948995, 0.94614679, 0.01673518, 1.33373459,-0.0237846 , 0.95493793,
  1.38946858,-0.00358887, 1.19487083, 0.062055  ,-0.03724481,-0.10547311,
  0.07949946, 0.65881164,-0.01195512,-0.00287731, 0.75220743]

qacc:
[-1.81837081e-01,-1.56789519e+00, 4.91785473e+00, 6.02055028e-01,
  1.42257117e-02,-5.39560463e+00, 1.24450964e+01,-1.19382162e+01,
  2.89436302e-02,-1.11077694e+01, 3.64235126e+01,-4.84187648e+01,
 -1.94518531e-01, 6.45403519e-01,-4.37988256e+00, 7.86510454e+00,
  2.33669540e+00, 2.47885100e+00,-1.37679771e+00, 1.73382209e+02,
  1.40928422e+02,-9.01144019e+00]

qfrc_actuator:
[ 2.90006900e-03, 7.61356706e-02, 1.73312778e-02, 1.80278404e-03,
  1.92221572e-05, 4.34513215e-02, 1.06981883e-02, 1.86186915e-03,
 -3.00943360e-03, 3.75695190e-02, 1.09162431e-02, 1.72989672e-03,
  0.00000000e+00, 3.91537231e-04, 0.00000000e+00,-4.54613032e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007608922038631234
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3039514 ,  0.08758793, -0.94865268, -0.02672518,  0.99615679,
        0.08341109,  0.95231261,  0.        ,  0.30512406])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07261394, -0.04273519,  0.22449819])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  1.36895505, -8.52717649,  1.36895505, 32.60009529,
        3.84714348, -8.52717649,  3.84714348,  9.25398501,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0034192673166686836
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.74953101e-02, -3.87476551e-02,  9.96239477e-01, -3.00501823e-03,
        9.99249028e-01,  3.86309544e-02, -9.96988188e-01,  4.33680869e-19,
       -7.75535507e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06853223, -0.12678697,  0.06169755])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.64321916e-05, 4.08491754e-02, 1.01764896e-02, 2.78631701e-05,
  3.95395851e-06,-4.51962551e-04,-9.83620091e-05,-3.19874558e-05,
  8.17304672e-06,-1.76693262e-04, 8.32007910e-05,-8.27776519e-05,
  2.12368953e-03, 3.51510551e-03, 8.49142941e-03, 1.36436425e-03,
  1.44872950e-04,-2.79573290e-05,-4.90506746e+00, 6.39886697e-03,
  2.20322329e-03, 1.07479969e-04]


--- Step 2319 ---
qpos:
[-0.01505104, 1.29117551,-0.0293573 , 0.94846066, 0.00436773, 1.32319711,
 -0.02949248, 0.9461503 , 0.01673537, 1.3337926 ,-0.0237828 , 0.95493657,
  1.38949902,-0.00361504, 1.19485197, 0.06204958,-0.03723398,-0.10548362,
  0.07949747, 0.65881145,-0.01149326,-0.00277366, 0.75221519]

qacc:
[-1.75477143e-01,-2.32642769e+00, 6.65718075e+00, 4.63353640e+00,
  7.97621580e-02,-7.85608246e-01,-5.91897716e+00, 2.52335416e+01,
 -6.17263327e-02,-4.62803246e+00, 1.57215596e+01,-2.69713569e+01,
 -9.31681993e-02, 5.02849115e-01,-2.47631876e+00, 4.87673465e+00,
 -3.60749359e+00,-3.08707992e+00,-4.76951156e-01,-2.26744523e+02,
 -1.82984982e+02,-2.07254771e+01]

qfrc_actuator:
[ 2.87862944e-03, 7.60775182e-02, 1.73991099e-02, 1.85270746e-03,
  3.97116861e-05, 4.33050666e-02, 1.06890874e-02, 1.94221309e-03,
 -3.03212540e-03, 3.75154405e-02, 1.09322167e-02, 1.66757422e-03,
  0.00000000e+00, 3.90536150e-04, 0.00000000e+00,-4.15387405e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.27359718,  0.27314924, -0.01564952,  0.27314924,  0.27455608,
        0.01673686, -0.01564952,  0.01673686,  0.56572508,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007600911057274798
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30400226,  0.08758775, -0.9486364 , -0.0267296 ,  0.99615681,
        0.08340948,  0.95229625,  0.        ,  0.30517511])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07261303, -0.04273526,  0.22449862])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0034366154898172463
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.61528549e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.61528549e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.000665  , -0.08105141,  0.06169524])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.65435779e-05, 4.07685409e-02, 1.01903386e-02, 5.55013859e-05,
  2.28029686e-05,-4.17759284e-04,-1.09832958e-04, 6.34167220e-05,
 -1.78391632e-05,-1.38401439e-04,-1.15661868e-05,-6.69651719e-05,
  2.12100431e-03, 3.48427053e-03, 8.66660428e-03, 1.41628785e-03,
  4.60708011e-04, 1.16670813e-04,-4.90513970e+00, 6.38588039e-03,
  2.20155724e-03, 1.58655911e-04]


--- Step 2320 ---
qpos:
[-0.01505353, 1.29119634,-0.02942533, 0.94846206, 0.00436832, 1.32336952,
 -0.02949538, 0.94615405, 0.01673566, 1.33385044,-0.02378272, 0.95493622,
  1.38952975,-0.00364071, 1.19482986, 0.06204421,-0.03723609,-0.10550518,
  0.07948948, 0.65883297,-0.01105173,-0.00318753, 0.75220131]

qacc:
[-2.24462601e-01,-3.00297211e+00, 1.04364107e+01,-3.80072375e-01,
  2.69625523e-02,-2.99654287e+00, 3.94268929e+00, 1.59621819e+00,
  3.93477720e-02, 6.19503889e+00,-2.25265895e+01, 3.13489269e+01,
  6.87456218e-02, 3.22688667e-01,-4.91863987e+00, 1.02469018e+01,
 -3.23473345e+00,-2.75920267e+00,-1.49845038e+00,-2.01249672e+02,
 -1.62675194e+02,-1.82428226e+01]

qfrc_actuator:
[ 2.88455211e-03, 7.60522686e-02, 1.74846663e-02, 1.89962534e-03,
  3.39299107e-05, 4.31312595e-02, 1.06670979e-02, 1.95258034e-03,
 -3.01022394e-03, 3.75314880e-02, 1.08520898e-02, 1.72022093e-03,
  0.00000000e+00, 3.82343598e-04, 0.00000000e+00,-3.00895830e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007592475200773885
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30405086,  0.08758772, -0.94862082, -0.02673386,  0.99615681,
        0.08340809,  0.95228062,  0.        ,  0.30522389])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07261192, -0.04273538,  0.22449908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -3.34913523,  7.96053202, -3.34913523, 63.72301505,
       23.17591899,  7.96053202, 23.17591899, 18.38687864,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003462621547357554
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.4047308e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -2.4047308e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00061772, -0.08108141,  0.06169325])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.00283164e-05, 4.07125847e-02, 1.01884026e-02, 5.57724678e-05,
  7.64062615e-06,-4.25743265e-04,-1.14534014e-04,-3.66030437e-06,
  1.14039729e-05,-6.51343881e-05,-1.10496549e-04, 4.67310794e-05,
  2.11101851e-03, 3.45108009e-03, 8.75593244e-03, 1.53313298e-03,
  7.77862513e-05,-4.17611703e-05,-4.90504443e+00, 6.38835097e-03,
  2.19630519e-03, 9.55398238e-05]


--- Step 2321 ---
qpos:
[-0.01505551, 1.29121525,-0.02949319, 0.94846375, 0.00436877, 1.32353838,
 -0.02949842, 0.94615722, 0.01673625, 1.33390636,-0.02378184, 0.95493687,
  1.38956048,-0.00366628, 1.19481032, 0.06203903,-0.0372528 ,-0.10551552,
  0.07947158, 0.65882343,-0.01116623,-0.0035711 , 0.75220626]

qacc:
[ 2.21565821e-01,-2.53360749e+00, 4.65559402e+00, 3.90502646e-01,
 -5.88285375e-02,-5.28427871e+00, 1.28006126e+01,-1.56313210e+01,
  1.30464930e-01,-2.96229333e+00, 4.59908903e+00, 8.75547892e+00,
 -1.86851786e-01, 2.90882272e-01, 3.25179526e+00,-5.81554139e+00,
 -3.65144090e+00, 2.80139504e+00,-2.47693928e+00,-1.71910674e+02,
  2.18950903e+02, 1.89412567e+01]

qfrc_actuator:
[ 2.90717182e-03, 7.60634095e-02, 1.75085434e-02, 1.89121333e-03,
  1.24348457e-05, 4.29422706e-02, 1.06552806e-02, 1.92164292e-03,
 -2.97950036e-03, 3.73760666e-02, 1.08760330e-02, 1.76909089e-03,
  0.00000000e+00, 4.22898416e-04, 0.00000000e+00,-4.43109704e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007583453029244153
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04095814e-01,  8.75878980e-02, -9.48606397e-01, -2.67378723e-02,
        9.96156795e-01,  8.34069905e-02,  9.52266151e-01,  3.46944695e-18,
        3.05269026e-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([ 0.07261049, -0.04273551,  0.2244996 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003475756164447029
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.19419134e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.19419134e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00710308, -0.12911782,  0.06169217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.89285093e-05, 4.06500745e-02, 1.00946459e-02, 5.91848953e-06,
 -1.70078800e-05,-4.48248060e-04,-1.08418965e-04,-4.69030525e-05,
  3.74860536e-05,-2.12032554e-04,-3.05819824e-08, 4.48752280e-05,
  2.09654057e-03, 3.46704064e-03, 8.91856173e-03, 1.38886991e-03,
 -1.08456740e-05, 8.96423615e-05,-4.90506268e+00, 6.38063078e-03,
  2.19709134e-03, 1.25656309e-04]


--- Step 2322 ---
qpos:
[-0.0150569 , 1.29123133,-0.02956131, 0.94846473, 0.00436903, 1.32370355,
 -0.02950129, 0.94616104, 0.01673688, 1.33396003,-0.02377983, 0.95493743,
  1.38959067,-0.00369196, 1.19479549, 0.06203424,-0.0372826 ,-0.10551589,
  0.07944056, 0.65878637,-0.01177561,-0.00392759, 0.75222764]

qacc:
[ 2.47927010e-01,-4.18023344e+00, 1.05596542e+01,-1.53863015e+01,
 -7.97777950e-02,-4.18636699e+00, 6.49884627e+00, 4.11158081e+00,
  1.65880074e-02,-6.18789267e+00, 1.68104906e+01,-1.42914741e+01,
 -5.87317179e-01, 5.06142141e-01, 5.78443459e+00,-1.00363917e+01,
 -3.27035866e+00, 2.49587949e+00,-3.27957607e+00,-1.52956480e+02,
  1.94908129e+02, 1.67956784e+01]

qfrc_actuator:
[ 2.92122202e-03, 7.60104225e-02, 1.75321488e-02, 1.84982167e-03,
 -5.58374769e-07, 4.27634662e-02, 1.06672427e-02, 1.95542038e-03,
 -2.99699270e-03, 3.72438472e-02, 1.09250725e-02, 1.76204429e-03,
  0.00000000e+00, 4.92913670e-04, 0.00000000e+00,-5.79733533e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000757468293856544
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04142423e-01,  8.75878980e-02, -9.48591454e-01, -2.67419704e-02,
        9.96156795e-01,  8.34056766e-02,  9.52251151e-01, -3.46944695e-18,
        3.05315814e-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([ 0.0726093 , -0.04273569,  0.22450004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   2.44476936,   8.28310809,   2.44476936,
        74.75802963, -19.51588961,   8.28310809, -19.51588961,
        14.39650203,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0034702220693011293
  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([ 0.00710383, -0.12912198,  0.06169235])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.70255441e-05, 4.06929474e-02, 1.01092304e-02,-4.94500222e-05,
 -2.30330314e-05,-4.50588461e-04,-8.96082746e-05, 1.63073680e-05,
  4.65620079e-06,-2.48530046e-04, 8.88041695e-06,-1.22047768e-05,
  2.09655513e-03, 3.53311132e-03, 8.79032192e-03, 1.24302959e-03,
  9.36529299e-05, 5.75584723e-05,-4.90503098e+00, 6.38941296e-03,
  2.19589682e-03, 1.40784730e-04]


--- Step 2323 ---
qpos:
[-0.0150584 , 1.2912462 ,-0.02962859, 0.94846501, 0.00436911, 1.32386481,
 -0.02950355, 0.94616384, 0.0167373 , 1.33401318,-0.02377856, 0.95493992,
  1.38962019,-0.00371753, 1.19478338, 0.06202984,-0.0372965 ,-0.10550158,
  0.07941585, 0.65876914,-0.01236873,-0.00370606, 0.75223434]

qacc:
[-4.59357811e-02,-5.04707419e+00, 1.59928806e+01,-2.12847790e+01,
 -7.38828187e-02,-8.52446674e+00, 2.36623813e+01,-2.97042902e+01,
 -8.95004033e-02, 4.64853312e+00,-1.98641774e+01, 3.97840041e+01,
 -7.18236998e-01, 7.49885511e-01, 2.91155610e+00,-4.21769593e+00,
  3.97426399e+00, 3.66713761e+00, 1.57669458e+00, 2.22842883e+02,
  1.84401652e+02,-8.91956640e+00]

qfrc_actuator:
[ 2.89435594e-03, 7.59916510e-02, 1.76092260e-02, 1.82500694e-03,
 -8.34528217e-06, 4.25568212e-02, 1.06932233e-02, 1.90276667e-03,
 -3.02551586e-03, 3.73041716e-02, 1.09175048e-02, 1.86416653e-03,
  0.00000000e+00, 5.45250535e-04, 0.00000000e+00,-6.06775151e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007566792617783834
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30419199,  0.08758768, -0.94857558, -0.02674626,  0.99615681,
        0.08340408,  0.9522352 ,  0.        ,  0.30536556])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07260857, -0.04273589,  0.22450038])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003481912079272162
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.96420034e-16,  1.99284007e-15,  1.00000000e+00,  1.98570577e-30,
        1.00000000e+00, -1.99284007e-15, -1.00000000e+00,  0.00000000e+00,
       -9.96420034e-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([-0.06842673, -0.12672399,  0.06169107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.88779439e-05, 4.08157721e-02, 1.01997864e-02,-3.97079273e-05,
 -2.13783263e-05,-4.74119712e-04,-7.20487634e-05,-6.81800790e-05,
 -2.57518737e-05,-7.61075652e-05,-5.55108994e-05, 9.48134089e-05,
  2.12347698e-03, 3.59082523e-03, 8.55530383e-03, 1.19609385e-03,
  2.67582969e-04,-5.68272104e-05,-4.90508186e+00, 6.38564372e-03,
  2.19029747e-03, 7.93318705e-05]


--- Step 2324 ---
qpos:
[-0.01506048, 1.29126134,-0.02969413, 0.94846515, 0.00436906, 1.3240223 ,
 -0.02950547, 0.94616531, 0.0167376 , 1.33406555,-0.02377797, 0.95494432,
  1.38964914,-0.00374278, 1.19477194, 0.06202568,-0.03729842,-0.10547549,
  0.07939185, 0.65877027,-0.01294662,-0.00296228, 0.75222692]

qacc:
[-2.46520630e-01,-4.60180152e+00, 1.57176706e+01,-1.53986188e+01,
 -5.94421216e-02,-8.12537196e+00, 2.32661722e+01,-3.32834184e+01,
 -5.06437925e-02, 4.11077442e+00,-1.84861038e+01, 3.85734286e+01,
 -6.93874416e-01, 8.98531936e-01, 3.24922036e-01, 4.38955029e-01,
  2.99476974e+00, 2.94653847e+00, 1.77385220e-01, 2.01530717e+02,
  1.66416581e+02,-8.36070169e+00]

qfrc_actuator:
[ 2.86114950e-03, 7.60284220e-02, 1.77173909e-02, 1.82818324e-03,
 -1.29464823e-05, 4.23706798e-02, 1.07093437e-02, 1.83514974e-03,
 -3.02491822e-03, 3.72484080e-02, 1.08773962e-02, 1.95879202e-03,
  0.00000000e+00, 5.86826431e-04, 0.00000000e+00,-5.85965390e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007559868775070984
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04241903e-01,  8.75874983e-02, -9.48559589e-01, -2.67505942e-02,
        9.96156830e-01,  8.34024914e-02,  9.52219129e-01,  6.93889390e-18,
        3.05415667e-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([ 0.07260809, -0.04273607,  0.22450068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -4.31260508,  7.48252727, -4.31260508,  7.97019953,
       -0.38394818,  7.48252727, -0.38394818,  8.41507251,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0035108578432935154
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.77987591e-02, -3.38993796e-02,  9.97122941e-01, -2.29965760e-03,
        9.99425251e-01,  3.38212878e-02, -9.97696367e-01, -4.33680869e-19,
       -6.78377488e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06839592, -0.12670762,  0.06168932])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.66680646e-05, 4.09129014e-02, 1.02662972e-02,-1.21327226e-06,
 -1.72183555e-05,-4.65706342e-04,-8.69866078e-05,-8.53003459e-05,
 -1.45717882e-05,-1.06245144e-04,-5.85612973e-05, 9.30327217e-05,
  2.15717138e-03, 3.62813172e-03, 8.41936911e-03, 1.19771702e-03,
  2.79855393e-06,-8.13478301e-06,-4.90507086e+00, 6.38801101e-03,
  2.19468042e-03, 9.32226325e-05]


--- Step 2325 ---
qpos:
[-0.01506268, 1.29127632,-0.02975813, 0.94846572, 0.0043689 , 1.32417672,
 -0.02950722, 0.94616591, 0.01673783, 1.33411649,-0.02377831, 0.95494714,
  1.38967735,-0.00376777, 1.19476234, 0.06202164,-0.03729937,-0.10546825,
  0.07939184, 0.65878408,-0.01313061,-0.00264292, 0.75221283]

qacc:
[-4.97642119e-02,-3.61924299e+00, 1.06854060e+01,-4.21180028e+00,
 -4.42340312e-02,-5.99606710e+00, 1.64943212e+01,-2.24946798e+01,
 -2.86158483e-02,-2.10272221e+00, 7.79301304e+00,-2.41870743e+01,
 -8.49854398e-01, 1.00137390e+00, 2.40806179e+00,-4.32574580e+00,
  2.44626489e-01,-4.71225903e+00, 5.99569870e+00,-2.98124441e+01,
 -2.87888739e+02,-1.02893635e+01]

qfrc_actuator:
[ 2.89566300e-03, 7.60442692e-02, 1.78074568e-02, 1.84786962e-03,
 -1.56003320e-05, 4.22692731e-02, 1.07373415e-02, 1.79479305e-03,
 -3.02460800e-03, 3.71057035e-02, 1.08002427e-02, 1.87063639e-03,
  0.00000000e+00, 6.57180268e-04, 0.00000000e+00,-6.42970582e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007553795584403014
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3042899 ,  0.08758751, -0.94854419, -0.02675482,  0.99615683,
        0.08340115,  0.95220367,  0.        ,  0.30546385])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07260764, -0.04273625,  0.22450099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0035165021817638795
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.57858998e-14,  1.57858998e-14,  1.00000000e+00,  2.49194634e-28,
        1.00000000e+00, -1.57858998e-14, -1.00000000e+00,  0.00000000e+00,
       -1.57858998e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03556653, -0.08602639,  0.06168779])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.22434558e-06, 4.09153840e-02, 1.02690878e-02, 2.54125283e-05,
 -1.28190854e-05,-3.79726623e-04,-7.56624869e-05,-5.86293989e-05,
 -8.26291837e-06,-2.10491218e-04,-1.01886316e-04,-9.07713238e-05,
  2.18578000e-03, 3.68257986e-03, 8.38577849e-03, 1.12872045e-03,
  2.10730435e-05, 3.03637974e-04,-4.90517890e+00, 6.39961285e-03,
  2.18859397e-03, 1.99135441e-04]


--- Step 2326 ---
qpos:
[-0.01506545, 1.29129278,-0.02981983, 0.94846564, 0.00436866, 1.32432871,
 -0.02950868, 0.9461663 , 0.01673788, 1.33416585,-0.0237795 , 0.95494854,
  1.38970499,-0.00379238, 1.19475029, 0.06201782,-0.03731113,-0.10547447,
  0.07939544, 0.65881937,-0.01323662,-0.00285799, 0.75217928]

qacc:
[-2.42562460e-01,-5.38459969e+00, 2.12221452e+01,-2.67923405e+01,
 -3.11259105e-02,-4.31465979e+00, 1.06350147e+01,-1.00407089e+01,
 -7.79235777e-02,-2.19650963e+00, 7.49510125e+00,-2.17703452e+01,
 -5.59989016e-01, 7.64010568e-01,-4.21753983e+00, 9.57849247e+00,
 -2.70588465e+00,-3.36502178e+00, 9.06495080e-01,-1.75203097e+02,
 -2.05205584e+02,-1.81058143e+01]

qfrc_actuator:
[ 2.91732070e-03, 7.60656305e-02, 1.79039276e-02, 1.82369309e-03,
 -1.70654175e-05, 4.22017546e-02, 1.07724851e-02, 1.78861677e-03,
 -3.04222688e-03, 3.70183146e-02, 1.07546445e-02, 1.79981808e-03,
  0.00000000e+00, 6.91477033e-04, 0.00000000e+00,-5.15859678e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007548916522317935
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04336576e-01,  8.75875792e-02, -9.48529211e-01, -2.67589433e-02,
        9.96156823e-01,  8.33998980e-02,  9.52188641e-01, -3.46944695e-18,
        3.05510708e-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([ 0.07260733, -0.04273641,  0.22450129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.92237105,   3.43843189,   7.92237105,
        20.01536028, -26.21794951,   3.43843189, -26.21794951,
        69.04422717,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0035336432775241295
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.65976242e-07,  7.85466258e-15,  1.00000000e+00, -4.44555241e-21,
        1.00000000e+00, -7.85466258e-15, -1.00000000e+00,  0.00000000e+00,
        5.65976242e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01185672, -0.08285664,  0.0616865 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.42972744e-05, 4.09445012e-02, 1.02888061e-02,-2.01770055e-05,
 -9.03453560e-06,-2.95241671e-04,-4.96305271e-05,-2.09264675e-05,
 -2.24724611e-05,-2.26722595e-04,-1.00991490e-04,-8.20734640e-05,
  2.22257971e-03, 3.70423455e-03, 8.29395254e-03, 1.24969318e-03,
  1.32013935e-05, 5.59355777e-05,-4.90503081e+00, 6.39493147e-03,
  2.18817231e-03, 1.63821755e-04]


--- Step 2327 ---
qpos:
[-0.01506951, 1.29131208,-0.02987882, 0.94846443, 0.00436853, 1.3244781 ,
 -0.02951023, 0.94616631, 0.01673774, 1.33421404,-0.02378157, 0.95495078,
  1.38973251,-0.00381629, 1.19473124, 0.06201417,-0.03732218,-0.10549698,
  0.07941299, 0.65886521,-0.01301493,-0.00342573, 0.75214062]

qacc:
[-5.52858850e-01,-5.49385192e+00, 2.47228441e+01,-3.62381394e+01,
  4.09644985e-02,-3.84865030e+00, 9.21231591e+00,-1.08023295e+01,
 -8.23621216e-02, 2.24924383e+00,-1.08650040e+01, 1.97366403e+01,
 -1.80885941e-01, 6.27133525e-01,-1.08599956e+01, 2.30215052e+01,
  1.80280189e-01,-4.07236778e+00, 3.48424937e+00,-2.46210583e+01,
 -2.39367038e+02,-8.45148732e+00]

qfrc_actuator:
[ 2.89625861e-03, 7.60354733e-02, 1.79673537e-02, 1.77410237e-03,
 -5.36375442e-08, 4.20486477e-02, 1.07584779e-02, 1.76712216e-03,
 -3.05270710e-03, 3.70003460e-02, 1.07282776e-02, 1.84637447e-03,
  0.00000000e+00, 6.86164676e-04, 0.00000000e+00,-2.60661931e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007543977339206434
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04379651e-01,  8.75878647e-02, -9.48515363e-01, -2.67628186e-02,
        9.96156798e-01,  8.33989544e-02,  9.52174763e-01,  3.46944695e-18,
        3.05553956e-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([ 0.07260678, -0.04273652,  0.22450165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.63531153, -0.13480222, -8.63531153,  8.65107598,
       -0.94245996, -0.13480222, -0.94245996, 69.00951936,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003524683454132385
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.57492586e-14,  1.57492586e-14,  1.00000000e+00,  2.48039147e-28,
        1.00000000e+00, -1.57492586e-14, -1.00000000e+00,  0.00000000e+00,
       -1.57492586e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03557136, -0.0860414 ,  0.06168723])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.17000240e-05, 4.08405247e-02, 1.02370871e-02,-3.74583954e-05,
  1.16757990e-05,-3.27856805e-04,-7.81907797e-05,-3.20782066e-05,
 -2.37215843e-05,-1.65836021e-04,-8.45729692e-05, 3.50436715e-05,
  2.25108975e-03, 3.68040437e-03, 8.41701459e-03, 1.49446512e-03,
  3.71216378e-05, 1.78785398e-05,-4.90501153e+00, 6.38909552e-03,
  2.19244755e-03, 1.55549702e-04]


--- Step 2328 ---
qpos:
[-0.01507267, 1.29132986,-0.02993733, 0.94846349, 0.00436882, 1.32462476,
 -0.02951218, 0.94616679, 0.01673728, 1.33426186,-0.02378489, 0.95495212,
  1.38976015,-0.00384015, 1.19471502, 0.06201071,-0.03732066,-0.10553029,
  0.07943339, 0.65890106,-0.01232936,-0.00402821, 0.75211778]

qacc:
[ 3.88133475e-01,-2.82652651e+00, 6.27787428e+00,-1.39761956e+00,
  1.83343553e-01,-1.69103625e+00, 2.27870347e-01, 6.92164469e+00,
 -1.31493414e-01, 1.38027056e+00,-3.27412299e+00,-7.23306554e+00,
 -6.84259242e-02, 1.57726834e-01, 3.63847303e+00,-6.64544530e+00,
  3.14038109e+00,-2.70075510e+00, 7.14214597e-01, 1.39713492e+02,
 -1.86025229e+02, 7.94827723e+00]

qfrc_actuator:
[ 2.95703558e-03, 7.59902024e-02, 1.79918779e-02, 1.76326034e-03,
  4.56564101e-05, 4.18985915e-02, 1.07329902e-02, 1.78995709e-03,
 -3.07657289e-03, 3.70242524e-02, 1.06783022e-02, 1.80190379e-03,
  0.00000000e+00, 6.92124644e-04, 0.00000000e+00,-4.43495718e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007537302538940076
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30441744,  0.08758861, -0.94850317, -0.02676637,  0.99615673,
        0.0833986 ,  0.95216258,  0.        ,  0.30559191])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07260557, -0.04273658,  0.22450214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.63259907, -0.25497106, -8.63259907,  8.6462966 ,
       -0.33630213, -0.25497106, -0.33630213, 20.02260273,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003495228715658494
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.38229694e-14,  3.97049491e-15,  1.00000000e+00, -9.45889788e-29,
        1.00000000e+00, -3.97049491e-15, -1.00000000e+00,  0.00000000e+00,
        2.38229694e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06152112, -0.08960887,  0.0616897 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.57308881e-04, 4.06531526e-02, 1.01264208e-02, 8.03233185e-06,
  5.25802179e-05,-3.48747201e-04,-9.96221779e-05, 1.01739061e-05,
 -3.78436162e-05,-8.36038143e-05,-9.09943242e-05,-5.09750501e-05,
  2.25750999e-03, 3.65204288e-03, 8.76705892e-03, 1.30256429e-03,
  5.92217131e-05, 1.77561860e-04,-4.90505582e+00, 6.37448601e-03,
  2.19467212e-03, 1.93627073e-04]


--- Step 2329 ---
qpos:
[-0.01507443, 1.29134537,-0.0299957 , 0.94846321, 0.0043693 , 1.32476872,
 -0.02951446, 0.94616753, 0.01673638, 1.33430926,-0.02378911, 0.95495118,
  1.38978783,-0.00386417, 1.19470399, 0.06200734,-0.03730734,-0.10555281,
  0.0794535 , 0.65894999,-0.01163488,-0.00411722, 0.7520855 ]

qacc:
[ 5.92182062e-01,-2.26003048e+00, 2.39536420e+00, 7.02402846e+00,
  7.86970202e-02,-2.21573205e+00, 2.41177130e+00, 2.68294442e+00,
 -1.87533403e-01,-2.08071299e+00, 1.07032665e+01,-3.53203787e+01,
 -1.44751120e-01, 9.73241734e-02, 7.39717429e+00,-1.46968899e+01,
  2.95264719e+00, 2.69821892e+00,-7.41436572e-02, 1.96091452e+02,
  1.65904876e+02,-4.88516672e+00]

qfrc_actuator:
[ 2.99421795e-03, 7.59213266e-02, 1.80297079e-02, 1.79247654e-03,
  3.72005950e-05, 4.17692886e-02, 1.07187235e-02, 1.80318764e-03,
 -3.10827648e-03, 3.70019312e-02, 1.06326479e-02, 1.68645661e-03,
  0.00000000e+00, 7.05217531e-04, 0.00000000e+00,-6.05175390e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007531343722360119
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30445621,  0.08758907, -0.94849068, -0.02676992,  0.99615669,
        0.08339794,  0.95215009,  0.        ,  0.30563084])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07260462, -0.0427367 ,  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: -0.00351874545953244
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.06140154, -0.03070077,  0.99764087, -0.00188596,  0.99952862,
        0.03064279, -0.99811136,  0.        , -0.0614305 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0684118 , -0.12670994,  0.06168885])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.49013094e-04, 4.06597975e-02, 1.01402496e-02, 2.38450392e-05,
  2.25247327e-05,-3.42449633e-04,-9.36808997e-05, 2.91976709e-07,
 -5.40132551e-05,-8.81592469e-05,-7.38606015e-05,-1.21708638e-04,
  2.25091203e-03, 3.66322224e-03, 8.62610974e-03, 1.13201298e-03,
 -2.92051722e-05, 1.85687585e-04,-4.90513936e+00, 6.37529028e-03,
  2.19533898e-03, 1.33526521e-04]


--- Step 2330 ---
qpos:
[-0.01507547, 1.29135955,-0.03005335, 0.94846248, 0.0043697 , 1.32490994,
 -0.02951691, 0.94616877, 0.01673522, 1.33435586,-0.02379325, 0.95494954,
  1.38981554,-0.00388829, 1.19469597, 0.06200418,-0.03728139,-0.10556451,
  0.07946974, 0.65900963,-0.01093342,-0.00375409, 0.75204566]

qacc:
[ 3.12123574e-01,-4.43168780e+00, 1.32882661e+01,-1.59424268e+01,
 -3.40522858e-02,-2.25287246e+00, 1.99554758e+00, 5.75673909e+00,
 -1.12697717e-01,-2.45407992e+00, 8.16784625e+00,-1.46962671e+01,
 -5.95709727e-02, 1.61987066e-02, 3.79805724e+00,-6.81744465e+00,
  3.15536820e+00, 2.70475054e+00,-9.66726385e-01, 1.72367794e+02,
  1.46403967e+02,-3.89867920e+00]

qfrc_actuator:
[ 2.98089612e-03, 7.58396669e-02, 1.80756656e-02, 1.77421516e-03,
  1.40718885e-05, 4.16357393e-02, 1.07112662e-02, 1.82842201e-03,
 -3.10892092e-03, 3.69698365e-02, 1.06429839e-02, 1.65443822e-03,
  0.00000000e+00, 7.05016762e-04, 0.00000000e+00,-6.47634036e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007526892809723851
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30449702,  0.08758908, -0.94847758, -0.02677351,  0.99615669,
        0.0833968 ,  0.95213693,  0.        ,  0.30567182])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07260413, -0.04273689,  0.2245029 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  4.25488357, -7.51550016,  4.25488357,  6.93434174,
       -0.96359588, -7.51550016, -0.96359588,  8.09082599,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003482441621884144
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.19179074e-14, -7.97014814e-15,  1.00000000e+00, -1.74688969e-28,
        1.00000000e+00,  7.97014814e-15, -1.00000000e+00,  0.00000000e+00,
       -2.19179074e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06846255, -0.12674097,  0.06169122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.62954195e-05, 4.06924089e-02, 1.01790481e-02,-2.75818354e-05,
 -9.86373151e-06,-3.42327177e-04,-8.52494936e-05, 1.24256705e-05,
 -3.24975574e-05,-9.92019798e-05,-1.88843775e-05,-3.95646928e-05,
  2.24917064e-03, 3.67103572e-03, 8.36651450e-03, 1.08487599e-03,
  5.38703265e-05,-6.90013732e-05,-4.90506800e+00, 6.37352584e-03,
  2.19375951e-03, 5.16465470e-05]


--- Step 2331 ---
qpos:
[-0.01507669, 1.29137423,-0.03010938, 0.94846063, 0.00437008, 1.32504804,
 -0.02951899, 0.94617032, 0.01673404, 1.33440168,-0.02379617, 0.9549485 ,
  1.38984279,-0.00391225, 1.19468665, 0.06200125,-0.03727128,-0.10556342,
  0.07947783, 0.65903059,-0.01081121,-0.00336534, 0.7520309 ]

qacc:
[-7.92051893e-02,-5.64000656e+00, 2.14771366e+01,-3.18625770e+01,
 -6.75998579e-03,-4.59785141e+00, 9.41759376e+00,-2.68912481e+00,
 -3.79323848e-03,-3.28816279e+00, 8.25056375e+00, 3.11834988e-01,
 -3.76010161e-01, 4.23245043e-01,-2.55558772e+00, 6.21574525e+00,
 -3.96084257e+00, 3.19498685e+00,-2.03725391e+00,-1.81393420e+02,
  2.26047170e+02, 2.40322027e+01]

qfrc_actuator:
[ 3.00838385e-03, 7.58035451e-02, 1.81436279e-02, 1.72831953e-03,
  1.78365475e-05, 4.14652538e-02, 1.07256338e-02, 1.84276763e-03,
 -3.09092919e-03, 3.69679161e-02, 1.07218071e-02, 1.68956355e-03,
  0.00000000e+00, 7.50111300e-04, 0.00000000e+00,-5.47707544e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007523438982886092
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30453842,  0.08758886, -0.94846431, -0.02677709,  0.99615671,
        0.08339542,  0.95212359,  0.        ,  0.30571337])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0726039 , -0.04273711,  0.22450318])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003494092839328264
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.58871426e-14,  3.17742852e-14,  1.00000000e+00,  5.04802601e-28,
        1.00000000e+00, -3.17742852e-14, -1.00000000e+00,  0.00000000e+00,
       -1.58871426e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00701574, -0.12915614,  0.06169054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.72228676e-05, 4.07223552e-02, 1.02115082e-02,-5.07850805e-05,
 -2.06234743e-06,-3.77162516e-04,-6.20812393e-05, 2.06595345e-06,
 -1.16413789e-06,-6.19580915e-05, 5.60977685e-05, 3.07702073e-05,
  2.24802268e-03, 3.72181226e-03, 8.21621161e-03, 1.17410113e-03,
  3.17904318e-04,-8.76211284e-05,-4.90509351e+00, 6.37686535e-03,
  2.18634978e-03, 4.95180653e-05]


--- Step 2332 ---
qpos:
[-0.01507895, 1.29138992,-0.03016391, 0.94845923, 0.00437047, 1.32518292,
 -0.02952076, 0.946171  , 0.0167331 , 1.3344471 ,-0.0237988 , 0.95494722,
  1.38986896,-0.00393552, 1.19467425, 0.0619981 ,-0.03727531,-0.10555107,
  0.07947432, 0.65901821,-0.01120399,-0.00295264, 0.75203774]

qacc:
[-4.43807284e-01,-1.93238366e+00, 6.96799777e+00,-1.37228919e+00,
  3.53135338e-03,-6.52706847e+00, 1.79579204e+01,-2.35212693e+01,
  9.85458115e-02,-1.76044121e+00, 5.61887210e+00,-7.49881552e+00,
 -1.17385047e+00, 1.58291179e+00,-3.81504266e+00, 6.93066215e+00,
 -3.53258676e+00, 2.81784161e+00,-2.89952350e+00,-1.60838864e+02,
  2.01364489e+02, 2.06548437e+01]

qfrc_actuator:
[ 3.00772445e-03, 7.57756977e-02, 1.81880876e-02, 1.75545271e-03,
  1.99528109e-05, 4.12918482e-02, 1.07348625e-02, 1.79731798e-03,
 -3.06190601e-03, 3.69489126e-02, 1.07340341e-02, 1.67518515e-03,
  0.00000000e+00, 8.57676403e-04, 0.00000000e+00,-4.51204933e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007519859602333027
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04577796e-01,  8.75887278e-02, -9.48451676e-01, -2.67805066e-02,
        9.96156722e-01,  8.33941827e-02,  9.52110903e-01, -3.46944695e-18,
        3.05752889e-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([ 0.07260355, -0.0427373 ,  0.22450348])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -5.80232958,  6.39685457, -5.80232958, 31.60316921,
       20.83226589,  6.39685457, 20.83226589, 27.53247441,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0035104576460756876
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.16261621e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.16261621e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00698335, -0.12914902,  0.06168941])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.58771017e-05, 4.06693469e-02, 1.01746875e-02, 3.22512879e-05,
  8.86670649e-07,-3.95108142e-04,-7.16962807e-05,-5.83384160e-05,
  2.83608579e-05,-4.17116288e-05, 7.35474217e-06,-1.37979063e-05,
  2.27081082e-03, 3.82237247e-03, 8.28125753e-03, 1.25961243e-03,
  9.89833496e-05, 5.74356981e-05,-4.90503244e+00, 6.38946217e-03,
  2.19486793e-03, 1.37516398e-04]


--- Step 2333 ---
qpos:
[-0.0150813 , 1.29140459,-0.03021776, 0.94845839, 0.00437101, 1.32531533,
 -0.02952303, 0.9461718 , 0.01673244, 1.33449212,-0.02380207, 0.95494548,
  1.38989461,-0.00395842, 1.19466393, 0.06199494,-0.037292  ,-0.10552872,
  0.07945622, 0.6589765 ,-0.01205727,-0.00251761, 0.75206267]

qacc:
[-3.32292993e-02,-2.22816010e+00, 4.50844483e+00, 3.21425840e+00,
  6.76517859e-02,-1.69672962e+00, 1.36929457e+00, 1.76129139e+00,
  1.19434419e-01, 4.45445344e-01,-1.16567417e+00,-3.99299220e+00,
 -7.73802567e-01, 1.03299837e+00, 3.17597460e+00,-6.48356932e+00,
 -3.16517679e+00, 2.49920232e+00,-3.64804329e+00,-1.43472597e+02,
  1.80368600e+02, 1.77917926e+01]

qfrc_actuator:
[ 2.99110585e-03, 7.57698597e-02, 1.82356771e-02, 1.77201665e-03,
  3.88151118e-05, 4.12067919e-02, 1.07231706e-02, 1.80579683e-03,
 -3.04425476e-03, 3.69018252e-02, 1.06889803e-02, 1.64946925e-03,
  0.00000000e+00, 8.95590767e-04, 0.00000000e+00,-5.69440858e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007515325706185585
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30461477,  0.08758894, -0.94843978, -0.02678382,  0.9961567 ,
        0.08339334,  0.95209898,  0.        ,  0.30579002])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0726029 , -0.0427374 ,  0.22450385])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -6.08932532,  6.12428722, -6.08932532, 30.33118392,
       21.57097042,  6.12428722, 21.57097042, 30.08419121,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003479588848201487
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.99417064e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.99417064e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00703792, -0.1291885 ,  0.06169167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01298458e-04, 4.06129936e-02, 1.01474699e-02, 2.59077625e-05,
  1.93707136e-05,-3.20355767e-04,-9.89879950e-05,-6.63627351e-06,
  3.44156957e-05,-6.94361974e-05,-5.28159736e-05,-2.69996243e-05,
  2.32453508e-03, 3.82538770e-03, 8.43575530e-03, 1.15218249e-03,
 -4.59399755e-06, 9.14768482e-05,-4.90505940e+00, 6.38440563e-03,
  2.19588970e-03, 1.34151030e-04]


--- Step 2334 ---
qpos:
[-0.01508341, 1.2914186 ,-0.03027087, 0.94845739, 0.0043716 , 1.3254453 ,
 -0.02952578, 0.94617236, 0.01673189, 1.33453575,-0.02380465, 0.95494484,
  1.38992023,-0.0039811 , 1.19465458, 0.06199181,-0.03732165,-0.10551727,
  0.07943331, 0.65895538,-0.01293004,-0.00262305, 0.75206632]

qacc:
[ 9.67448577e-02,-3.12727991e+00, 9.50319269e+00,-9.80530290e+00,
  1.64406410e-02,-2.35565891e+00, 4.32407029e+00,-5.12055390e+00,
  4.62940106e-02,-1.77298013e+00, 1.34679972e+00, 1.24559569e+01,
 -2.17919566e-01, 4.06056128e-01, 1.36661300e+00,-2.65351529e+00,
 -3.24154989e+00,-2.72264007e+00,-1.20293295e+00,-2.09566347e+02,
 -1.70594533e+02,-1.79879433e+01]

qfrc_actuator:
[ 2.99987083e-03, 7.57788522e-02, 1.82853587e-02, 1.76420111e-03,
  3.20650618e-05, 4.10865246e-02, 1.06996093e-02, 1.79273795e-03,
 -3.05132193e-03, 3.68025447e-02, 1.07169039e-02, 1.70601990e-03,
  0.00000000e+00, 8.91778709e-04, 0.00000000e+00,-5.85855074e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007511388364406513
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30465207,  0.08758917, -0.94842778, -0.02678717,  0.99615668,
        0.08339251,  0.95208695,  0.        ,  0.30582746])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07260244, -0.04273751,  0.22450417])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0035132430213937194
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.95013602e-15,  3.16010882e-14,  1.00000000e+00,  1.24828597e-28,
        1.00000000e+00, -3.16010882e-14, -1.00000000e+00,  0.00000000e+00,
       -3.95013602e-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([ 0.00048577, -0.08122497,  0.0616889 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13979047e-04, 4.06729114e-02, 1.01629939e-02,-9.93881681e-06,
  4.65766634e-06,-3.17983507e-04,-9.78245612e-05,-2.55373576e-05,
  1.32699712e-05,-1.49099760e-04, 7.52318389e-06, 5.23756004e-05,
  2.35095569e-03, 3.80402283e-03, 8.33146974e-03, 1.13629659e-03,
 -2.53360165e-05, 4.65137495e-05,-4.90514962e+00, 6.36803157e-03,
  2.19156965e-03, 6.75278531e-05]


--- Step 2335 ---
qpos:
[-0.01508592, 1.29143371,-0.03032293, 0.94845715, 0.00437217, 1.32557179,
 -0.02952841, 0.9461735 , 0.01673151, 1.33457752,-0.02380662, 0.95494528,
  1.38994593,-0.00400313, 1.19464146, 0.06198823,-0.03736298,-0.10551561,
  0.07940187, 0.65895276,-0.0138208 ,-0.00320956, 0.75205049]

qacc:
[-1.67147393e-01,-9.56658155e-02, 4.78738961e-01, 7.83749146e+00,
 -5.05934767e-03,-3.85646309e+00, 5.85161542e+00, 4.00606785e+00,
  7.49767743e-02,-2.27548831e+00, 2.31065846e+00, 1.15281040e+01,
 -2.07204848e-01, 6.92417329e-01,-4.20885181e+00, 6.66143217e+00,
 -2.91973741e+00,-2.45127273e+00,-2.13344326e+00,-1.86726269e+02,
 -1.51589545e+02,-1.64577561e+01]

qfrc_actuator:
[ 3.00583995e-03, 7.57967928e-02, 1.83182248e-02, 1.81327640e-03,
  2.77573185e-05, 4.08573282e-02, 1.06868556e-02, 1.82033751e-03,
 -3.03765447e-03, 3.66731026e-02, 1.07342815e-02, 1.75729228e-03,
  0.00000000e+00, 8.98431323e-04, 0.00000000e+00,-4.52446982e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007507658160741115
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04689304e-01,  8.75893327e-02, -9.48415804e-01, -2.67904975e-02,
        9.96156669e-01,  8.33916089e-02,  9.52074943e-01, -6.93889390e-18,
        3.05864844e-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([ 0.07260205, -0.04273766,  0.22450447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.48098172,  4.31528555, -7.48098172, 20.6934024 ,
       20.90208995,  4.31528555, 20.90208995, 44.87223985,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0034999506348069656
  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([ 0.0004961 , -0.08122007,  0.06168959])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08627284e-04, 4.07238868e-02, 1.01594950e-02, 4.76971224e-05,
 -1.57338338e-06,-4.25921937e-04,-8.69712219e-05, 1.47834143e-05,
  2.15199652e-05,-2.09168400e-04,-9.39799112e-06, 4.83505698e-05,
  2.35212197e-03, 3.80008274e-03, 8.28315271e-03, 1.26834261e-03,
  2.12770720e-04,-1.48736399e-04,-4.90513871e+00, 6.38662871e-03,
  2.19060890e-03, 2.55195956e-05]


--- Step 2336 ---
qpos:
[-0.0150897 , 1.29145169,-0.03037256, 0.94845761, 0.00437272, 1.32569451,
 -0.02953071, 0.94617534, 0.01673175, 1.33461804,-0.02380939, 0.95494636,
  1.38997151,-0.00402431, 1.19462189, 0.06198443,-0.03738736,-0.10552801,
  0.0793879 , 0.65893978,-0.01408574,-0.00384646, 0.75205396]

qacc:
[-5.44317074e-01,-1.58756138e+00, 8.29316053e+00,-8.76360399e-01,
 -1.25711345e-02,-4.65815970e+00, 7.80460858e+00, 3.56604107e+00,
  2.57650232e-01, 1.62796613e+00,-8.55598486e+00, 1.54868334e+01,
 -3.32697951e-01, 9.21855853e-01,-8.79344587e+00, 1.70232511e+01,
  4.23836179e+00,-3.51247208e+00, 4.36929499e+00, 1.87200638e+02,
 -2.52072306e+02, 8.89667650e+00]

qfrc_actuator:
[ 2.99290677e-03, 7.58008516e-02, 1.83936361e-02, 1.86010521e-03,
  2.49506403e-05, 4.06535463e-02, 1.06979384e-02, 1.85383377e-03,
 -2.97615219e-03, 3.66153526e-02, 1.06918624e-02, 1.78723536e-03,
  0.00000000e+00, 9.28600562e-04, 0.00000000e+00,-2.46434279e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007502494252516236
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30472448,  0.08758964, -0.94840448, -0.02679369,  0.99615664,
        0.08339091,  0.9520636 ,  0.        ,  0.30590016])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0726013 , -0.04273781,  0.22450482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0035590258860222906
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.84898295e-15, -1.55972879e-14,  1.00000000e+00, -9.12282707e-29,
        1.00000000e+00,  1.55972879e-14, -1.00000000e+00,  0.00000000e+00,
       -5.84898295e-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([-0.06146725, -0.08969018,  0.06168477])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.15291819e-04, 4.06728452e-02, 1.01819375e-02, 5.58590253e-05,
 -3.74985896e-06,-4.56855330e-04,-8.18206009e-05, 1.86944322e-05,
  7.42209104e-05,-1.74103472e-04,-8.29633642e-05, 2.46525237e-05,
  2.34857392e-03, 3.79830976e-03, 8.47242158e-03, 1.49676754e-03,
  6.41440750e-04,-8.78917637e-05,-4.90521760e+00, 6.39595809e-03,
  2.19391797e-03, 6.39286019e-05]


--- Step 2337 ---
qpos:
[-0.01509417, 1.29147101,-0.03042027, 0.9484581 , 0.00437308, 1.32581372,
 -0.02953324, 0.94617791, 0.01673264, 1.33465769,-0.0238123 , 0.95494806,
  1.38999719,-0.00404498, 1.19459929, 0.06198082,-0.03739674,-0.1055529 ,
  0.07938507, 0.65891743,-0.01379576,-0.00452815, 0.75207512]

qacc:
[-2.93280164e-01,-3.36616336e+00, 1.30464003e+01,-1.18154116e+01,
 -7.57253498e-02,-2.72766355e+00, 1.82623784e+00, 9.20049325e+00,
  2.78685460e-01, 3.27593410e-01,-3.70814235e+00, 1.09985828e+01,
 -9.56779127e-02, 4.76960745e-01,-5.06403641e+00, 1.12264221e+01,
  3.74852530e+00,-3.12352310e+00, 2.78626101e+00, 1.65958586e+02,
 -2.23568218e+02, 7.97333978e+00]

qfrc_actuator:
[ 2.98742609e-03, 7.58121266e-02, 1.84572779e-02, 1.85209214e-03,
  5.31485221e-06, 4.04844548e-02, 1.06875615e-02, 1.89053805e-03,
 -2.93970937e-03, 3.66185005e-02, 1.07035070e-02, 1.82214457e-03,
  0.00000000e+00, 9.36910853e-04, 0.00000000e+00,-1.92182444e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007495783883768141
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04754598e-01,  8.75904020e-02, -9.48394726e-01, -2.67965684e-02,
        9.96156575e-01,  8.33907816e-02,  9.52053874e-01, -3.46944695e-18,
        3.05930419e-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([ 0.07259994, -0.04273792,  0.22450529])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0035973213860869407
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.64452875e-16,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.64452875e-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([-0.0614249 , -0.08972006,  0.06168175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.73629880e-04, 4.05406482e-02, 1.01242440e-02, 1.28296145e-05,
 -2.18632943e-05,-4.38123022e-04,-1.08623410e-04, 2.12130378e-05,
  8.02676086e-05,-1.08871751e-04,-3.11027641e-05, 2.79512850e-05,
  2.35420871e-03, 3.76441489e-03, 8.79456434e-03, 1.56228797e-03,
  2.95613108e-04, 1.42387733e-04,-4.90508991e+00, 6.39724688e-03,
  2.18567055e-03, 2.02529783e-04]


--- Step 2338 ---
qpos:
[-0.01509751, 1.29148773,-0.03046798, 0.94845861, 0.00437339, 1.32592992,
 -0.02953634, 0.94617985, 0.01673366, 1.33469613,-0.02381468, 0.95495051,
  1.39002337,-0.00406585, 1.19458261, 0.06197765,-0.03739319,-0.10556527,
  0.07938669, 0.65891374,-0.01349192,-0.0046397 , 0.75208319]

qacc:
[ 4.85883633e-01,-3.39850416e+00, 6.92480921e+00,-4.19469134e+00,
 -2.39787851e-02,-3.51628307e+00, 8.00216914e+00,-1.24448527e+01,
  5.31372279e-02,-1.74464620e+00, 2.26963379e+00, 7.37635280e+00,
  2.44085039e-01,-2.79596792e-01, 7.41851121e+00,-1.32724970e+01,
  3.23377494e+00, 3.13062722e+00, 1.10964745e+00, 2.19057894e+02,
  1.82758414e+02,-7.43067414e+00]

qfrc_actuator:
[ 2.98633913e-03, 7.58103593e-02, 1.84956441e-02, 1.82931903e-03,
  1.12477318e-05, 4.03551690e-02, 1.06647285e-02, 1.85782809e-03,
 -2.97185299e-03, 3.65517915e-02, 1.07294965e-02, 1.85978469e-03,
  0.00000000e+00, 9.14348809e-04, 0.00000000e+00,-4.42349202e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007488498219178595
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04781615e-01,  8.75914119e-02, -9.48385951e-01, -2.67992553e-02,
        9.96156486e-01,  8.33909789e-02,  9.52045150e-01, -3.46944695e-18,
        3.05957567e-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([ 0.07259828, -0.04273805,  0.22450582])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0036409159202673664
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.05051432, -0.02525716,  0.99840392, -0.00127626,  0.99968099,
        0.0252249 , -0.99872252,  0.        , -0.05053044])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.068249  , -0.12662286,  0.06167892])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.06940867e-04, 4.04717872e-02, 1.00667630e-02,-1.13427693e-05,
 -6.97299423e-06,-3.93095233e-04,-1.20385945e-04,-4.83706843e-05,
  1.52519677e-05,-1.32422638e-04, 1.97360535e-06, 3.42083542e-05,
  2.34941128e-03, 3.71646704e-03, 8.94686168e-03, 1.30240838e-03,
  8.93899154e-05, 2.51045039e-04,-4.90511832e+00, 6.41157992e-03,
  2.18708984e-03, 2.17749134e-04]


--- Step 2339 ---
qpos:
[-0.01509999, 1.29150258,-0.0305152 , 0.94845944, 0.00437384, 1.32604394,
 -0.02953955, 0.94618128, 0.01673458, 1.33473358,-0.02381699, 0.95495201,
  1.39004986,-0.00408688, 1.19457111, 0.06197475,-0.03737795,-0.10556643,
  0.07938796, 0.65892659,-0.01317597,-0.00424478, 0.75207986]

qacc:
[ 3.64245815e-01,-3.20681177e+00, 6.84322473e+00,-9.69558146e-01,
  5.97571499e-02,-3.41636646e+00, 8.71447146e+00,-1.20092090e+01,
 -3.71617373e-02,-3.10383637e+00, 1.04360449e+01,-1.92907266e+01,
  8.90893293e-02,-1.15137216e-01, 6.81686476e+00,-1.27391948e+01,
  2.92295416e+00, 2.80210423e+00,-8.52363644e-02, 1.94530444e+02,
  1.62423412e+02,-6.58835873e+00]

qfrc_actuator:
[ 2.96858432e-03, 7.57509189e-02, 1.85555003e-02, 1.85094989e-03,
  3.24712818e-05, 4.03216884e-02, 1.06881131e-02, 1.83781065e-03,
 -2.99162093e-03, 3.64971171e-02, 1.07279699e-02, 1.80993188e-03,
  0.00000000e+00, 9.09284074e-04, 0.00000000e+00,-5.55935929e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007482966139015432
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30481112,  0.08759204, -0.94837641, -0.02680204,  0.99615643,
        0.08339075,  0.95203563,  0.        ,  0.3059872 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07259715, -0.04273829,  0.22450623])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  3.85550869, -7.72799001,  3.85550869, 48.61084834,
       19.94334529, -7.72799001, 19.94334529, 18.58613596,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0036419919975506274
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.04983258, -0.02491629,  0.99844674, -0.00124203,  0.99968954,
        0.02488532, -0.99875681,  0.        , -0.04984806])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06824916, -0.12662496,  0.06167886])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.32250735e-04, 4.05425860e-02, 1.01266407e-02, 9.53522935e-06,
  1.70983282e-05,-2.76748214e-04,-6.87370770e-05,-3.62934655e-05,
 -1.07481969e-05,-1.26759820e-04,-2.61976337e-05,-5.28686328e-05,
  2.32443385e-03, 3.72212679e-03, 8.65103436e-03, 1.16719851e-03,
  1.95980698e-06,-2.01416854e-06,-4.90502219e+00, 6.39872016e-03,
  2.19391012e-03, 1.33844764e-04]


--- Step 2340 ---
qpos:
[-0.01510197, 1.29151651,-0.03056167, 0.94846008, 0.00437433, 1.3261557 ,
 -0.02954168, 0.94618276, 0.01673536, 1.33477009,-0.02381927, 0.95495118,
  1.39007645,-0.00410799, 1.19456213, 0.06197202,-0.03735205,-0.10555747,
  0.07938479, 0.65895363,-0.01284932,-0.00339714, 0.75206613]

qacc:
[ 2.10337921e-01,-3.59193056e+00, 1.06287731e+01,-1.08412064e+01,
  1.70864626e-02,-5.81284034e+00, 1.53035231e+01,-1.13962629e+01,
 -6.40672201e-02,-5.34605828e+00, 2.06828549e+01,-4.43272468e+01,
  8.88786489e-03,-2.67509491e-02, 3.24230776e+00,-5.92728867e+00,
  2.66425160e+00, 2.52884979e+00,-1.11314748e+00, 1.73830758e+02,
  1.45229067e+02,-5.79809129e+00]

qfrc_actuator:
[ 2.97616383e-03, 7.57281810e-02, 1.86100073e-02, 1.84564667e-03,
  2.71892619e-05, 4.02395498e-02, 1.07567548e-02, 1.84328092e-03,
 -3.00380042e-03, 3.64499358e-02, 1.07279441e-02, 1.69122033e-03,
  0.00000000e+00, 9.14752063e-04, 0.00000000e+00,-5.87587551e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007479290280372336
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30484193,  0.0875924 , -0.94836648, -0.02680486,  0.9961564 ,
        0.08339022,  0.95202568,  0.        ,  0.30601814])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07259647, -0.04273863,  0.22450656])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  3.78819683, -7.76120749,  3.78819683, 44.00109822,
       17.26130574, -7.76120749, 17.26130574, 17.06149899,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0035990569993473442
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.0485773 , -0.02428865,  0.99852406, -0.00118023,  0.99970499,
        0.02425996, -0.99881873,  0.        , -0.04859163])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06831267, -0.12666912,  0.06168202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.71564330e-05, 4.06127754e-02, 1.01566522e-02,-1.21648323e-05,
  4.78899968e-06,-2.50568976e-04, 5.50378469e-06,-5.52854557e-06,
 -1.85058921e-05,-1.24212916e-04,-2.93408917e-05,-1.24413012e-04,
  2.30907074e-03, 3.73591951e-03, 8.39227728e-03, 1.12193325e-03,
  1.66891161e-04, 2.82359806e-05,-4.90504681e+00, 6.39492437e-03,
  2.19136590e-03, 1.46802520e-04]


--- Step 2341 ---
qpos:
[-0.01510385, 1.29152976,-0.03060719, 0.94845993, 0.00437481, 1.32626523,
 -0.02954315, 0.94618258, 0.01673599, 1.33480541,-0.02382126, 0.95495101,
  1.39010284,-0.00412914, 1.19455509, 0.06196953,-0.03731636,-0.10553932,
  0.07937363, 0.65899235,-0.01251314,-0.00214225, 0.75204249]

qacc:
[ 4.84915447e-02,-4.76796274e+00, 1.61167931e+01,-2.27326618e+01,
 -1.60526240e-03,-7.51340878e+00, 2.43578779e+01,-3.88390910e+01,
 -6.38155580e-02,-1.24103067e+00, 7.92141896e-01, 7.76419747e+00,
 -2.15179664e-01, 1.78185373e-01, 2.11233264e+00,-3.20454066e+00,
  2.44717133e+00, 2.30017447e+00,-1.99587372e+00, 1.56343065e+02,
  1.30679254e+02,-5.06065954e+00]

qfrc_actuator:
[ 2.96345809e-03, 7.57450348e-02, 1.86785962e-02, 1.80681911e-03,
  2.38013638e-05, 4.01114118e-02, 1.07803906e-02, 1.75718733e-03,
 -3.01132804e-03, 3.63898203e-02, 1.07465706e-02, 1.72824668e-03,
  0.00000000e+00, 9.44273925e-04, 0.00000000e+00,-6.23331616e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007476578763635361
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04872906e-01,  8.75926058e-02, -9.48356498e-01, -2.68076507e-02,
        9.96156381e-01,  8.33895345e-02,  9.52015683e-01,  3.46944695e-18,
        3.06049243e-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([ 0.07259601, -0.04273901,  0.22450685])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  3.69881401, -7.80420091,  3.69881401, 41.46632419,
       15.55981443, -7.80420091, 15.55981443, 16.01096358,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0035209080863730933
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.67790936e-02, -2.33895468e-02,  9.98631386e-01, -1.09444121e-03,
        9.99726427e-01,  2.33639273e-02, -9.98904659e-01,  2.16840434e-19,
       -4.67918946e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06842634, -0.12674655,  0.06168774])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.98165253e-05, 4.06762550e-02, 1.01875062e-02,-4.14105553e-05,
 -5.73529465e-07,-2.66630567e-04,-2.50336442e-05,-9.34200549e-05,
 -1.84329053e-05,-1.38470226e-04,-1.26443404e-05, 2.96387775e-05,
  2.30386966e-03, 3.76968417e-03, 8.26629950e-03, 1.07824914e-03,
  5.07042915e-04, 2.58323418e-04,-4.90515748e+00, 6.39724883e-03,
  2.18204561e-03, 2.28481644e-04]


--- Step 2342 ---
qpos:
[-0.01510601, 1.29154267,-0.03065177, 0.94845962, 0.00437542, 1.32637302,
 -0.02954538, 0.94618175, 0.01673663, 1.33483983,-0.02382198, 0.95495121,
  1.39012882,-0.0041501 , 1.19454915, 0.06196706,-0.03729786,-0.10553462,
  0.07936657, 0.65905082,-0.01219499,-0.00156209, 0.75199791]

qacc:
[-1.22398238e-01,-3.25450453e+00, 1.03697247e+01,-1.04828181e+01,
  5.29402766e-02,-1.37020595e+00, 3.04695188e+00,-9.09260994e+00,
  7.94838326e-03,-3.94156875e+00, 1.06999651e+01,-4.49821511e+00,
 -5.18983256e-01, 6.43269268e-01, 1.61889343e+00,-3.18123896e+00,
 -4.29730359e+00,-3.36426719e+00, 1.02577708e+00,-2.59549552e+02,
 -2.15389195e+02,-1.85274202e+01]

qfrc_actuator:
[ 2.93876365e-03, 7.57502460e-02, 1.87373952e-02, 1.80181437e-03,
  3.93307833e-05, 4.00275590e-02, 1.07415122e-02, 1.72434513e-03,
 -2.99825192e-03, 3.63936075e-02, 1.08293696e-02, 1.75012779e-03,
  0.00000000e+00, 9.88227605e-04, 0.00000000e+00,-6.43933519e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.27040348,  0.2594991 ,  0.07601486,  0.2594991 ,  0.2934478 ,
       -0.07866856,  0.07601486, -0.07866856,  0.53896174,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007474722931023817
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04903627e-01,  8.75927797e-02, -9.48346605e-01, -2.68104056e-02,
        9.96156366e-01,  8.33888315e-02,  9.52005767e-01, -3.46944695e-18,
        3.06080087e-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([ 0.07259571, -0.0427394 ,  0.22450711])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0036206999010565816
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.83290198e-15,  4.59948237e-14,  1.00000000e+00,  1.76293651e-28,
        1.00000000e+00, -4.59948237e-14, -1.00000000e+00,  0.00000000e+00,
       -3.83290198e-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([ 0.00026786, -0.08138711,  0.06167973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.94636359e-05, 4.07148102e-02, 1.01993634e-02,-6.70686925e-06,
  1.51818234e-05,-2.39825401e-04,-9.67390316e-05,-4.35885874e-05,
  2.21205526e-06,-7.46166292e-05, 5.51511964e-05, 1.81447316e-05,
  2.31391699e-03, 3.81632821e-03, 8.16974615e-03, 1.04513927e-03,
  9.67824562e-04, 6.28670631e-04,-4.90533076e+00, 6.40350843e-03,
  2.16784417e-03, 3.58887702e-04]


--- Step 2343 ---
qpos:
[-0.01510888, 1.29155652,-0.03069545, 0.94846087, 0.00437617, 1.32647922,
 -0.02954826, 0.94618225, 0.0167372 , 1.33487404,-0.02382248, 0.95495063,
  1.39015445,-0.00417035, 1.19454025, 0.06196394,-0.03729458,-0.1055419 ,
  0.07935865, 0.65912818,-0.01189333,-0.00157583, 0.75193491]

qacc:
[-3.03880119e-01, 1.47601895e+00,-6.49162606e+00, 2.30105527e+01,
  6.25024328e-02, 1.92493456e+00,-1.15277357e+01, 2.63419029e+01,
 -3.06524484e-02,-2.21441086e+00, 8.46500879e+00,-1.62213217e+01,
 -6.27602705e-01, 1.12556875e+00,-2.35163921e+00, 1.97140583e+00,
 -3.80382428e+00,-2.99524699e+00,-2.15818458e-01,-2.28644930e+02,
 -1.89377808e+02,-1.67815210e+01]

qfrc_actuator:
[ 2.94273658e-03, 7.57306650e-02, 1.87544351e-02, 1.88778599e-03,
  4.83304814e-05, 3.99706789e-02, 1.07195267e-02, 1.79412503e-03,
 -3.00842756e-03, 3.64004007e-02, 1.08430774e-02, 1.70969854e-03,
  0.00000000e+00, 1.02286621e-03, 0.00000000e+00,-5.48805549e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007473401526226116
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04933778e-01,  8.75930483e-02, -9.48336886e-01, -2.68131396e-02,
        9.96156342e-01,  8.33882345e-02,  9.51996033e-01, -3.46944695e-18,
        3.06110361e-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([ 0.0725955 , -0.04273979,  0.22450736])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.14223921,  2.87936061, -8.14223921, 15.02614518,
       18.06898711,  2.87936061, 18.06898711, 59.73174036,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0036959784473344637
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.50966923e-15,  3.00386769e-14,  1.00000000e+00,  2.25580528e-28,
        1.00000000e+00, -3.00386769e-14, -1.00000000e+00,  0.00000000e+00,
       -7.50966923e-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([ 0.00014487, -0.08147627,  0.06167403])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.78054695e-05, 4.07125197e-02, 1.01692651e-02, 8.66807257e-05,
  1.79427065e-05,-2.10539895e-04,-8.12985724e-05, 5.88878522e-05,
 -8.85244788e-06,-2.33947481e-05, 5.89848144e-06,-4.05567537e-05,
  2.33477041e-03, 3.84166884e-03, 8.11415408e-03, 1.13920868e-03,
  2.88144140e-04, 9.44321935e-05,-4.90508022e+00, 6.39094805e-03,
  2.17518365e-03, 1.73550523e-04]


--- Step 2344 ---
qpos:
[-0.01511197, 1.29157066,-0.03073848, 0.94846355, 0.00437705, 1.32658388,
 -0.02955116, 0.94618319, 0.01673768, 1.33490754,-0.02382319, 0.95494998,
  1.39018008,-0.00419011, 1.1945301 , 0.06196032,-0.03730483,-0.1055599 ,
  0.07934554, 0.65922282,-0.01160684,-0.00211541, 0.75185509]

qacc:
[-9.11249247e-02, 1.04488998e+00,-5.87552702e+00, 2.15026891e+01,
  5.43818010e-02,-1.17324737e+00, 4.74017439e-01, 5.76482184e+00,
 -3.98471745e-02,-4.95792055e-01, 6.31822508e-01,-8.78653755e-01,
 -3.04045827e-01, 6.94699459e-01,-2.84797841e-01,-1.60365308e+00,
 -3.38363144e+00,-2.68046971e+00,-1.29509447e+00,-2.02604453e+02,
 -1.67483944e+02,-1.51531013e+01]

qfrc_actuator:
[ 2.94669733e-03, 7.57483138e-02, 1.87815954e-02, 1.95568999e-03,
  5.33397971e-05, 3.99127853e-02, 1.07256309e-02, 1.81724744e-03,
 -3.01471819e-03, 3.63199065e-02, 1.08158660e-02, 1.70389527e-03,
  0.00000000e+00, 1.03357716e-03, 0.00000000e+00,-5.61096837e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007470935367411974
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04962172e-01,  8.75935559e-02, -9.48327709e-01, -2.68157930e-02,
        9.96156297e-01,  8.33879145e-02,  9.51986863e-01,  3.46944695e-18,
        3.06138879e-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([ 0.07259499, -0.04274015,  0.22450765])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.01716427,  3.21120754, -8.01716427, 17.57963206,
       22.32794088,  3.21120754, 22.32794088, 64.38074256,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003711189650031907
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.49577781e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.49577781e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00011841, -0.0815009 ,  0.06167278])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.73885077e-05, 4.06828828e-02, 1.01516885e-02, 7.68761231e-05,
  1.55810766e-05,-1.89245518e-04,-4.27170898e-05, 1.59370493e-05,
 -1.14961599e-05,-9.37156707e-05,-3.23337646e-05,-7.22148812e-06,
  2.35180590e-03, 3.81764402e-03, 8.26286988e-03, 1.15976560e-03,
  1.70687373e-05,-1.57097080e-05,-4.90499822e+00, 6.37062291e-03,
  2.18566062e-03, 1.25985230e-04]


--- Step 2345 ---
qpos:
[-0.0151148 , 1.2915838 ,-0.03078064, 0.94846541, 0.00437803, 1.32668672,
 -0.02955325, 0.94618335, 0.01673807, 1.3349395 ,-0.02382273, 0.95495031,
  1.39020553,-0.00420998, 1.19452297, 0.06195704,-0.03732717,-0.10558755,
  0.07932352, 0.65933266,-0.01133432,-0.00312334, 0.75175942]

qacc:
[ 1.09748870e-01,-5.03373339e+00, 1.65135623e+01,-2.32246352e+01,
  4.12481436e-02,-5.92026930e+00, 1.80389225e+01,-2.35666124e+01,
 -3.67440619e-02,-3.48711674e+00, 6.96031633e+00, 6.17185430e+00,
 -2.07193071e-01, 1.31124320e-01, 3.39633014e+00,-5.37785942e+00,
 -3.02396935e+00,-2.41011749e+00,-2.23081642e+00,-1.80597454e+02,
 -1.49007700e+02,-1.36411874e+01]

qfrc_actuator:
[ 2.95043704e-03, 7.57530698e-02, 1.88502083e-02, 1.90573578e-03,
  5.59153211e-05, 3.98193528e-02, 1.07659767e-02, 1.77721483e-03,
 -3.01862719e-03, 3.62231276e-02, 1.08709536e-02, 1.75397037e-03,
  0.00000000e+00, 1.06536256e-03, 0.00000000e+00,-6.73235177e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007467888532383289
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04989656e-01,  8.75941402e-02, -9.48318816e-01, -2.68183900e-02,
        9.96156246e-01,  8.33876931e-02,  9.51977985e-01, -3.46944695e-18,
        3.06166484e-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([ 0.07259434, -0.04274054,  0.22450796])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.87822971,  3.53839984, -7.87822971, 21.31277457,
       28.22396611,  3.53839984, 28.22396611, 71.47688428,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0036776234109875544
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.13207250e-14,  3.01886001e-14,  1.00000000e+00,  3.41756841e-28,
        1.00000000e+00, -3.01886001e-14, -1.00000000e+00,  0.00000000e+00,
       -1.13207250e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00016867, -0.08147428,  0.06167509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01812544e-04, 4.06729798e-02, 1.01872408e-02,-4.48076753e-05,
  1.17558226e-05,-2.06736818e-04,-1.17865841e-06,-4.64472529e-05,
 -1.06779642e-05,-1.55361005e-04, 3.28636007e-05, 4.62292820e-05,
  2.35196411e-03, 3.82502737e-03, 8.32517105e-03, 1.07284936e-03,
  3.30373979e-05, 1.68062494e-04,-4.90503436e+00, 6.34527845e-03,
  2.19867082e-03, 1.73539864e-04]


--- Step 2346 ---
qpos:
[-0.01511819, 1.29159803,-0.03082106, 0.94846746, 0.00437908, 1.32678732,
 -0.02955493, 0.94618379, 0.01673825, 1.33496996,-0.02382226, 0.95495509,
  1.39023046,-0.0042295 , 1.19451404, 0.06195371,-0.03736265,-0.10560415,
  0.07929092, 0.65940556,-0.01160736,-0.00410626, 0.75168658]

qacc:
[-2.37646140e-01,-2.96371594e+00, 1.10029704e+01,-8.01502668e+00,
  2.82204783e-02,-3.59356734e+00, 7.60881667e+00,-2.03098593e+00,
 -9.18768562e-02, 5.66992510e+00,-2.98339051e+01, 7.81267569e+01,
 -5.55507289e-01, 7.59538755e-01,-2.42492305e+00, 4.71499667e+00,
 -3.28339875e+00, 2.75964224e+00,-2.64229856e+00,-1.70630312e+02,
  2.13120104e+02, 2.24045173e+01]

qfrc_actuator:
[ 2.97141180e-03, 7.56802594e-02, 1.89077300e-02, 1.92877425e-03,
  5.70107518e-05, 3.96699866e-02, 1.07727788e-02, 1.78910502e-03,
 -3.03882894e-03, 3.61354507e-02, 1.08676207e-02, 1.97857766e-03,
  0.00000000e+00, 1.11020254e-03, 0.00000000e+00,-5.61895499e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007466109146808883
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05017283e-01,  8.75946448e-02, -9.48309884e-01, -2.68209750e-02,
        9.96156202e-01,  8.33873917e-02,  9.51969061e-01, -3.46944695e-18,
        3.06194232e-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([ 0.07259396, -0.04274095,  0.22450822])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  0.6633391 , -8.61085118,  0.6633391 , 90.58571339,
        6.31298885, -8.61085118,  6.31298885,  9.12268633,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0036108361142465906
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.53734895e-14,  3.07469791e-14,  1.00000000e+00,  4.72688361e-28,
        1.00000000e+00, -3.07469791e-14, -1.00000000e+00,  0.00000000e+00,
       -1.53734895e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00667088, -0.12908954,  0.06167977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09949698e-04, 4.06503559e-02, 1.02020675e-02, 1.95060204e-05,
  8.01982830e-06,-2.66082798e-04,-3.52456942e-05, 4.71843326e-06,
 -2.64912223e-05,-1.66020745e-04,-2.86204484e-05, 2.22087485e-04,
  2.36114292e-03, 3.87588985e-03, 8.17457845e-03, 1.16653429e-03,
  2.50384402e-04, 5.54368040e-04,-4.90515109e+00, 6.31701062e-03,
  2.21363361e-03, 2.86197729e-04]


--- Step 2347 ---
qpos:
[-0.01512166, 1.29161269,-0.03086034, 0.94847019, 0.00438002, 1.32688587,
 -0.02955713, 0.94618509, 0.01673863, 1.3349994 ,-0.02382303, 0.95496082,
  1.39025531,-0.00424869, 1.19450389, 0.06195015,-0.03738032,-0.1056065 ,
  0.07926977, 0.659487  ,-0.01187827,-0.00443594, 0.75160903]

qacc:
[-3.65091490e-02,-1.33746989e+00, 3.62933022e+00, 4.60123459e+00,
 -4.44995761e-02, 2.00211782e-01,-5.67889387e+00, 1.62380694e+01,
  8.86729425e-02, 3.64627561e+00,-1.53981493e+01, 2.49239364e+01,
 -2.34207408e-01, 4.75248614e-01,-1.09097960e+00, 1.26914721e+00,
  4.45214953e+00, 3.56327092e+00, 2.86149775e+00, 2.46259432e+02,
  2.14617331e+02,-9.78263790e-01]

qfrc_actuator:
[ 2.98568662e-03, 7.56479821e-02, 1.89396093e-02, 1.95941847e-03,
  3.94574604e-05, 3.95592245e-02, 1.07417779e-02, 1.83140685e-03,
 -2.99763129e-03, 3.60715650e-02, 1.07944164e-02, 2.01999421e-03,
  0.00000000e+00, 1.10919485e-03, 0.00000000e+00,-5.46977684e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007464239573338888
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30504221,  0.08759535, -0.9483018 , -0.02682339,  0.99615614,
        0.08338736,  0.95196101,  0.        ,  0.30621927])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07259338, -0.04274131,  0.22450853])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003643999718178137
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.52098579e-15,  2.66587602e-14,  1.00000000e+00, -2.53817677e-28,
        1.00000000e+00, -2.66587602e-14, -1.00000000e+00,  0.00000000e+00,
        9.52098579e-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([-0.06826953, -0.12656943,  0.06167687])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.52102317e-04, 4.05636497e-02, 1.01465885e-02, 4.06759314e-05,
 -1.28340187e-05,-2.65417163e-04,-8.70270463e-05, 3.35379207e-05,
  2.55719342e-05,-1.54904339e-04,-1.02407047e-04, 4.08790981e-05,
  2.38699220e-03, 3.85751109e-03, 8.26477532e-03, 1.18465872e-03,
  5.92044754e-04, 4.08869026e-04,-4.90519054e+00, 6.36454644e-03,
  2.21884459e-03, 2.55057462e-04]


--- Step 2348 ---
qpos:
[-0.01512573, 1.29162794,-0.03089821, 0.94847083, 0.00438081, 1.32698227,
 -0.02955882, 0.94618719, 0.01673948, 1.3350288 ,-0.02382503, 0.95496485,
  1.39028011,-0.00426772, 1.19449127, 0.06194703,-0.03738237,-0.10559621,
  0.07925425, 0.65957731,-0.01214633,-0.00418916, 0.7515269 ]

qacc:
[-2.51702159e-01,-6.60272974e+00, 2.67594873e+01,-4.78230440e+01,
 -6.37786366e-02,-2.85854381e+00, 4.26300137e+00, 6.92756097e+00,
  1.98733807e-01, 3.61941227e-01, 2.17723090e+00,-2.14882616e+01,
  1.15348941e-02, 6.80139510e-02,-4.96899530e+00, 1.20630844e+01,
  3.90645431e+00, 3.16156779e+00, 1.40525928e+00, 2.17618083e+02,
  1.89058729e+02,-1.42700896e+00]

qfrc_actuator:
[ 2.96018756e-03, 7.56579995e-02, 1.89915138e-02, 1.85202653e-03,
  2.86122971e-05, 3.94723309e-02, 1.07776302e-02, 1.87350111e-03,
 -2.95543910e-03, 3.61285764e-02, 1.07515409e-02, 1.93546549e-03,
  0.00000000e+00, 1.11607052e-03, 0.00000000e+00,-4.47706952e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007462049839043784
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05065633e-01,  8.75961080e-02, -9.48294196e-01, -2.68256781e-02,
        9.96156073e-01,  8.33874159e-02,  9.51953435e-01,  3.46944695e-18,
        3.06242808e-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([ 0.07259268, -0.04274168,  0.22450887])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   8.12336471,   2.93218735,   8.12336471,
        18.34090815, -26.88557895,   2.93218735, -26.88557895,
        83.12047309,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0036999646511247652
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.43927592e-15,  1.87539465e-15,  1.00000000e+00,  1.58269729e-29,
        1.00000000e+00, -1.87539465e-15, -1.00000000e+00,  0.00000000e+00,
       -8.43927592e-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([-0.06819185, -0.1265054 ,  0.06167243])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30895117e-04, 4.05520978e-02, 1.01413738e-02,-1.01339114e-04,
 -1.84226385e-05,-2.50426373e-04,-2.50849343e-05, 3.24994622e-05,
  5.72976254e-05,-4.76287053e-05,-8.35917914e-05,-9.11151524e-05,
  2.39104322e-03, 3.84844575e-03, 8.32541117e-03, 1.29512637e-03,
  1.24743100e-04, 3.23003695e-05,-4.90504406e+00, 6.39133960e-03,
  2.21081383e-03, 1.28302012e-04]


--- Step 2349 ---
qpos:
[-0.0151306 , 1.2916431 ,-0.03093455, 0.9484692 , 0.0043816 , 1.32707664,
 -0.02956032, 0.94618841, 0.01674038, 1.33505827,-0.02382698, 0.95496948,
  1.39030432,-0.00428664, 1.19447876, 0.06194464,-0.03737062,-0.10557463,
  0.07923931, 0.65967592,-0.01241102,-0.00343055, 0.75143987]

qacc:
[-3.46420145e-01,-8.09711804e+00, 3.09129015e+01,-5.30034640e+01,
  7.95260248e-04,-4.65443136e+00, 1.37944284e+01,-2.09519415e+01,
  1.82815155e-02, 9.40857066e-01,-4.18453784e+00, 1.05505055e+01,
 -5.02649278e-01, 5.22581692e-01,-2.02060416e+00, 7.39213552e+00,
  3.44819127e+00, 2.82210717e+00, 1.46889417e-01, 1.93481564e+02,
  1.67580770e+02,-1.62812082e+00]

qfrc_actuator:
[ 2.92911594e-03, 7.56575565e-02, 1.90724640e-02, 1.73533739e-03,
  3.96325591e-05, 3.93651814e-02, 1.07817538e-02, 1.82642711e-03,
 -2.98400447e-03, 3.61865555e-02, 1.07806224e-02, 1.97292148e-03,
  0.00000000e+00, 1.18097225e-03, 0.00000000e+00,-4.40413158e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007459116564940728
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05087152e-01,  8.75970665e-02, -9.48287184e-01, -2.68278662e-02,
        9.96155989e-01,  8.33877188e-02,  9.51946477e-01, -3.46944695e-18,
        3.06264436e-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([ 0.07259176, -0.04274202,  0.22450923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037002834160772824
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.31266316e-14,  1.12513985e-14,  1.00000000e+00,  1.47692964e-28,
        1.00000000e+00, -1.12513985e-14, -1.00000000e+00,  0.00000000e+00,
       -1.31266316e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06819292, -0.12649676,  0.06167218])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.29353582e-04, 4.05220791e-02, 1.01519550e-02,-1.13114600e-04,
  1.47617574e-07,-2.50291507e-04,-4.68629679e-05,-5.44297112e-05,
  5.27092875e-06, 1.24248900e-05, 7.59009354e-06, 3.15220556e-05,
  2.39382018e-03, 3.90583223e-03, 8.44952262e-03, 1.28078610e-03,
  1.50631362e-05, 3.70028932e-05,-4.90505461e+00, 6.41958269e-03,
  2.19599425e-03, 1.31578338e-04]


--- Step 2350 ---
qpos:
[-0.01513579, 1.29165786,-0.03096946, 0.94846655, 0.0043823 , 1.32716936,
 -0.02956224, 0.94618974, 0.01674116, 1.33508654,-0.0238269 , 0.95497419,
  1.39032808,-0.00430543, 1.19446784, 0.06194276,-0.03734775,-0.10554353,
  0.07922034, 0.65978237,-0.01267107,-0.00221039, 0.75134665]

qacc:
[-1.29206329e-01,-6.12185348e+00, 2.13899136e+01,-2.99210290e+01,
 -3.94523320e-02,-8.50044737e-01,-7.64220587e-02, 2.46344361e+00,
 -4.95431296e-02,-6.87327983e+00, 2.03721693e+01,-1.60483152e+01,
 -4.82039472e-01, 5.40954385e-01, 8.60412124e-01, 4.95000764e-01,
  2.78139339e+00, 2.37858214e+00,-1.00778180e+00, 1.74978100e+02,
  1.50542603e+02,-2.13500005e+00]

qfrc_actuator:
[ 2.93066462e-03, 7.56335272e-02, 1.91524119e-02, 1.68509386e-03,
  2.81748284e-05, 3.92998616e-02, 1.07669695e-02, 1.83373359e-03,
 -3.00152793e-03, 3.60852515e-02, 1.08698177e-02, 1.97542690e-03,
  0.00000000e+00, 1.20965291e-03, 0.00000000e+00,-4.71028595e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007456572119143683
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3051073 ,  0.08759829, -0.94828059, -0.02683002,  0.99615588,
        0.08338831,  0.95193996,  0.        ,  0.3062847 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07259087, -0.04274233,  0.2245096 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -2.95510622,  8.1150554 , -2.95510622, 11.97383875,
        1.21534518,  8.1150554 ,  1.21534518,  9.0789329 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0036583627878981834
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.50401670e-02, -1.75200835e-02,  9.99232322e-01, -6.14000895e-04,
        9.99846512e-01,  1.75093212e-02, -9.99385716e-01,  2.16840434e-19,
       -3.50455461e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06825673, -0.12653219,  0.06167526])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.71545783e-04, 4.05024119e-02, 1.01558365e-02,-4.97526957e-05,
 -1.13795678e-05,-2.15239895e-04,-7.07688416e-05,-2.70405716e-06,
 -1.43951800e-05,-9.22089125e-05, 9.33836107e-05, 3.87408068e-06,
  2.42320395e-03, 3.92884677e-03, 8.44413516e-03, 1.21342550e-03,
  1.56788951e-04, 3.05104345e-04,-4.90517444e+00, 6.44844983e-03,
  2.17613604e-03, 2.25544103e-04]


--- Step 2351 ---
qpos:
[-0.01514041, 1.29167211,-0.03100374, 0.9484658 , 0.00438274, 1.32726087,
 -0.02956463, 0.94619284, 0.01674178, 1.33511396,-0.02382706, 0.95497657,
  1.39035194,-0.00432391, 1.19445815, 0.06194047,-0.03734294,-0.10552526,
  0.07920553, 0.65990028,-0.01294028,-0.00166276, 0.75123991]

qacc:
[ 2.37106775e-01, 8.75524387e-01,-7.50937300e+00, 2.86605540e+01,
 -1.09772253e-01, 2.70614710e+00,-1.43792230e+01, 3.37363138e+01,
 -6.66495699e-02,-4.52236029e+00, 1.81098670e+01,-4.20946143e+01,
 -2.30704985e-01, 5.16168729e-01, 3.07382673e+00,-8.06344828e+00,
 -4.51608625e+00,-3.20707259e+00, 1.04143242e+00,-2.55616582e+02,
 -2.18318652e+02,-1.30186246e+01]

qfrc_actuator:
[ 2.96935399e-03, 7.56489517e-02, 1.91957285e-02, 1.78087753e-03,
  3.32435784e-06, 3.92778249e-02, 1.07591120e-02, 1.92627707e-03,
 -3.01228244e-03, 3.59961225e-02, 1.08333348e-02, 1.85073288e-03,
  0.00000000e+00, 1.19880190e-03, 0.00000000e+00,-5.24454509e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.26989587,  0.26473861,  0.05250953,  0.26473861,  0.28088087,
       -0.05538333,  0.05250953, -0.05538333,  0.54912341,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007454991763763408
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05126465e-01,  8.75996181e-02, -9.48274300e-01, -2.68321108e-02,
        9.96155764e-01,  8.33890336e-02,  9.51933757e-01, -3.46944695e-18,
        3.06303969e-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([ 0.07259011, -0.04274263,  0.22450996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003761151849392845
  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([ 1.99887760e-05, -8.16480233e-02,  6.16671190e-02])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.25412924e-04, 4.05378105e-02, 1.01272935e-02, 9.63840110e-05,
 -3.15686840e-05,-1.55679035e-04,-5.81880846e-05, 8.40807612e-05,
 -1.92388182e-05,-1.21954380e-04,-4.37883296e-05,-1.24557374e-04,
  2.44536518e-03, 3.91242533e-03, 8.36461938e-03, 1.13471854e-03,
  4.78953646e-04, 7.58301492e-04,-4.90537415e+00, 6.47793074e-03,
  2.15218698e-03, 3.84203896e-04]


--- Step 2352 ---
qpos:
[-0.0151441 , 1.29168553,-0.03103786, 0.94846832, 0.0043829 , 1.32735073,
 -0.02956695, 0.94619704, 0.01674225, 1.33514225,-0.02382949, 0.9549767 ,
  1.39037588,-0.00434206, 1.1944504 , 0.06193737,-0.037354  ,-0.10551844,
  0.07918986, 0.66003058,-0.01321957,-0.0017065 , 0.75112048]

qacc:
[ 3.98715140e-01, 4.03929785e+00,-2.12076866e+01, 5.68434762e+01,
 -1.16527997e-01,-4.75029297e-01,-3.31254646e+00, 1.66173552e+01,
 -6.26627421e-02, 3.42507787e+00,-5.28654127e+00,-2.18230443e+01,
 -3.15355541e-01, 6.34894572e-01, 5.33108434e+00,-1.44190077e+01,
 -3.96821946e+00,-2.86201006e+00,-2.16561368e-01,-2.25383110e+02,
 -1.91246074e+02,-1.26535086e+01]

qfrc_actuator:
[ 3.01183728e-03, 7.56350525e-02, 1.92173045e-02, 1.94403329e-03,
 -1.16061386e-05, 3.91754692e-02, 1.07556359e-02, 1.97950016e-03,
 -3.01888875e-03, 3.61097081e-02, 1.07406327e-02, 1.74086305e-03,
  0.00000000e+00, 1.21724931e-03, 0.00000000e+00,-6.26358345e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007453750256549499
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30514551,  0.08760078, -0.94826806, -0.02683414,  0.99615566,
        0.0833896 ,  0.95192759,  0.        ,  0.30632312])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07258943, -0.04274299,  0.22451029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.43050204, -1.87440981, -8.43050204, 10.27183654,
       -7.35583946, -1.87440981, -7.35583946, 41.72060122,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038235498158399953
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.25911181e-15,  1.45182236e-14,  1.00000000e+00,  1.05389408e-28,
        1.00000000e+00, -1.45182236e-14, -1.00000000e+00,  0.00000000e+00,
       -7.25911181e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-7.74468682e-05, -8.17301823e-02,  6.16622912e-02])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.40107606e-04, 4.05489621e-02, 1.01176796e-02, 1.65162721e-04,
 -3.35525606e-05,-1.97976831e-04,-3.81799645e-05, 4.89282699e-05,
 -1.79502969e-05, 3.37188703e-05,-1.25165738e-04,-1.17621790e-04,
  2.44075159e-03, 3.91564979e-03, 8.30336782e-03, 1.05334215e-03,
  7.96567480e-05, 1.65935808e-04,-4.90512355e+00, 6.44213005e-03,
  2.17562974e-03, 1.95027293e-04]


--- Step 2353 ---
qpos:
[-0.01514671, 1.29169654,-0.03107227, 0.94847157, 0.00438283, 1.32743817,
 -0.02956859, 0.94620085, 0.0167426 , 1.335171  ,-0.02383177, 0.95497748,
  1.39039968,-0.00436035, 1.1944477 , 0.06193413,-0.03737908,-0.10552189,
  0.07916895, 0.660173  ,-0.01350947,-0.00227321, 0.75098864]

qacc:
[ 4.64027988e-01,-1.12721092e+00,-1.62015762e+00, 1.12636582e+01,
 -9.92732773e-02,-5.67676281e+00, 1.54859752e+01,-1.64321002e+01,
 -5.08618162e-02, 1.31637908e+00,-4.89410517e+00, 1.15764809e+01,
 -2.97285720e-01, 2.35958997e-01, 7.90634279e+00,-1.67661672e+01,
 -3.50421667e+00,-2.56588075e+00,-1.31004249e+00,-1.99839090e+02,
 -1.68510642e+02,-1.20990810e+01]

qfrc_actuator:
[ 3.02049029e-03, 7.55685913e-02, 1.92260431e-02, 1.96793887e-03,
 -2.04648387e-05, 3.90080904e-02, 1.07721892e-02, 1.95583821e-03,
 -3.02295355e-03, 3.61837814e-02, 1.07761182e-02, 1.78275203e-03,
  0.00000000e+00, 1.25312832e-03, 0.00000000e+00,-8.10045114e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007452875029187664
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05165204e-01,  8.76016482e-02, -9.48261646e-01, -2.68361441e-02,
        9.96155586e-01,  8.33898683e-02,  9.51921226e-01, -3.46944695e-18,
        3.06342913e-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([ 0.07258889, -0.0427434 ,  0.22451059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.43812751, -1.83977743, -8.43812751, 10.42718533,
       -8.21359233, -1.83977743, -8.21359233, 46.30795263,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003826338301331285
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.45076433e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.45076433e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-8.10721231e-05, -8.17478009e-02,  6.16618586e-02])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.02017787e-04, 4.05243970e-02, 1.01180649e-02, 2.50786631e-05,
 -2.86524247e-05,-2.83525364e-04,-2.51726657e-05,-2.94547639e-05,
 -1.46420378e-05, 6.45988981e-05, 2.43766432e-05, 3.65246037e-05,
  2.43644638e-03, 3.93516447e-03, 8.20655996e-03, 9.10069523e-04,
  4.89315869e-05, 2.32683193e-06,-4.90504460e+00, 6.40670978e-03,
  2.19764993e-03, 1.44322215e-04]


--- Step 2354 ---
qpos:
[-0.01514868, 1.29170507,-0.03110763, 0.9484727 , 0.00438243, 1.32752335,
 -0.02956997, 0.94620367, 0.01674301, 1.33519931,-0.02383307, 0.95498088,
  1.39042336,-0.00437885, 1.1944476 , 0.06193101,-0.0374166 ,-0.10553457,
  0.079139  , 0.66032656,-0.01381026,-0.00330509, 0.75084432]

qacc:
[ 2.71578086e-01,-4.33197424e+00, 1.45232458e+01,-3.54769357e+01,
 -1.38128608e-01,-5.37173320e+00, 1.59570541e+01,-2.38924206e+01,
  2.31008126e-02, 1.28043575e+00,-1.00971105e+01, 3.90159986e+01,
 -8.01364146e-02,-7.23885400e-02, 3.48242046e+00,-6.59153802e+00,
 -3.10923159e+00,-2.31001659e+00,-2.25782703e+00,-1.78202858e+02,
 -1.49365219e+02,-1.14268017e+01]

qfrc_actuator:
[ 3.00831842e-03, 7.55790169e-02, 1.92097272e-02, 1.85628291e-03,
 -4.33632969e-05, 3.88918889e-02, 1.07823690e-02, 1.90484670e-03,
 -3.00770906e-03, 3.61276869e-02, 1.08159782e-02, 1.91368871e-03,
  0.00000000e+00, 1.26430607e-03, 0.00000000e+00,-8.65618364e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000745322687641041
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30518748,  0.08760215, -0.94825443, -0.02683826,  0.99615554,
        0.08338972,  0.95191402,  0.        ,  0.30636529])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07258879, -0.04274387,  0.22451078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -8.41185494,  -1.95639292,  -8.41185494,
        10.97265503, -10.04529517,  -1.95639292, -10.04529517,
        51.82787445,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003780833236474747
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.46822533e-14,  1.46822533e-14,  1.00000000e+00,  2.15568562e-28,
        1.00000000e+00, -1.46822533e-14, -1.00000000e+00,  0.00000000e+00,
       -1.46822533e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.00003826e-05, -8.17142228e-02,  6.16649226e-02])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.35464010e-04, 4.06553724e-02, 1.01167883e-02,-1.22660313e-04,
 -3.98056467e-05,-2.79460534e-04,-4.90915913e-05,-6.07893195e-05,
  6.62048671e-06,-1.47222618e-05, 5.62872908e-05, 1.34452018e-04,
  2.44372714e-03, 3.95393274e-03, 7.95405588e-03, 8.61585651e-04,
  2.73255155e-04, 1.35557450e-04,-4.90508460e+00, 6.37141390e-03,
  2.21921938e-03, 1.89045716e-04]


--- Step 2355 ---
qpos:
[-0.0151516 , 1.2917157 ,-0.03114181, 0.94847127, 0.00438159, 1.32760672,
 -0.02957174, 0.94620688, 0.01674381, 1.33522733,-0.02383466, 0.95498587,
  1.39044721,-0.00439697, 1.19443995, 0.06192781,-0.03743832,-0.10556319,
  0.07912511, 0.66045678,-0.01352377,-0.00436692, 0.75072957]

qacc:
[-4.09392348e-01,-4.76688431e+00, 2.41056811e+01,-5.18146484e+01,
 -1.89829174e-01,-6.29488019e-01,-1.62704364e+00, 7.16088421e+00,
  1.67855339e-01, 3.13568755e+00,-1.39206527e+01, 3.06812612e+01,
  2.66600927e-01,-3.57843359e-02,-1.09461032e+01, 2.20282901e+01,
  3.94916127e+00,-3.98382652e+00, 4.01090160e+00, 1.82542700e+02,
 -2.30601847e+02, 1.73438184e+01]

qfrc_actuator:
[ 3.00142035e-03, 7.55833464e-02, 1.92323922e-02, 1.75459886e-03,
 -7.45001378e-05, 3.88249649e-02, 1.07711215e-02, 1.92697743e-03,
 -2.96325266e-03, 3.60829625e-02, 1.07865709e-02, 1.98933253e-03,
  0.00000000e+00, 1.22528542e-03, 0.00000000e+00,-5.42733182e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007453332511321784
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05213011e-01,  8.76024234e-02, -9.48246188e-01, -2.68405876e-02,
        9.96155518e-01,  8.33892526e-02,  9.51905773e-01,  3.46944695e-18,
        3.06390926e-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([ 0.07258897, -0.04274434,  0.22451089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -8.54384145,  -1.26077364,  -8.54384145,
        10.3879134 , -11.86966722,  -1.26077364, -11.86966722,
        89.07313022,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003821957223046603
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.16990373e-15,  1.45242733e-14,  1.00000000e+00,  1.18661915e-28,
        1.00000000e+00, -1.45242733e-14, -1.00000000e+00,  0.00000000e+00,
       -8.16990373e-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([-0.06111115, -0.08982913,  0.06166149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.67428103e-05, 4.07835242e-02, 1.01862796e-02,-1.18727897e-04,
 -5.46213486e-05,-2.33537733e-04,-7.33621472e-05, 1.10228413e-05,
  4.83795001e-05,-3.80757014e-05,-2.19757380e-05, 8.00262132e-05,
  2.44965420e-03, 3.92599872e-03, 7.82398706e-03, 1.17849729e-03,
  6.72972126e-04, 4.73044568e-04,-4.90520455e+00, 6.33638863e-03,
  2.24078380e-03, 2.98920417e-04]


--- Step 2356 ---
qpos:
[-0.0151559 , 1.29172914,-0.03117433, 0.94846957, 0.00438062, 1.32768854,
 -0.0295738 , 0.94621031, 0.01674477, 1.33525549,-0.02383746, 0.95498863,
  1.39047083,-0.00441432, 1.19442439, 0.06192427,-0.03744371,-0.1055794 ,
  0.07912142, 0.66059019,-0.01324192,-0.00478411, 0.75061465]

qacc:
[-5.83263700e-01,-1.22484550e+00, 9.01825788e+00,-1.27131936e+01,
 -5.13040707e-02,-9.02096987e-01, 6.32666073e-02, 3.37053383e+00,
  6.64327323e-02,-3.84727295e-01, 5.97229022e+00,-3.09614529e+01,
 -2.96623731e-01, 7.86077390e-01,-1.06011832e+01, 2.01892366e+01,
  4.08497446e+00, 3.10182497e+00, 2.55235010e+00, 2.40463282e+02,
  2.14622388e+02, 3.11610074e+00]

qfrc_actuator:
[ 3.01678109e-03, 7.55804346e-02, 1.92589618e-02, 1.74895372e-03,
 -5.70699647e-05, 3.87703001e-02, 1.07653187e-02, 1.93873052e-03,
 -2.97264354e-03, 3.60806087e-02, 1.07164768e-02, 1.87198961e-03,
  0.00000000e+00, 1.26214323e-03, 0.00000000e+00,-3.29924951e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007450616041597899
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05235425e-01,  8.76030253e-02, -9.48238918e-01, -2.68427445e-02,
        9.96155465e-01,  8.33891906e-02,  9.51898525e-01,  3.46944695e-18,
        3.06413442e-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([ 0.07258849, -0.04274475,  0.22451111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003879372301680102
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.99688752e-02, -1.49844376e-02,  9.99438509e-01, -4.49117163e-04,
        9.99887727e-01,  1.49777055e-02, -9.99550731e-01, -5.42101086e-20,
       -2.99722402e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06797181, -0.12622566,  0.06165726])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.60102029e-04, 4.06756939e-02, 1.01543917e-02, 3.61501259e-06,
 -1.47905647e-05,-1.98454830e-04,-5.95898812e-05, 2.97447800e-06,
  1.91808935e-05,-2.55100679e-05,-7.77071168e-05,-1.17207798e-04,
  2.44140480e-03, 3.94371208e-03, 8.20198527e-03, 1.39515668e-03,
  2.79589411e-04, 6.17976585e-04,-4.90515620e+00, 6.30541839e-03,
  2.21589363e-03, 3.24421245e-04]


--- Step 2357 ---
qpos:
[-0.0151607 , 1.29174296,-0.03120643, 0.9484681 , 0.00437982, 1.32776858,
 -0.02957529, 0.94621418, 0.01674563, 1.33528314,-0.02384004, 0.95498995,
  1.39049399,-0.00443117, 1.19440647, 0.06192057,-0.03743465,-0.10558447,
  0.07912225, 0.6607284 ,-0.01296217,-0.00463337, 0.75049883]

qacc:
[-2.15450700e-01,-2.85163384e-01, 1.04340743e+00, 1.51500580e+00,
  6.96313930e-02,-3.12374924e+00, 6.46067161e+00, 6.00931824e-01,
 -4.33546658e-02,-3.73797743e+00, 1.42916125e+01,-2.87021140e+01,
 -5.82916080e-01, 9.05691668e-01,-2.93792911e+00, 5.31846573e+00,
  3.60936253e+00, 2.78622118e+00, 1.13189091e+00, 2.12483861e+02,
  1.88396651e+02, 1.66402537e+00]

qfrc_actuator:
[ 3.04628866e-03, 7.56248748e-02, 1.92691680e-02, 1.74640934e-03,
 -2.83998014e-05, 3.86879437e-02, 1.07983338e-02, 1.96203663e-03,
 -2.99650946e-03, 3.60500932e-02, 1.07295232e-02, 1.80181655e-03,
  0.00000000e+00, 1.32624348e-03, 0.00000000e+00,-3.42639305e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007445353115195438
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30525357,  0.0876041 , -0.94823298, -0.02684467,  0.99615537,
        0.0833897 ,  0.95189265,  0.        ,  0.30643169])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07258728, -0.04274508,  0.22451145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.62446097,  0.45326572,  8.62446097,  8.7414102 ,
       -1.99876129,  0.45326572, -1.99876129, 46.66756246,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003912918116522443
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.92188915e-02, -1.46094457e-02,  9.99466268e-01, -4.26917372e-04,
        9.99893276e-01,  1.46032067e-02, -9.99572946e-01,  5.42101086e-20,
       -2.92220102e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06793389, -0.1261819 ,  0.06165476])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.57983561e-04, 4.05790906e-02, 1.00818588e-02, 1.46205599e-05,
  1.99402857e-05,-2.04274879e-04,-1.25780989e-05, 1.57936636e-05,
 -1.25280500e-05,-6.34556134e-05,-4.21952796e-06,-7.58912324e-05,
  2.45276859e-03, 3.96984153e-03, 8.59729347e-03, 1.39966925e-03,
  1.42497200e-05, 1.07674640e-04,-4.90499906e+00, 6.34667996e-03,
  2.20012905e-03, 1.60403946e-04]


--- Step 2358 ---
qpos:
[-0.01516417, 1.29175352,-0.03123916, 0.94846666, 0.00437911, 1.3278473 ,
 -0.02957703, 0.94621657, 0.01674646, 1.33530933,-0.02384037, 0.95499109,
  1.39051708,-0.00444837, 1.1943967 , 0.06191722,-0.03741273,-0.10557945,
  0.07912272, 0.6608718 ,-0.01268265,-0.0039793 , 0.75038109]

qacc:
[ 5.67162476e-01,-2.51625607e+00, 3.00883589e+00,-3.07873689e-01,
  3.98811474e-02,-3.56746210e+00, 1.25614759e+01,-2.71350419e+01,
 -1.41918119e-02,-8.32121843e+00, 2.51811671e+01,-2.30214937e+01,
 -2.25840908e-01, 3.51503243e-02, 1.09548650e+01,-2.07971120e+01,
  3.21655749e+00, 2.52052578e+00,-9.32178454e-02, 1.88830296e+02,
  1.66385926e+02, 6.83848405e-01]

qfrc_actuator:
[ 3.04846375e-03, 7.56280409e-02, 1.93056260e-02, 1.72758122e-03,
 -2.87273858e-05, 3.86253382e-02, 1.07828932e-02, 1.88544757e-03,
 -2.99335820e-03, 3.59677683e-02, 1.08447687e-02, 1.79555569e-03,
  0.00000000e+00, 1.33563726e-03, 0.00000000e+00,-6.68233896e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007438983206748927
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05270958e-01,  8.76053341e-02, -9.48227266e-01, -2.68465823e-02,
        9.96155262e-01,  8.33903806e-02,  9.51887022e-01, -3.46944695e-18,
        3.06449174e-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([ 0.07258587, -0.04274538,  0.22451182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.60946644, -0.68107595,  8.60946644,  8.87956443,
        3.07429602, -0.68107595,  3.07429602, 47.4984732 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038926712910413858
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.78835320e-02, -1.39417660e-02,  9.99513950e-01, -3.88783466e-04,
        9.99902809e-01,  1.39363441e-02, -9.99611103e-01,  0.00000000e+00,
       -2.78862423e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06797123, -0.12619215,  0.06165623])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.85414176e-04, 4.05638661e-02, 1.00969034e-02,-1.56654018e-05,
  1.14246826e-05,-1.78150991e-04,-5.64460622e-05,-8.26022345e-05,
 -4.22989315e-06,-1.20672448e-04, 1.00128015e-04,-9.99382175e-06,
  2.47557011e-03, 3.95451084e-03, 8.71563957e-03, 1.08243453e-03,
  6.96751829e-05,-1.30254204e-05,-4.90499371e+00, 6.38357204e-03,
  2.18052075e-03, 1.27110051e-04]


--- Step 2359 ---
qpos:
[-0.01516706, 1.29176313,-0.03127169, 0.94846613, 0.0043786 , 1.32792507,
 -0.02957991, 0.94621597, 0.01674727, 1.33533451,-0.02383991, 0.95499148,
  1.39054022,-0.00446552, 1.19439009, 0.06191369,-0.03737924,-0.10556525,
  0.07911859, 0.66101996,-0.01240192,-0.00287646, 0.75026031]

qacc:
[ 2.46295211e-01,-2.37413138e-01,-2.62370031e+00, 1.35335959e+01,
  8.52660942e-02,-3.29808561e+00, 1.53854999e+01,-4.74127687e+01,
 -2.89335235e-03,-4.73896588e+00, 1.53446577e+01,-2.11912364e+01,
 -1.84777771e-01, 2.79410549e-01, 5.24346756e+00,-1.15243588e+01,
  2.89051321e+00, 2.29533551e+00,-1.14747231e+00, 1.68796167e+02,
  1.47869977e+02, 5.47745417e-02]

qfrc_actuator:
[ 3.03260693e-03, 7.55921609e-02, 1.93409752e-02, 1.78786109e-03,
 -1.09439594e-05, 3.85748335e-02, 1.07212221e-02, 1.73290564e-03,
 -2.99177628e-03, 3.59087761e-02, 1.08771909e-02, 1.75594848e-03,
  0.00000000e+00, 1.33061757e-03, 0.00000000e+00,-7.02695910e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007435140640859039
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05292051e-01,  8.76061186e-02, -9.48220403e-01, -2.68486796e-02,
        9.96155193e-01,  8.33905295e-02,  9.51880198e-01,  3.46944695e-18,
        3.06470370e-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([ 0.07258519, -0.04274576,  0.22451205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.46098994, -1.73159641,  8.46098994, 10.23315746,
        7.80231257, -1.73159641,  7.80231257, 46.76030964,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003829102092616081
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.59803587e-02, -1.29901793e-02,  9.99578049e-01, -3.37517996e-04,
        9.99915624e-01,  1.29857938e-02, -9.99662397e-01,  0.00000000e+00,
       -2.59825510e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06806835, -0.12624517,  0.06166085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.03088788e-04, 4.06905005e-02, 1.01640666e-02, 4.34783335e-05,
  2.45150956e-05,-1.63122354e-04,-1.05442299e-04,-1.61344495e-04,
 -9.04023368e-07,-1.06641274e-04, 1.99164814e-05,-4.04478144e-05,
  2.47908909e-03, 3.96770625e-03, 8.30843910e-03, 1.02996788e-03,
  3.47415354e-04, 1.36369682e-04,-4.90509405e+00, 6.41743914e-03,
  2.15780805e-03, 1.85051912e-04]


--- Step 2360 ---
qpos:
[-0.01517115, 1.29177639,-0.03130161, 0.94846578, 0.00437845, 1.3280013 ,
 -0.02958287, 0.94621493, 0.01674795, 1.33535929,-0.02384071, 0.95499215,
  1.39056309,-0.00448204, 1.1943762 , 0.0619099 ,-0.03736347,-0.10556302,
  0.07911772, 0.66117529,-0.01212649,-0.00243605, 0.75012949]

qacc:
[-5.11217803e-01,-1.93131055e+00, 1.17226547e+01,-1.03606273e+01,
  1.49568319e-01,-2.56157296e+00, 6.83153552e+00,-1.00896283e+01,
 -6.13825941e-02, 3.36528151e+00,-1.21486822e+01, 1.38771163e+01,
 -2.64949394e-01, 6.51512102e-01,-9.94134467e+00, 1.92191726e+01,
 -4.42699513e+00,-2.99190493e+00, 8.13812732e-01,-2.50221295e+02,
 -2.16884409e+02,-1.01086391e+01]

qfrc_actuator:
[ 3.05940920e-03, 7.55673635e-02, 1.94105778e-02, 1.82368747e-03,
  1.75611531e-05, 3.84962397e-02, 1.07215589e-02, 1.71442642e-03,
 -3.00890200e-03, 3.58816649e-02, 1.08072193e-02, 1.76797319e-03,
  0.00000000e+00, 1.35218662e-03, 0.00000000e+00,-3.84548943e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.26931339,  0.26914723, -0.00945879,  0.26914723,  0.26966814,
        0.01009442, -0.00945879,  0.01009442,  0.55654712,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007432451312129121
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30531386,  0.08760672, -0.94821332, -0.02685078,  0.99615514,
        0.08339048,  0.95187314,  0.        ,  0.30649228])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07258477, -0.0427462 ,  0.22451223])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038010748731666447
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.46040668e-14,  1.46040668e-14,  1.00000000e+00,  2.13278766e-28,
        1.00000000e+00, -1.46040668e-14, -1.00000000e+00,  0.00000000e+00,
       -1.46040668e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-2.10408935e-05, -8.18295527e-02,  6.16626846e-02])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.01027686e-04, 4.07134582e-02, 1.02234474e-02, 3.32233741e-05,
  4.29580934e-05,-1.94837192e-04,-4.83784099e-05,-3.01008822e-05,
 -1.76481265e-05,-8.35632188e-05,-8.97446921e-05, 8.54282528e-06,
  2.47700281e-03, 3.98691499e-03, 8.15060964e-03, 1.35747350e-03,
  7.77479118e-04, 4.71431860e-04,-4.90526914e+00, 6.44889689e-03,
  2.13270711e-03, 3.06384443e-04]


--- Step 2361 ---
qpos:
[-0.01517612, 1.29179145,-0.03132941, 0.94846466, 0.00437864, 1.3280755 ,
 -0.02958507, 0.94621436, 0.01674845, 1.33538386,-0.02384341, 0.95499436,
  1.39058542,-0.00449821, 1.19435894, 0.06190642,-0.03736327,-0.10557154,
  0.07911521, 0.66133928,-0.01185778,-0.00257854, 0.74998873]

qacc:
[-3.72857182e-01,-4.63954222e+00, 1.95517209e+01,-2.68991966e+01,
  1.47373429e-01,-3.90695559e+00, 8.52134494e+00,-5.43543286e-01,
 -7.26791849e-02, 7.49303684e+00,-2.78663112e+01, 4.20102732e+01,
 -4.59511330e-01, 6.27352176e-01,-5.86640773e+00, 1.33562932e+01,
 -3.89529313e+00,-2.68758625e+00,-4.11214208e-01,-2.20805443e+02,
 -1.90103107e+02,-1.00633578e+01]

qfrc_actuator:
[ 3.07784685e-03, 7.55272362e-02, 1.94627423e-02, 1.77420511e-03,
  3.45148109e-05, 3.83840045e-02, 1.07584964e-02, 1.73952698e-03,
 -3.01935952e-03, 3.58734797e-02, 1.07130622e-02, 1.84577025e-03,
  0.00000000e+00, 1.40685964e-03, 0.00000000e+00,-3.16260955e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007428296954827586
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05329703e-01,  8.76077595e-02, -9.48208127e-01, -2.68524978e-02,
        9.96155048e-01,  8.33910240e-02,  9.51868014e-01,  3.46944695e-18,
        3.06508212e-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([ 0.07258365, -0.04274657,  0.22451257])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.50307658, -1.51144485, -8.50307658,  9.57137329,
       -5.26017123, -1.51144485, -5.26017123, 38.22900062,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038546216918507875
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.20059654e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.20059654e-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([-9.91179166e-05, -8.19031944e-02,  6.16587092e-02])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.79402797e-04, 4.04905973e-02, 1.01452321e-02,-2.52182055e-05,
  4.22822738e-05,-2.30914206e-04,-7.64015485e-06, 1.72424385e-05,
 -2.08633673e-05,-7.18358707e-05,-1.20449976e-04, 7.29287558e-05,
  2.49019875e-03, 4.01017867e-03, 8.51449088e-03, 1.43862787e-03,
  2.06882949e-04, 4.45939874e-05,-4.90503886e+00, 6.39717008e-03,
  2.16267554e-03, 1.51750788e-04]


--- Step 2362 ---
qpos:
[-0.01518162, 1.29180623,-0.03135685, 0.94846359, 0.00437897, 1.32814758,
 -0.02958622, 0.94621548, 0.0167488 , 1.33540758,-0.02384649, 0.95499745,
  1.39060771,-0.00451393, 1.19434084, 0.06190297,-0.03737686,-0.10558976,
  0.07910679, 0.66151218,-0.01159675,-0.0032369 , 0.74983776]

qacc:
[-2.28013322e-01,-1.28873368e+00, 3.67348790e+00,-2.49470611e+00,
  5.96991791e-02,-2.74269535e+00, 2.16818410e+00, 1.88863478e+01,
 -6.47888523e-02, 1.43978867e+00,-7.82942888e+00, 1.75906496e+01,
 -2.93644882e-01, 6.37468999e-01,-1.29539577e+00, 2.79146504e+00,
 -3.44538614e+00,-2.42472055e+00,-1.47547462e+00,-1.95945524e+02,
 -1.67631427e+02,-9.76475901e+00]

qfrc_actuator:
[ 3.02041060e-03, 7.54783003e-02, 1.94506360e-02, 1.76317289e-03,
  2.66494534e-05, 3.82882135e-02, 1.08165902e-02, 1.82553516e-03,
 -3.02573194e-03, 3.58233661e-02, 1.06942925e-02, 1.89064386e-03,
  0.00000000e+00, 1.41041785e-03, 0.00000000e+00,-3.27335464e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007423767255228357
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05341812e-01,  8.76091147e-02, -9.48204103e-01, -2.68539812e-02,
        9.96154929e-01,  8.33919700e-02,  9.51864088e-01, -3.46944695e-18,
        3.06520404e-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([ 0.07258222, -0.04274687,  0.22451298])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.52851037, -1.36062034, -8.52851037,  9.50394748,
       -5.43810611, -1.36062034, -5.43810611, 42.72298063,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038503187021312196
  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([-8.64451566e-05, -8.19137464e-02,  6.16589886e-02])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.65695602e-04, 4.03514493e-02, 1.00274048e-02, 1.98028170e-06,
  1.70634327e-05,-2.25024773e-04, 1.24851251e-05, 7.93595497e-05,
 -1.86764827e-05,-1.11362210e-04,-4.43733801e-05, 4.09521228e-05,
  2.51715468e-03, 3.99667928e-03, 8.68355162e-03, 1.41243344e-03,
  1.41820986e-05, 1.56766423e-05,-4.90497318e+00, 6.34938580e-03,
  2.18921359e-03, 1.27554826e-04]


--- Step 2363 ---
qpos:
[-0.01518744, 1.2918212 ,-0.03138341, 0.94846337, 0.0043792 , 1.32821814,
 -0.02958683, 0.94621759, 0.01674888, 1.33543009,-0.02384893, 0.95499794,
  1.3906304 ,-0.00452925, 1.19432235, 0.06189948,-0.0374027 ,-0.10561677,
  0.07908878, 0.66169337,-0.01134398,-0.00435451, 0.74967609]

qacc:
[-1.34353678e-01,-6.68955348e-01, 7.31314354e-01, 9.07606506e+00,
 -4.36956211e-02,-1.73846062e+00, 1.21355239e+00, 1.14684966e+01,
 -1.12974084e-01,-7.82771934e+00, 2.88836519e+01,-5.44375667e+01,
  6.36528200e-02, 3.02923389e-01,-4.86271092e-01, 8.78471066e-01,
 -3.06283896e+00,-2.19600936e+00,-2.39749576e+00,-1.74885281e+02,
 -1.48727486e+02,-9.29543427e+00]

qfrc_actuator:
[ 2.98847051e-03, 7.54431910e-02, 1.94896286e-02, 1.81021310e-03,
  3.96076251e-06, 3.82386752e-02, 1.08512720e-02, 1.87568727e-03,
 -3.04735553e-03, 3.57488131e-02, 1.07199925e-02, 1.75602038e-03,
  0.00000000e+00, 1.38306754e-03, 0.00000000e+00,-3.14861860e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007418592657836738
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05353829e-01,  8.76106337e-02, -9.48200093e-01, -2.68555074e-02,
        9.96154796e-01,  8.33930745e-02,  9.51860190e-01,  3.46944695e-18,
        3.06532509e-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([ 0.07258071, -0.04274719,  0.22451339])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.5372813 , -1.30445578, -8.5372813 ,  9.56783544,
       -6.09621032, -1.30445578, -6.09621032, 48.53427598,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003799204683159439
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.46112557e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.46112557e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.64655717e-06, -8.18742809e-02,  6.16626473e-02])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.60488937e-04, 4.03301320e-02, 1.00478804e-02, 4.68062264e-05,
 -1.26334018e-05,-1.69700105e-04,-5.66146768e-06, 4.57119024e-05,
 -3.26388626e-05,-1.43742215e-04, 8.97473550e-08,-1.38234849e-04,
  2.51955174e-03, 3.94723080e-03, 8.72591068e-03, 1.42362643e-03,
  8.67463062e-05, 2.60378378e-04,-4.90502138e+00, 6.30445820e-03,
  2.21382843e-03, 1.92766418e-04]


--- Step 2364 ---
qpos:
[-0.0151925 , 1.29183432,-0.03140974, 0.94846428, 0.00437925, 1.3282875 ,
 -0.02958789, 0.94621824, 0.01674869, 1.33545183,-0.02385119, 0.95499644,
  1.39065305,-0.00454464, 1.19430924, 0.06189615,-0.03741036,-0.10563129,
  0.07908203, 0.66187157,-0.01110128,-0.00481818, 0.74951956]

qacc:
[ 3.24756040e-01,-1.12985823e+00,-1.53547537e+00, 1.55123539e+01,
 -7.32612795e-02,-2.88183356e+00, 1.04845123e+01,-2.52683938e+01,
 -1.11248182e-01,-4.88797864e+00, 1.86772931e+01,-3.84590935e+01,
 -2.56328642e-01, 2.65295962e-01, 7.51644075e+00,-1.47007189e+01,
  4.54449320e+00, 3.12026689e+00, 2.81251438e+00, 2.41787571e+02,
  2.20090526e+02, 6.55454721e+00]

qfrc_actuator:
[ 3.02508040e-03, 7.54337843e-02, 1.95408786e-02, 1.85576975e-03,
 -9.68168735e-06, 3.81638881e-02, 1.08187452e-02, 1.79781865e-03,
 -3.06020161e-03, 3.57313025e-02, 1.07359998e-02, 1.65887009e-03,
  0.00000000e+00, 1.42579983e-03, 0.00000000e+00,-5.19000139e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.26881849,  0.26407438,  0.05028024,  0.26407438,  0.27895104,
       -0.05321663,  0.05028024, -0.05321663,  0.54831494,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007413383341274525
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30536484,  0.08761226, -0.9481964 , -0.02685698,  0.99615465,
        0.08339431,  0.95185661,  0.        ,  0.30654361])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07257914, -0.04274757,  0.2245138 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003864383527297746
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.28460620e-15,  1.43648142e-14,  1.00000000e+00, -9.02772001e-29,
        1.00000000e+00, -1.43648142e-14, -1.00000000e+00,  0.00000000e+00,
        6.28460620e-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([-0.06806657, -0.1261343 ,  0.06165762])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.12855394e-04, 4.03116773e-02, 1.00555650e-02, 4.99410987e-05,
 -2.10999162e-05,-1.68893341e-04,-6.50990071e-05,-8.19625958e-05,
 -3.21043276e-05,-1.01228843e-04,-1.61196634e-05,-1.04594881e-04,
  2.49943133e-03, 3.97004490e-03, 8.74560414e-03, 1.22092961e-03,
  3.45050223e-04, 6.91772463e-04,-4.90514605e+00, 6.26194457e-03,
  2.23735089e-03, 3.18598954e-04]


--- Step 2365 ---
qpos:
[-0.0151964 , 1.291845  ,-0.03143681, 0.94846617, 0.00437899, 1.32835549,
 -0.02958932, 0.94621866, 0.01674873, 1.33547386,-0.02385433, 0.95499376,
  1.39067553,-0.00456015, 1.19430124, 0.06189265,-0.03740212,-0.10563461,
  0.07908068, 0.6620498 ,-0.01086462,-0.00470593, 0.74936632]

qacc:
[ 4.90392649e-01, 4.85834957e-01,-7.49635577e+00, 1.95264228e+01,
 -1.33086289e-01,-1.17927180e+00, 2.16293870e+00,-3.72739602e+00,
  9.30082972e-02, 7.01852083e-01, 5.90773792e-01,-1.44631746e+01,
 -3.39526406e-01, 2.91551450e-01, 8.07299934e+00,-1.72047894e+01,
  3.97463443e+00, 2.79989880e+00, 1.35244829e+00, 2.13834099e+02,
  1.92838514e+02, 4.28111282e+00]

qfrc_actuator:
[ 3.06636487e-03, 7.54417488e-02, 1.95465146e-02, 1.89981998e-03,
 -3.55381517e-05, 3.80919968e-02, 1.07999182e-02, 1.78721929e-03,
 -3.01442070e-03, 3.58013332e-02, 1.07109017e-02, 1.60236101e-03,
  0.00000000e+00, 1.45763827e-03, 0.00000000e+00,-6.75743083e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007410101559638185
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30537739,  0.08761364, -0.94819223, -0.02685851,  0.99615453,
        0.08339526,  0.95185255,  0.        ,  0.30655625])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07257804, -0.04274802,  0.22451412])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.8988324 ,   3.49216603,   7.8988324 ,
        13.7045002 , -11.46347594,   3.49216603, -11.46347594,
        34.56527832,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003905921504335899
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.88253117e-15,  7.10602494e-15,  1.00000000e+00, -6.31194880e-29,
        1.00000000e+00, -7.10602494e-15, -1.00000000e+00,  0.00000000e+00,
        8.88253117e-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([-0.06801899, -0.12607696,  0.06165448])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.16084491e-04, 4.04116718e-02, 1.00495419e-02, 3.77175406e-05,
 -3.83069909e-05,-1.80997410e-04,-6.17446183e-05,-1.93772867e-05,
  2.68393599e-05, 7.65549203e-06,-4.97824835e-05,-6.23890032e-05,
  2.50118634e-03, 4.00578979e-03, 8.47691527e-03, 1.05686963e-03,
  3.99480398e-05, 1.40659088e-04,-4.90498827e+00, 6.32397551e-03,
  2.21261778e-03, 1.42923173e-04]


--- Step 2366 ---
qpos:
[-0.01519878, 1.29185259,-0.03146482, 0.94846727, 0.00437843, 1.32842181,
 -0.02959116, 0.94621932, 0.01674912, 1.33549646,-0.02385826, 0.95499004,
  1.39069806,-0.00457619, 1.19429992, 0.06188932,-0.03737989,-0.10562783,
  0.0790797 , 0.66222959,-0.01063096,-0.00408338, 0.74921444]

qacc:
[ 6.50885394e-01,-2.87118214e+00, 6.11278922e+00,-1.26047343e+01,
 -1.31375542e-01,-6.63350140e-01,-9.94806185e-01, 4.76857829e+00,
  1.49684089e-01, 1.11159613e+00,-6.59605212e-01,-1.16502993e+01,
  4.58052876e-02,-3.70081350e-01, 9.32649199e+00,-1.83149572e+01,
  3.49786593e+00, 2.52551020e+00, 9.11519140e-02, 1.90225606e+02,
  1.70041897e+02, 2.65485812e+00]

qfrc_actuator:
[ 3.07425582e-03, 7.54437261e-02, 1.95611713e-02, 1.85388452e-03,
 -5.07600575e-05, 3.79869788e-02, 1.07716666e-02, 1.79858561e-03,
 -2.98709920e-03, 3.58521103e-02, 1.06798713e-02, 1.55249389e-03,
  0.00000000e+00, 1.44751664e-03, 0.00000000e+00,-8.74806420e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007407996724449958
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30539299,  0.08761463, -0.94818711, -0.02686018,  0.99615444,
        0.08339576,  0.9518475 ,  0.        ,  0.30657193])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0725774 , -0.04274853,  0.22451435])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.95871642,   3.35344746,   7.95871642,
        13.87269869, -12.42736206,   3.35344746, -12.42736206,
        38.13014626,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003892307553375121
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03062373e-14,  1.06963190e-14,  1.00000000e+00, -3.24165183e-28,
        1.00000000e+00, -1.06963190e-14, -1.00000000e+00,  0.00000000e+00,
        3.03062373e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06804775, -0.12607557,  0.06165545])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.66491488e-04, 4.05360044e-02, 1.01014191e-02,-5.79256588e-05,
 -3.78221158e-05,-2.18276940e-04,-7.13185826e-05, 3.77329493e-06,
  4.31785329e-05, 4.32898341e-05,-3.70423754e-05,-5.25263370e-05,
  2.51005532e-03, 4.00221657e-03, 8.22132654e-03, 8.66065857e-04,
  6.40750989e-05,-4.38887796e-06,-4.90498418e+00, 6.37617163e-03,
  2.18638575e-03, 1.02898140e-04]


--- Step 2367 ---
qpos:
[-0.01520001, 1.29185747,-0.03149304, 0.94846739, 0.00437775, 1.32848636,
 -0.02959295, 0.94621872, 0.01674956, 1.3355182 ,-0.02386091, 0.95498646,
  1.39072019,-0.00459279, 1.19430643, 0.06188628,-0.03737289,-0.10560707,
  0.07907125, 0.66236011,-0.0109734 ,-0.00344278, 0.74909733]

qacc:
[ 4.93781499e-01,-4.68520087e+00, 1.29690789e+01,-2.08046190e+01,
 -4.59452278e-02,-4.60958305e+00, 1.48333510e+01,-2.64026692e+01,
  2.11730968e-02,-4.35414206e+00, 1.25608425e+01,-8.75538317e+00,
 -3.30663858e-01,-6.85175554e-02, 1.07207913e+01,-2.06476001e+01,
 -3.80765835e+00, 3.49609505e+00,-1.86759580e+00,-1.84188785e+02,
  2.21504832e+02, 3.12347668e+01]

qfrc_actuator:
[ 3.06127470e-03, 7.54082194e-02, 1.96172404e-02, 1.80861073e-03,
 -4.17269571e-05, 3.78984453e-02, 1.07734530e-02, 1.73398148e-03,
 -3.00658042e-03, 3.57666840e-02, 1.07343143e-02, 1.56018340e-03,
  0.00000000e+00, 1.48367335e-03, 0.00000000e+00,-1.08178050e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007407611437697109
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05412417e-01,  8.76151021e-02, -9.48180810e-01, -2.68620407e-02,
        9.96154403e-01,  8.33956647e-02,  9.51841208e-01,  3.46944695e-18,
        3.06591445e-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([ 0.07257738, -0.04274909,  0.22451445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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,  8.63632070e+00,  2.72343112e-02,  8.63632070e+00,
        8.63693319e+00, -1.80610826e-01,  2.72343112e-02, -1.80610826e-01,
        6.59101828e+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: -0.003911088179549493
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.41932753e-14,  2.83865506e-14,  1.00000000e+00,  4.02898127e-28,
        1.00000000e+00, -2.83865506e-14, -1.00000000e+00,  0.00000000e+00,
       -1.41932753e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0057884 , -0.12905012,  0.06165403])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.77222811e-04, 4.06545959e-02, 1.02045652e-02,-6.32787045e-05,
 -1.32828097e-05,-2.23578594e-04,-4.89784671e-05,-7.30606624e-05,
  6.02250971e-06,-7.04315423e-05, 5.71252114e-05, 6.68651588e-06,
  2.50752229e-03, 4.06463873e-03, 7.88759511e-03, 6.50476186e-04,
  3.17829378e-04, 1.31768136e-04,-4.90508709e+00, 6.42174244e-03,
  2.15855502e-03, 1.57541411e-04]


--- Step 2368 ---
qpos:
[-0.0152019 , 1.2918635 ,-0.0315199 , 0.94846758, 0.00437705, 1.32854966,
 -0.02959501, 0.94621871, 0.01675008, 1.33553922,-0.02386284, 0.95498302,
  1.39074163,-0.00460908, 1.19431169, 0.06188287,-0.03737942,-0.10557413,
  0.07905162, 0.66244868,-0.01182667,-0.00278374, 0.74900877]

qacc:
[-2.83458392e-01,-2.03872251e+00, 8.35954765e+00,-7.27141664e+00,
 -7.15541988e-03, 7.54338470e-02,-3.43186503e+00, 1.05348566e+01,
  3.28814096e-02,-2.67707344e+00, 7.30353798e+00,-4.29321436e+00,
 -7.10115727e-01, 8.69933297e-01,-6.81637438e-01,-1.97030492e-01,
 -3.38343824e+00, 3.04499741e+00,-2.79307627e+00,-1.62447363e+02,
  1.97205316e+02, 2.61489912e+01]

qfrc_actuator:
[ 3.03552863e-03, 7.54043470e-02, 1.96800409e-02, 1.83524029e-03,
 -3.59707464e-05, 3.78738189e-02, 1.07752128e-02, 1.76722852e-03,
 -3.00072253e-03, 3.57249984e-02, 1.07672699e-02, 1.56614467e-03,
  0.00000000e+00, 1.53009912e-03, 0.00000000e+00,-9.56383223e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007409994581513424
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30543463,  0.08761519, -0.94817365, -0.02686402,  0.99615439,
        0.08339512,  0.95183402,  0.        ,  0.30661375])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07257806, -0.04274969,  0.22451443])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.38403699,  4.47914886, -7.38403699, 13.49549725,
        8.01045544,  4.47914886,  8.01045544, 21.84188573,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003896741944690349
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.42455292e-14,  1.42455292e-14,  1.00000000e+00,  2.02935103e-28,
        1.00000000e+00, -1.42455292e-14, -1.00000000e+00,  0.00000000e+00,
       -1.42455292e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00580383, -0.12908288,  0.06165493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.36201607e-05, 4.07865465e-02, 1.02774643e-02, 1.20794645e-05,
 -2.08610683e-06,-1.60528074e-04,-4.97518814e-05, 2.34992520e-05,
  9.42345640e-06,-6.94293021e-05, 2.58630561e-05, 5.72313368e-06,
  2.52740348e-03, 4.13971015e-03, 7.49578565e-03, 7.61560829e-04,
  9.84049582e-05, 2.27304197e-04,-4.90517114e+00, 6.46180897e-03,
  2.18393560e-03, 1.74052938e-04]


--- Step 2369 ---
qpos:
[-0.01520542, 1.29187266,-0.03154516, 0.94846753, 0.00437638, 1.32861151,
 -0.02959705, 0.94622013, 0.01675038, 1.3355599 ,-0.02386503, 0.9549797 ,
  1.39076254,-0.00462452, 1.19430856, 0.0618788 ,-0.03740191,-0.10555263,
  0.0790315 , 0.66254909,-0.01269174,-0.00272115, 0.74890602]

qacc:
[-6.98189955e-01,-5.78091684e-01, 7.29721010e+00,-1.08820827e+01,
  8.85675796e-03, 4.74839849e-01,-6.79693217e+00, 2.34564754e+01,
 -9.25530889e-02, 4.93525718e-01,-2.37414852e+00, 3.60954153e+00,
 -5.90988783e-01, 1.11287562e+00,-1.03332264e+01, 1.82757619e+01,
 -3.98929224e+00,-2.86220351e+00,-1.23691274e-01,-2.27232820e+02,
 -1.93032935e+02,-1.26436705e+01]

qfrc_actuator:
[ 3.03898802e-03, 7.54344225e-02, 1.96921454e-02, 1.83335726e-03,
 -3.22289577e-05, 3.77989699e-02, 1.07772539e-02, 1.84009040e-03,
 -3.03296669e-03, 3.57097683e-02, 1.07518717e-02, 1.57101454e-03,
  0.00000000e+00, 1.56428581e-03, 0.00000000e+00,-6.84277492e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007412521238292467
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05454450e-01,  8.76155101e-02, -9.48167233e-01, -2.68658637e-02,
        9.96154367e-01,  8.33948618e-02,  9.51827613e-01,  3.46944695e-18,
        3.06633651e-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([ 0.07257858, -0.04275023,  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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003892293381741588
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.42618107e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.42618107e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00011654, -0.08207585,  0.06165495])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30323676e-04, 4.07588316e-02, 1.02217933e-02, 7.22163553e-06,
  2.50546487e-06,-1.73118521e-04,-3.43961838e-05, 6.72206722e-05,
 -2.66712548e-05,-4.85488159e-05,-2.58756736e-05, 3.72449102e-06,
  2.56185924e-03, 4.15880647e-03, 7.55859130e-03, 1.05225287e-03,
 -5.72525846e-07, 2.15078969e-04,-4.90531903e+00, 6.47669899e-03,
  2.19710697e-03, 1.08845163e-04]


--- Step 2370 ---
qpos:
[-0.01521024, 1.2918847 ,-0.03156842, 0.94846815, 0.00437588, 1.32867182,
 -0.0295984 , 0.94622204, 0.01675025, 1.33558015,-0.02386746, 0.95497854,
  1.39078312,-0.00463918, 1.19429891, 0.06187426,-0.03743848,-0.10554138,
  0.07900643, 0.66266129,-0.01356921,-0.00318536, 0.74878952]

qacc:
[-5.49094385e-01,-4.89939718e-01, 4.81264587e+00, 1.72278574e+00,
  7.58014296e-02,-3.01334518e+00, 6.39038985e+00, 1.11486042e+00,
 -1.83327605e-01, 3.80763433e+00,-1.74394621e+01, 4.03083104e+01,
 -4.71270060e-01, 9.79346764e-01,-8.19098613e+00, 1.47310486e+01,
 -3.51753620e+00,-2.56009527e+00,-1.23813760e+00,-2.01312575e+02,
 -1.69777418e+02,-1.22934969e+01]

qfrc_actuator:
[ 3.06120871e-03, 7.53936731e-02, 1.97263112e-02, 1.86788552e-03,
 -1.19740703e-05, 3.77301932e-02, 1.08147804e-02, 1.86462417e-03,
 -3.07005458e-03, 3.56925590e-02, 1.07436737e-02, 1.68171139e-03,
  0.00000000e+00, 1.59046432e-03, 0.00000000e+00,-5.36743528e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007412346710559854
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30546977,  0.08761639, -0.94816222, -0.02686748,  0.99615429,
        0.08339526,  0.95182265,  0.        ,  0.30664905])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07257833, -0.04275067,  0.22451463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.32376039, -2.30256158, -8.32376039, 11.19949151,
       -9.26570758, -2.30256158, -9.26570758, 42.13189771,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038929464442444273
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.42594182e-14,  1.42594182e-14,  1.00000000e+00,  2.03331006e-28,
        1.00000000e+00, -1.42594182e-14, -1.00000000e+00,  0.00000000e+00,
       -1.42594182e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00011854, -0.08209154,  0.0616546 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.34389152e-04, 4.05618588e-02, 1.01763435e-02, 5.30070278e-05,
  2.17261617e-05,-1.69683891e-04, 1.65896624e-06, 1.99794680e-05,
 -5.28214493e-05,-4.91434292e-05,-2.05352348e-05, 1.08609273e-04,
  2.58845707e-03, 4.14278963e-03, 7.97751439e-03, 1.23270925e-03,
  1.45929997e-04,-9.39656954e-05,-4.90522659e+00, 6.45237232e-03,
  2.21565052e-03, 2.96990330e-05]


--- Step 2371 ---
qpos:
[-0.01521531, 1.2918973 ,-0.03159015, 0.94846907, 0.00437574, 1.32873103,
 -0.02960003, 0.94622494, 0.01674983, 1.33560033,-0.02387011, 0.95497869,
  1.39080369,-0.0046536 , 1.19428898, 0.0618698 ,-0.03764352,-0.10559816,
  0.07898172, 0.66196588,-0.01358696,-0.00258988, 0.74940634]

qacc:
[-1.12413370e-01,-2.88824777e+00, 9.68582858e+00,-5.26444127e+00,
  1.48888698e-01, 9.96055040e-01,-7.01007086e+00, 1.81617268e+01,
 -1.22745864e-01, 2.72801921e+00,-1.16580025e+01, 2.51960548e+01,
 -1.54854727e-01, 3.50641845e-01,-6.03715243e-01, 1.56559985e+00,
 -4.21217233e+01,-1.70091299e+01, 8.98440873e-02, 6.77281788e+02,
  2.29795310e+01, 5.51150448e+02]

qfrc_actuator:
[ 3.05948628e-03, 7.53271695e-02, 1.97726623e-02, 1.87020282e-03,
  1.80227417e-05, 3.76834756e-02, 1.08019231e-02, 1.91379019e-03,
 -3.07424179e-03, 3.57098898e-02, 1.07398686e-02, 1.74729586e-03,
  0.00000000e+00, 1.59381761e-03, 0.00000000e+00,-5.88149409e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007410475595439822
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30548043,  0.08761771, -0.94815866, -0.02686883,  0.99615417,
        0.08339622,  0.95181919,  0.        ,  0.30665979])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07257745, -0.04275105,  0.22451493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.02765688992145399
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88531992, -0.44265996,  0.14234047, -0.43704722,  0.89668956,
        0.07026783, -0.15873997,  0.        , -0.98732043])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06088702, -0.08978092,  0.06165104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.97039568e-04, 4.03509819e-02, 1.01223590e-02, 2.20852682e-05,
  4.28054470e-05,-1.40079215e-04,-4.53344916e-05, 4.46744669e-05,
 -3.53585204e-05,-1.07761818e-05,-1.25788326e-05, 6.60788586e-05,
  2.60512849e-03, 4.10754356e-03, 8.30417138e-03, 1.20467977e-03,
  5.33150798e-04,-8.62158270e-05,-4.90525618e+00, 6.42766777e-03,
  2.23411596e-03, 5.13464414e-05]


--- Step 2372 ---
qpos:
[-0.01522081, 1.29191054,-0.03161087, 0.94847038, 0.0043758 , 1.32878901,
 -0.02960174, 0.94622806, 0.01674951, 1.3356207 ,-0.02387225, 0.95497713,
  1.39082431,-0.00466758, 1.19427667, 0.06186516,-0.03779554,-0.10565792,
  0.07897366, 0.66141784,-0.01309484,-0.00226032, 0.7498999 ]

qacc:
[-1.80970251e-01,-1.19838757e+00, 4.13133356e+00, 5.33572275e-01,
  8.82103891e-02,-1.02667804e+00, 9.36355676e-01, 2.55868082e+00,
  4.33739104e-02,-4.03181243e+00, 1.68797807e+01,-3.43041674e+01,
 -1.33373357e-01, 4.56233309e-01,-2.99962419e+00, 5.40306581e+00,
  1.32576583e+01,-7.43336395e-01, 4.16359451e+00, 6.99616816e+01,
 -2.78041459e+02,-9.84798678e+01]

qfrc_actuator:
[ 3.06064215e-03, 7.52996490e-02, 1.97904938e-02, 1.88879884e-03,
  1.81152204e-05, 3.76146687e-02, 1.07950314e-02, 1.92378898e-03,
 -3.04090591e-03, 3.57477769e-02, 1.07742827e-02, 1.66153759e-03,
  0.00000000e+00, 1.60144505e-03, 0.00000000e+00,-5.10734848e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.26870516,  0.26809859,  0.01804461,  0.26809859,  0.27022975,
       -0.02265171,  0.01804461, -0.02265171,  0.60525384,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007409026965282846
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3054891 ,  0.08761915, -0.94815573, -0.02687004,  0.99615405,
        0.08339734,  0.95181638,  0.        ,  0.30666853])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07257652, -0.04275145,  0.22451524])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  3.67760233, -7.81421896,  3.67760233, 19.13352413,
        4.94027389, -7.81421896,  4.94027389, 10.9614025 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0039569300908574995
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.40288431e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.40288431e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06110624, -0.08991448,  0.06164916])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.11392377e-04, 4.02957018e-02, 1.00637162e-02, 2.57364266e-05,
  2.53358223e-05,-1.54231637e-04,-3.81986381e-05, 5.59016045e-06,
  1.24743476e-05, 3.12935091e-05, 3.27950101e-05,-8.48828043e-05,
  2.60546678e-03, 4.10295950e-03, 8.31788328e-03, 1.27851829e-03,
  5.90791424e-04, 5.03390145e-04,-4.90491092e+00, 6.15993334e-03,
  2.29773624e-03, 2.14785489e-04]


--- Step 2373 ---
qpos:
[-0.01522665, 1.29192362,-0.03163137, 0.94847167, 0.00437599, 1.32884537,
 -0.0296025 , 0.94623125, 0.01674941, 1.33564136,-0.02387434, 0.95497527,
  1.39084487,-0.00468116, 1.19426247, 0.06186039,-0.03792892,-0.10572078,
  0.0789579 , 0.66097919,-0.01272664,-0.00258375, 0.75029185]

qacc:
[-1.43930721e-01,-8.45011884e-01, 2.55582972e+00,-2.34283734e+00,
  5.19275864e-02,-4.57455440e+00, 1.21962223e+01,-8.65435167e+00,
  9.52185897e-02,-3.22382004e-01, 2.12087129e+00,-5.56646282e+00,
 -2.24485322e-01, 5.19733536e-01,-2.35310829e+00, 4.23344377e+00,
  4.65903710e+00,-7.77188312e-01,-1.92365482e+00,-2.85224115e+02,
 -1.68695305e+02,-7.87547209e+01]

qfrc_actuator:
[ 3.06379111e-03, 7.53129600e-02, 1.97911273e-02, 1.88144659e-03,
  1.80205344e-05, 3.75331796e-02, 1.08448849e-02, 1.92840599e-03,
 -3.02083746e-03, 3.57622388e-02, 1.07777299e-02, 1.64722596e-03,
  0.00000000e+00, 1.62910957e-03, 0.00000000e+00,-4.80083888e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007406703661746901
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05496198e-01,  8.76207310e-02, -9.48153300e-01, -2.68711491e-02,
        9.96153908e-01,  8.33986442e-02,  9.51814065e-01, -3.46944695e-18,
        3.06675701e-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([ 0.07257536, -0.04275185,  0.22451559])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -0.90102632,  8.58923329, -0.90102632, 28.12481146,
        2.0443739 ,  8.58923329,  2.0443739 ,  8.85082221,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00398755134965105
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.39211126e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.39211126e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00075332, -0.08221564,  0.06164677])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.35762623e-04, 4.02767657e-02, 1.00141646e-02,-1.09585194e-06,
  1.48440619e-05,-1.74510306e-04, 1.54473475e-05,-9.15076611e-07,
  2.74456770e-05, 3.55176062e-05, 1.07800320e-05,-1.43771309e-05,
  2.60287454e-03, 4.10939448e-03, 8.43749233e-03, 1.31768527e-03,
  5.47581468e-04, 2.22423453e-04,-4.90523167e+00, 6.45134998e-03,
  2.30600819e-03, 1.29222095e-04]


--- Step 2374 ---
qpos:
[-0.01523252, 1.29193577,-0.03165226, 0.9484709 , 0.00437624, 1.3289004 ,
 -0.02960238, 0.94623342, 0.0167494 , 1.33566165,-0.02387575, 0.95497225,
  1.39086548,-0.00469463, 1.19424682, 0.0618559 ,-0.03804899,-0.10578729,
  0.07893145, 0.66062916,-0.01245771,-0.00347817, 0.75060098]

qacc:
[-1.29812957e-02,-3.70142427e+00, 1.48028601e+01,-3.61156660e+01,
  3.00058846e-02,-5.85689420e+00, 1.90899692e+01,-2.75881209e+01,
  3.62729664e-02,-4.27132364e+00, 1.57070207e+01,-2.68443351e+01,
  5.25329369e-02, 1.24525054e-02,-2.95443377e+00, 7.22825830e+00,
  3.32975833e+00,-9.09547779e-01,-2.67418887e+00,-2.46553229e+02,
 -1.50828439e+02,-6.41220537e+01]

qfrc_actuator:
[ 3.08597141e-03, 7.52980495e-02, 1.97640647e-02, 1.77001556e-03,
  1.78164223e-05, 3.74804666e-02, 1.08922773e-02, 1.87659276e-03,
 -3.02664562e-03, 3.57092249e-02, 1.07983467e-02, 1.58630985e-03,
  0.00000000e+00, 1.63314609e-03, 0.00000000e+00,-4.41951749e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007403169505182522
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30550322,  0.08762242, -0.94815088, -0.02687229,  0.99615376,
        0.08340005,  0.95181178,  0.        ,  0.3066828 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07257404, -0.04275225,  0.22451594])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.5395372 , -1.28960506, -8.5395372 ,  8.68974134,
       -0.35345772, -1.28960506, -0.35345772, 10.97689828,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003982024107030739
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.39404358e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.39404358e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0009133 , -0.0822157 ,  0.06164694])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.74816044e-04, 4.02693618e-02, 9.97575449e-03,-1.11551993e-04,
  8.54534698e-06,-1.46645345e-04, 1.49334649e-05,-5.65330570e-05,
  1.04070603e-05,-3.18341372e-05, 2.83348980e-05,-5.98596654e-05,
  2.60565477e-03, 4.09354308e-03, 8.53202467e-03, 1.36266698e-03,
  2.65022887e-04, 1.64623722e-04,-4.90523259e+00, 6.55981517e-03,
  2.19055809e-03, 1.46782617e-04]


--- Step 2375 ---
qpos:
[-0.01523899, 1.29194884,-0.03167256, 0.94846892, 0.00437654, 1.32895453,
 -0.02960208, 0.94623358, 0.01674941, 1.33568175,-0.02387659, 0.95496712,
  1.39088619,-0.00470771, 1.19422673, 0.06185149,-0.03813604,-0.10582755,
  0.07892093, 0.66029919,-0.01216961,-0.00380187, 0.75089442]

qacc:
[-2.54607663e-01,-2.39267155e+00, 1.17280947e+01,-2.46370926e+01,
  1.67472751e-02,-5.12834000e+00, 1.94526906e+01,-3.97159796e+01,
  9.25535961e-03,-5.45848873e+00, 2.17050370e+01,-4.28624556e+01,
  5.77815170e-02, 2.12462179e-01,-6.84657589e+00, 1.44024867e+01,
  8.25295061e+00, 6.56092565e+00, 3.98070756e+00, 2.20621261e+02,
  1.81460476e+02,-9.19029784e+00]

qfrc_actuator:
[ 3.08389331e-03, 7.52848086e-02, 1.97741683e-02, 1.72245817e-03,
  1.75495904e-05, 3.74453827e-02, 1.09023903e-02, 1.77424064e-03,
 -3.03017751e-03, 3.57050188e-02, 1.08286400e-02, 1.48066053e-03,
  0.00000000e+00, 1.62314206e-03, 0.00000000e+00,-2.75414953e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007398181945704636
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05511517e-01,  8.76240979e-02, -9.48148053e-01, -2.68735372e-02,
        9.96153611e-01,  8.34014120e-02,  9.51809081e-01,  3.46944695e-18,
        3.06691171e-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([ 0.07257264, -0.04275264,  0.22451627])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003969867043120731
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.09746891e-14,  2.79662521e-14,  1.00000000e+00, -5.86583442e-28,
        1.00000000e+00, -2.79662521e-14, -1.00000000e+00,  0.00000000e+00,
        2.09746891e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06845139, -0.12630889,  0.06164744])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.74262523e-04, 4.03030945e-02, 1.00053581e-02,-5.59076058e-05,
  4.76855971e-06,-1.15364404e-04,-1.85859258e-05,-1.07544113e-04,
  2.62288441e-06,-1.81910048e-05, 2.55205382e-05,-1.07134537e-04,
  2.60384266e-03, 4.07852031e-03, 8.60453045e-03, 1.51572595e-03,
  4.10306084e-04, 4.52904149e-04,-4.90535725e+00, 6.61374650e-03,
  2.12559142e-03, 2.61827321e-04]


--- Step 2376 ---
qpos:
[-0.01524487, 1.2919606 ,-0.03169281, 0.94846765, 0.00437685, 1.32900799,
 -0.02960208, 0.94623285, 0.01674913, 1.33570166,-0.02387782, 0.95496531,
  1.39090713,-0.00472078, 1.19421033, 0.06184723,-0.03819551,-0.10584571,
  0.07891948, 0.65998707,-0.01186554,-0.00361547, 0.75117455]

qacc:
[ 2.49452538e-01,-7.04674491e-01,-1.24316558e+00, 1.00918130e+01,
  8.76934949e-03,-1.55557501e+00, 5.80846631e+00,-1.47571803e+01,
 -1.25310490e-01, 6.54830951e+00,-2.83169577e+01, 6.28587998e+01,
 -7.48795624e-03, 9.04725124e-02, 5.01056265e+00,-9.59287421e+00,
  6.89351706e+00, 5.52321188e+00, 2.26891772e+00, 1.96874643e+02,
  1.62529881e+02,-8.01870513e+00]

qfrc_actuator:
[ 3.06783886e-03, 7.53243372e-02, 1.98235115e-02, 1.74869324e-03,
  1.72480553e-05, 3.74209689e-02, 1.08904739e-02, 1.73173410e-03,
 -3.06781921e-03, 3.56945751e-02, 1.08112923e-02, 1.65136278e-03,
  0.00000000e+00, 1.62213223e-03, 0.00000000e+00,-4.57828230e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007391333577431956
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30551837,  0.08762598, -0.94814567, -0.02687472,  0.99615345,
        0.08340301,  0.95180685,  0.        ,  0.30669811])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07257086, -0.04275301,  0.22451665])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -5.13104941,  6.94687763, -5.13104941, 15.18980737,
        4.84045428,  6.94687763,  4.84045428, 12.2115828 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004001481359449555
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.38726502e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.38726502e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06847292, -0.12632982,  0.06164498])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.88054980e-04, 4.02962597e-02, 1.00257651e-02, 3.03939611e-05,
  2.50748499e-06,-9.54726482e-05,-3.98082236e-05,-4.89301958e-05,
 -3.60812407e-05,-1.88370747e-05,-2.11626034e-05, 1.68436282e-04,
  2.59859047e-03, 4.05788159e-03, 8.82730262e-03, 1.32879328e-03,
  1.58899627e-04, 1.16011938e-04,-4.90515363e+00, 6.50419313e-03,
  2.18864942e-03, 1.40367046e-04]


--- Step 2377 ---
qpos:
[-0.01524968, 1.29197012,-0.03171328, 0.94846611, 0.00437718, 1.32906101,
 -0.0296024 , 0.94623229, 0.01674863, 1.33572106,-0.0238785 , 0.9549652 ,
  1.39092838,-0.0047342 , 1.19420002, 0.06184334,-0.03823182,-0.10584514,
  0.07892126, 0.65969045,-0.01154798,-0.00297079, 0.75144283]

qacc:
[ 4.59677332e-01,-2.75402481e+00, 5.99011088e+00,-6.85973487e+00,
  4.02290752e-03, 5.74036851e-01,-2.91224721e+00, 4.74548440e+00,
 -8.95305401e-02, 7.53980495e-01,-6.68976828e+00, 2.56414771e+01,
  1.80803844e-01,-3.52846372e-01, 7.86739477e+00,-1.44871040e+01,
  5.79285701e+00, 4.68362303e+00, 8.09427108e-01, 1.76642652e+02,
  1.46254896e+02,-7.03944137e+00]

qfrc_actuator:
[ 3.06020841e-03, 7.53263942e-02, 1.98611760e-02, 1.72901266e-03,
  1.69285802e-05, 3.74208418e-02, 1.08835067e-02, 1.74255031e-03,
 -3.07236041e-03, 3.56627025e-02, 1.08371222e-02, 1.73476707e-03,
  0.00000000e+00, 1.60899417e-03, 0.00000000e+00,-6.36671845e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000738575703766526
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05526432e-01,  8.76276650e-02, -9.48142917e-01, -2.68759516e-02,
        9.96153298e-01,  8.34043818e-02,  9.51804225e-01, -3.46944695e-18,
        3.06706240e-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([ 0.0725694 , -0.04275345,  0.22451697])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -5.05487735,  7.00249897, -5.05487735, 15.28340921,
        4.79828704,  7.00249897,  4.79828704, 12.10009173,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003979464738771352
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.39494015e-14,  2.78988029e-14,  1.00000000e+00, -3.89171602e-28,
        1.00000000e+00, -2.78988029e-14, -1.00000000e+00,  0.00000000e+00,
        1.39494015e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06855764, -0.12639164,  0.06164655])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.51188737e-04, 4.03643460e-02, 1.00602138e-02,-2.46500564e-05,
  1.15638638e-06,-6.25711500e-05,-3.16653824e-05, 5.72451267e-06,
 -2.58300791e-05,-4.15693709e-05, 2.46521924e-05, 8.61708984e-05,
  2.58679626e-03, 4.04447207e-03, 8.64300631e-03, 1.14266757e-03,
  1.83556519e-04, 7.04503604e-05,-4.90508412e+00, 6.41507692e-03,
  2.23557990e-03, 1.20031419e-04]


--- Step 2378 ---
qpos:
[-0.01525545, 1.29198201,-0.03173238, 0.9484642 , 0.00437736, 1.32911289,
 -0.02960258, 0.94623295, 0.01674813, 1.33574041,-0.02387887, 0.95496295,
  1.39094969,-0.0047471 , 1.19418361, 0.06183927,-0.03827202,-0.10585658,
  0.07892187, 0.65946357,-0.01130639,-0.00294622, 0.75164572]

qacc:
[-4.14262865e-01,-1.25635680e+00, 8.63601974e+00,-1.33358836e+01,
 -6.03554295e-02, 1.87870331e-01,-4.90992100e+00, 1.89969019e+01,
  4.98028860e-04,-4.59039410e+00, 1.91961004e+01,-4.12340543e+01,
  7.17582817e-05, 3.42498974e-01,-8.45011022e+00, 1.64900691e+01,
 -9.73492993e-01,-3.00075909e+00,-2.93400425e-01,-2.57740191e+02,
 -1.75510331e+02,-5.12419757e+01]

qfrc_actuator:
[ 3.05690576e-03, 7.52719005e-02, 1.98743520e-02, 1.73573074e-03,
 -1.15144148e-06, 3.73288088e-02, 1.08796469e-02, 1.80241970e-03,
 -3.05700707e-03, 3.56716380e-02, 1.08525645e-02, 1.62406634e-03,
  0.00000000e+00, 1.60668969e-03, 0.00000000e+00,-3.34330336e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007382252406155781
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30553684,  0.08762899, -0.94813944, -0.02687728,  0.99615318,
        0.08340535,  0.95180085,  0.        ,  0.30671672])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07256849, -0.04275399,  0.22451719])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.27061568,  2.48670328,  8.27061568,  9.82782276,
       -3.96271664,  2.48670328, -3.96271664, 21.81610512,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004015885822221912
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.72786135e-15,  3.45572270e-15,  1.00000000e+00,  5.97100970e-30,
        1.00000000e+00, -3.45572270e-15, -1.00000000e+00,  0.00000000e+00,
       -1.72786135e-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([-0.00138632, -0.0822181 ,  0.06164389])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.94013791e-04, 4.04213411e-02, 1.00850377e-02,-4.65173633e-06,
 -1.74001358e-05,-1.33042172e-04,-1.95947659e-05, 5.72699555e-05,
  1.14836326e-07,-6.81679643e-06, 1.26268932e-05,-1.09179441e-04,
  2.57141908e-03, 4.06001780e-03, 8.33886135e-03, 1.42675737e-03,
  4.05023440e-04, 2.36162881e-04,-4.90511248e+00, 6.34166788e-03,
  2.27004833e-03, 1.73200761e-04]


--- Step 2379 ---
qpos:
[-0.01526246, 1.29199705,-0.03175002, 0.94846334, 0.00437722, 1.32916303,
 -0.0296025 , 0.94623436, 0.01674757, 1.33576008,-0.02387992, 0.95496217,
  1.3909709 ,-0.00475915, 1.19415882, 0.06183471,-0.03831676,-0.10587874,
  0.07891708, 0.65929421,-0.01112641,-0.00346811, 0.75179473]

qacc:
[-5.25113744e-01, 2.00956009e+00,-3.73609188e+00, 1.34384145e+01,
 -1.34844397e-01,-1.70075578e+00, 1.24069052e+00, 8.82375891e+00,
 -2.88390530e-02, 4.79402333e+00,-1.80846662e+01, 3.24639163e+01,
 -2.26934152e-01, 7.97505715e-01,-1.08599265e+01, 2.00617178e+01,
 -1.13509606e+00,-2.68085842e+00,-1.35242920e+00,-2.25444047e+02,
 -1.56645058e+02,-4.23794398e+01]

qfrc_actuator:
[ 3.09332282e-03, 7.52507726e-02, 1.98713113e-02, 1.79401175e-03,
 -2.97394544e-05, 3.72002682e-02, 1.08773202e-02, 1.83735377e-03,
 -3.06535016e-03, 3.57047926e-02, 1.08262840e-02, 1.70184956e-03,
  0.00000000e+00, 1.62790974e-03, 0.00000000e+00,-9.79310679e-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: -0.0007376949412919859
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30554366,  0.08763066, -0.94813709, -0.02687839,  0.99615303,
        0.08340675,  0.95179862,  0.        ,  0.30672362])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07256701, -0.04275448,  0.2245175 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  1.8415379 ,  8.43774348,  1.8415379 , 11.91246467,
       -0.7150092 ,  8.43774348, -0.7150092 ,  8.79241443,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004025156608067543
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.72388172e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.72388172e-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([-0.00146235, -0.08221173,  0.06164322])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.78993382e-04, 4.02813455e-02, 1.00128036e-02, 7.25187693e-05,
 -3.88570072e-05,-2.04615482e-04,-2.89559827e-05, 3.17719443e-05,
 -8.26347200e-06, 2.84806300e-05,-2.93950035e-05, 7.54331162e-05,
  2.56908348e-03, 4.05561032e-03, 8.64384385e-03, 1.67222188e-03,
  8.13953883e-05, 2.90332380e-05,-4.90505577e+00, 6.41622762e-03,
  2.21097708e-03, 1.17659221e-04]


--- Step 2380 ---
qpos:
[-0.01526983, 1.29201288,-0.03176717, 0.94846206, 0.00437705, 1.32921173,
 -0.02960251, 0.94623653, 0.01674708, 1.33577951,-0.02388052, 0.95496266,
  1.39099193,-0.00477088, 1.19413063, 0.0618303 ,-0.0383712 ,-0.10589273,
  0.0789017 , 0.65909664,-0.01151925,-0.00395485, 0.75195963]

qacc:
[-1.54035511e-01,-1.00030829e+00, 5.39081596e+00,-1.00009123e+01,
 -1.49129616e-02,-3.49459873e-01,-2.68552790e+00, 1.19113474e+01,
  2.83281006e-02, 6.66539079e-01,-5.11824946e+00, 1.92707111e+01,
 -1.74090238e-01, 3.66318035e-01,-5.50114909e+00, 1.19682947e+01,
 -2.42589637e+00, 2.04200341e+00,-2.64493797e+00,-1.75741621e+02,
  2.26772228e+02, 1.70272694e+01]

qfrc_actuator:
[ 3.13646729e-03, 7.53012128e-02, 1.98756783e-02, 1.75768398e-03,
 -1.11413795e-05, 3.71396327e-02, 1.08757285e-02, 1.87504496e-03,
 -3.05233757e-03, 3.56811161e-02, 1.08468453e-02, 1.76569919e-03,
  0.00000000e+00, 1.66270462e-03, 0.00000000e+00,-6.04866863e-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: -0.0007368964125854562
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30554612,  0.08763277, -0.9481361 , -0.02687926,  0.99615285,
        0.08340867,  0.95179781,  0.        ,  0.30672614])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07256476, -0.04275491,  0.22451796])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004032127925265201
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.06508148e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.06508148e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00474138, -0.1288293 ,  0.06164265])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.83682201e-04, 4.01749483e-02, 9.94490836e-03,-1.63788864e-05,
 -4.33059575e-06,-1.78884487e-04,-4.40266512e-05, 3.15165419e-05,
  8.14690166e-06,-1.15669961e-05, 2.49688982e-05, 6.56141320e-05,
  2.57326993e-03, 4.04810362e-03, 9.06321337e-03, 1.73438628e-03,
  1.14783379e-04, 1.51921236e-04,-4.90511563e+00, 6.45348748e-03,
  2.17904707e-03, 1.63005368e-04]


--- Step 2381 ---
qpos:
[-0.0152772 , 1.29202873,-0.03178387, 0.94846078, 0.0043771 , 1.32925949,
 -0.02960308, 0.94623979, 0.01674668, 1.33579856,-0.02388106, 0.95496465,
  1.39101273,-0.00478244, 1.19410225, 0.06182623,-0.03840576,-0.10588876,
  0.0788964 , 0.65892207,-0.01189146,-0.00385806, 0.75210732]

qacc:
[-7.46230845e-05,-1.18028823e+00, 3.87363684e+00,-3.37177738e+00,
  9.19139213e-02, 2.17132822e+00,-1.08291302e+01, 2.27782651e+01,
  4.43812745e-02, 1.90235354e+00,-9.80272699e+00, 2.58649733e+01,
 -2.61035739e-01, 3.55860478e-01,-1.24801161e+00, 4.00581142e+00,
  4.97089442e+00, 4.48894705e+00, 2.51826411e+00, 2.26291445e+02,
  1.84692055e+02,-1.09914829e+01]

qfrc_actuator:
[ 3.14776553e-03, 7.53069074e-02, 1.99026109e-02, 1.75440240e-03,
  1.78599700e-05, 3.71201449e-02, 1.08570855e-02, 1.93185051e-03,
 -3.04437160e-03, 3.56415282e-02, 1.08413986e-02, 1.83855163e-03,
  0.00000000e+00, 1.68807681e-03, 0.00000000e+00,-7.18615389e-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: -0.0007359659721926162
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30554733,  0.08763499, -0.9481355 , -0.02688006,  0.99615265,
        0.08341076,  0.9517974 ,  0.        ,  0.30672742])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07256222, -0.04275531,  0.22451846])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.61948755,  0.53963988,  8.61948755,  8.82444926,
       -3.00422887,  0.53963988, -3.00422887, 56.62190757,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0040177237754642214
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.98613156e-14,  1.72707092e-15,  1.00000000e+00, -3.43019006e-29,
        1.00000000e+00, -1.72707092e-15, -1.00000000e+00,  0.00000000e+00,
        1.98613156e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06862697, -0.12645524,  0.06164348])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.13032300e-04, 4.01403315e-02, 9.94690175e-03, 1.21120834e-06,
  2.64402245e-05,-1.26445682e-04,-5.77652144e-05, 5.09535587e-05,
  1.27860528e-05,-3.92948069e-05,-2.96773524e-06, 7.47944371e-05,
  2.58257111e-03, 4.05743111e-03, 9.23401541e-03, 1.71506662e-03,
  3.00211598e-04, 3.32430699e-05,-4.90504142e+00, 6.39362424e-03,
  2.15283473e-03, 1.27463958e-04]


--- Step 2382 ---
qpos:
[-0.01528476, 1.29204463,-0.03180009, 0.94845946, 0.00437741, 1.32930666,
 -0.02960432, 0.946243  , 0.01674625, 1.33581745,-0.02388229, 0.95496785,
  1.3910333 ,-0.00479379, 1.19407365, 0.0618225 ,-0.03842318,-0.10586929,
  0.07889532, 0.65876708,-0.01224682,-0.00324307, 0.75224027]

qacc:
[-8.20715477e-02,-1.29624131e+00, 4.37739084e+00,-4.20934625e+00,
  1.14141886e-01, 9.13809233e-01,-3.80217970e+00, 2.98176623e+00,
 -1.85728750e-02, 3.76378693e+00,-1.49931339e+01, 2.72028598e+01,
 -2.91783507e-01, 4.30629060e-01,-1.35986233e+00, 4.33528543e+00,
  4.28483568e+00, 3.87520558e+00, 1.05622763e+00, 2.00511671e+02,
  1.64513428e+02,-9.17687780e+00]

qfrc_actuator:
[ 3.13973967e-03, 7.52329653e-02, 1.99074330e-02, 1.75294658e-03,
  3.51124653e-05, 3.71076607e-02, 1.08287113e-02, 1.92845829e-03,
 -3.05725096e-03, 3.56281388e-02, 1.08028069e-02, 1.89833142e-03,
  0.00000000e+00, 1.70783013e-03, 0.00000000e+00,-4.17478563e-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: -0.0007350397760481249
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30554811,  0.08763723, -0.94813505, -0.02688081,  0.99615246,
        0.08341286,  0.95179713,  0.        ,  0.30672826])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07255968, -0.0427557 ,  0.22451897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -6.94430854,  5.13452585, -6.94430854, 20.82763402,
       16.48836631,  5.13452585, 16.48836631, 30.93643695,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004022831211543128
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.03707374e-15,  1.37990257e-14,  1.00000000e+00, -8.33057356e-29,
        1.00000000e+00, -1.37990257e-14, -1.00000000e+00,  0.00000000e+00,
        6.03707374e-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([-0.06863611, -0.12647016,  0.06164303])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.05015143e-04, 4.00655884e-02, 9.92953023e-03,-1.88821751e-07,
  3.28447522e-05,-9.25292756e-05,-5.82316527e-05,-7.62432519e-06,
 -5.32199816e-06,-3.36083632e-05,-4.44314516e-05, 6.02980917e-05,
  2.59428978e-03, 4.06938263e-03, 9.24402933e-03, 1.72894598e-03,
  2.49875779e-05,-4.39367897e-06,-4.90496873e+00, 6.34454827e-03,
  2.18603170e-03, 1.09316374e-04]


--- Step 2383 ---
qpos:
[-0.01529237, 1.29205933,-0.0318166 , 0.94845726, 0.00437782, 1.32935291,
 -0.02960522, 0.94624578, 0.01674573, 1.33583583,-0.0238832 , 0.95497   ,
  1.39105358,-0.00480506, 1.1940469 , 0.06181931,-0.03845097,-0.10586225,
  0.07889283, 0.65865493,-0.01264699,-0.00321715, 0.75233196]

qacc:
[-1.96383315e-02,-2.31425631e+00, 7.46497834e+00,-1.60029708e+01,
  4.07708480e-02,-2.84557223e+00, 8.71512577e+00,-1.19976910e+01,
 -3.68588770e-02,-3.35765402e+00, 1.22742421e+01,-2.25062335e+01,
 -3.46789712e-01, 3.91486094e-01, 1.14577913e+00, 2.70814514e-02,
 -2.59126098e+00,-3.10626447e+00,-3.52376439e-01,-2.36125576e+02,
 -1.76851502e+02,-3.32345576e+01]

qfrc_actuator:
[ 3.12031175e-03, 7.51999617e-02, 1.98987709e-02, 1.69936150e-03,
  2.74237371e-05, 3.70639070e-02, 1.08480867e-02, 1.90742246e-03,
 -3.06477843e-03, 3.55948956e-02, 1.08160648e-02, 1.84341968e-03,
  0.00000000e+00, 1.74184564e-03, 0.00000000e+00,-9.34101997e-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: -0.0007341188529716991
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30554838,  0.08763952, -0.94813475, -0.02688155,  0.99615225,
        0.08341504,  0.95179702,  0.        ,  0.30672859])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07255712, -0.04275608,  0.22451947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003995071215393248
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.77898181e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.77898181e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00158688, -0.08214572,  0.06164502])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.95209038e-04, 4.00299314e-02, 9.89665448e-03,-5.20820717e-05,
  1.16831161e-05,-1.06880405e-04,-5.61796435e-06,-2.56257784e-05,
 -1.06598553e-05,-5.88419941e-05, 3.39493335e-06,-5.57749176e-05,
  2.60580049e-03, 4.09284178e-03, 9.25565464e-03, 1.65993011e-03,
  3.92517946e-05, 2.27177585e-04,-4.90502111e+00, 6.31082487e-03,
  2.20481943e-03, 1.85272188e-04]


--- Step 2384 ---
qpos:
[-0.01530047, 1.29207452,-0.03183278, 0.94845563, 0.00437811, 1.32939837,
 -0.02960564, 0.94624792, 0.01674512, 1.33585376,-0.02388426, 0.95497184,
  1.39107359,-0.00481588, 1.19401891, 0.0618162 ,-0.03847476,-0.10587311,
  0.07891139, 0.65856558,-0.01269561,-0.00359747, 0.75240764]

qacc:
[-2.10398186e-01, 7.38589214e-01,-2.80629541e+00, 8.76446571e+00,
 -5.43944388e-02,-3.45528837e+00, 1.13235832e+01,-1.67075327e+01,
 -3.65314642e-02,-7.12962746e-01, 2.24487895e+00,-5.23498539e+00,
 -4.45210652e-01, 7.65903970e-01,-1.99978649e+00, 4.42934011e+00,
  9.97702983e-01,-4.47350944e+00, 5.26321179e+00,-3.69248535e+01,
 -2.65891007e+02,-1.69868702e+01]

qfrc_actuator:
[ 3.11172590e-03, 7.52105046e-02, 1.99181021e-02, 1.73963647e-03,
  4.83604807e-06, 3.70374581e-02, 1.08776261e-02, 1.87619808e-03,
 -3.06903363e-03, 3.55679013e-02, 1.08064368e-02, 1.82799975e-03,
  0.00000000e+00, 1.76671854e-03, 0.00000000e+00,-1.69366959e-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: -0.000733233177083091
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05550065e-01,  8.76418173e-02, -9.48133993e-01, -2.68824051e-02,
        9.96152053e-01,  8.34171711e-02,  9.51796456e-01,  3.46944695e-18,
        3.06730348e-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([ 0.07255475, -0.04275648,  0.22451994])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003997967529754107
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.38848429e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.38848429e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0367399 , -0.08687928,  0.06164477])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.88926774e-04, 4.01003916e-02, 9.93038563e-03, 3.26633409e-05,
 -1.56995657e-05,-8.77599939e-05, 7.19753287e-06,-3.51218926e-05,
 -1.05394251e-05,-6.06451061e-05,-2.23812365e-05,-1.83346178e-05,
  2.62052584e-03, 4.11410371e-03, 9.16357732e-03, 1.70979323e-03,
  2.94520483e-05,-2.61608567e-05,-4.90499316e+00, 6.36395563e-03,
  2.18332380e-03, 1.16335642e-04]


--- Step 2385 ---
qpos:
[-0.01530836, 1.29208948,-0.03184876, 0.94845422, 0.00437835, 1.32944327,
 -0.02960632, 0.94624899, 0.01674459, 1.33587141,-0.02388602, 0.95497246,
  1.39109345,-0.00482657, 1.19399205, 0.06181336,-0.03848322,-0.10587011,
  0.07893385, 0.65849278,-0.01273194,-0.00344501, 0.75247145]

qacc:
[ 8.99348134e-02,-4.73262765e-01, 7.16759512e-01, 2.06623752e+00,
 -1.76777908e-02,-1.81856967e+00, 7.21690994e+00,-1.81952554e+01,
  3.21661790e-02,-5.74276406e-01, 3.85988682e+00,-1.72092506e+01,
 -2.52157880e-01, 3.50400818e-01, 8.21006709e-01,-4.13869478e-01,
  3.83425519e+00, 3.46234742e+00, 9.72450829e-01, 2.04570625e+02,
  1.70913913e+02,-6.77036131e+00]

qfrc_actuator:
[ 3.14561610e-03, 7.52104603e-02, 1.99359766e-02, 1.74635678e-03,
  9.00048575e-06, 3.70038801e-02, 1.08597149e-02, 1.82148575e-03,
 -3.05353889e-03, 3.55447965e-02, 1.07656674e-02, 1.76493950e-03,
  0.00000000e+00, 1.78569520e-03, 0.00000000e+00,-5.86104082e-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: -0.000732313453290015
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30555097,  0.08764427, -0.94813348, -0.02688324,  0.99615184,
        0.08341948,  0.95179614,  0.        ,  0.30673132])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07255227, -0.04275687,  0.22452042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004002876556665279
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.08017224e-14,  1.38678149e-14,  1.00000000e+00,  2.88474436e-28,
        1.00000000e+00, -1.38678149e-14, -1.00000000e+00,  0.00000000e+00,
       -2.08017224e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06870372, -0.12652944,  0.06164472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.47473626e-04, 4.00757561e-02, 9.93190425e-03, 1.06879541e-05,
 -5.09992314e-06,-8.20879768e-05,-3.53350083e-05,-5.78826382e-05,
  9.28120641e-06,-6.16743959e-05,-5.57083591e-05,-6.59123926e-05,
  2.63366588e-03, 4.11044964e-03, 9.22589891e-03, 1.66472072e-03,
  8.78367913e-05, 6.22197854e-05,-4.90503597e+00, 6.40684049e-03,
  2.18200030e-03, 1.61895547e-04]


--- Step 2386 ---
qpos:
[-0.01531488, 1.2921026 ,-0.03186515, 0.94845238, 0.00437873, 1.32948744,
 -0.02960686, 0.94624871, 0.01674418, 1.33588794,-0.02388713, 0.95497267,
  1.39111349,-0.00483766, 1.19397042, 0.06181104,-0.03847819,-0.10585492,
  0.07895533, 0.65843442,-0.01275769,-0.00281775, 0.7525247 ]

qacc:
[ 5.84889418e-01,-2.02714783e+00, 4.58792979e+00,-7.72360770e+00,
  5.98054311e-02,-3.67674373e+00, 1.36344595e+01,-2.71283931e+01,
  5.21046434e-02,-3.94127836e+00, 1.19349041e+01,-1.44314960e+01,
  1.67956415e-01,-4.12570098e-01, 6.15865356e+00,-1.03406399e+01,
  3.37218849e+00, 3.04801218e+00,-2.44075408e-01, 1.82189593e+02,
  1.52441458e+02,-5.90854065e+00]

qfrc_actuator:
[ 3.18673259e-03, 7.52045963e-02, 1.99529759e-02, 1.71531697e-03,
  2.91807521e-05, 3.69661105e-02, 1.08671572e-02, 1.75335885e-03,
 -3.04407469e-03, 3.54707960e-02, 1.07955950e-02, 1.74533855e-03,
  0.00000000e+00, 1.76577220e-03, 0.00000000e+00,-2.24672160e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000731452093506512
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05551915e-01,  8.76466604e-02, -9.48132950e-01, -2.68840648e-02,
        9.96151626e-01,  8.34217246e-02,  9.51795816e-01, -3.46944695e-18,
        3.06732335e-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([ 0.0725499 , -0.04275728,  0.22452089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0039679090962033425
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.19700779e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.19700779e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06876632, -0.12657455,  0.06164763])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.78044259e-04, 4.00817393e-02, 9.93902380e-03,-3.13049322e-05,
  1.71690513e-05,-9.21389712e-05,-1.43780163e-05,-7.29041321e-05,
  1.49516279e-05,-1.21056015e-04, 9.60732840e-06,-2.45692046e-05,
  2.64148955e-03, 4.08419748e-03, 9.17024121e-03, 1.48457581e-03,
  9.52041145e-06, 1.64554233e-05,-4.90499874e+00, 6.38412028e-03,
  2.19485881e-03, 1.45375897e-04]


--- Step 2387 ---
qpos:
[-0.01532058, 1.29211556,-0.03188167, 0.94845175, 0.00437929, 1.32953108,
 -0.02960714, 0.94624828, 0.01674374, 1.33590317,-0.02388717, 0.95497263,
  1.39113381,-0.00484871, 1.19394997, 0.06180853,-0.03848592,-0.10585189,
  0.07897451, 0.65840624,-0.01281359,-0.0027563 , 0.75254862]

qacc:
[ 3.49893695e-01, 2.18601908e+00,-9.86898860e+00, 2.26302073e+01,
  7.65516366e-02,-1.63339135e+00, 4.77098826e+00,-5.47441832e+00,
 -1.06312566e-02,-5.01648289e+00, 1.47714325e+01,-1.47624099e+01,
  1.23108684e-01,-3.99087798e-02, 2.30933881e+00,-5.55595564e+00,
 -3.19033346e+00,-3.03988488e+00,-5.74392975e-01,-2.22662268e+02,
 -1.74700522e+02,-2.45771349e+01]

qfrc_actuator:
[ 3.19543492e-03, 7.51791672e-02, 1.99522189e-02, 1.78644407e-03,
  4.10519465e-05, 3.69617182e-02, 1.08895007e-02, 1.74891781e-03,
 -3.05605838e-03, 3.54026916e-02, 1.08491056e-02, 1.73374331e-03,
  0.00000000e+00, 1.74074561e-03, 0.00000000e+00,-2.17174498e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.26604393,  0.26588876, -0.00908529,  0.26588876,  0.2663785 ,
        0.00979133, -0.00908529,  0.00979133,  0.55259553,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007307795832738571
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30555498,  0.08764861, -0.94813178, -0.02688494,  0.99615146,
        0.08342349,  0.95179481,  0.        ,  0.30673547])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.072548  , -0.04275775,  0.22452127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003963998055587024
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.40038291e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.40038291e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0015895 , -0.08207743,  0.06164822])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.18183500e-04, 4.01473619e-02, 9.95841548e-03, 6.09730077e-05,
  2.19964144e-05,-6.06694976e-05, 5.00202092e-07,-9.25680281e-06,
 -3.15169958e-06,-1.34009882e-04, 3.02261029e-05,-1.54509424e-05,
  2.63277251e-03, 4.07964804e-03, 8.90890601e-03, 1.46641752e-03,
  1.51624952e-04, 1.99748632e-04,-4.90506278e+00, 6.37027203e-03,
  2.19860375e-03, 2.08122269e-04]


--- Step 2388 ---
qpos:
[-0.01532674, 1.29212968,-0.03189743, 0.94845216, 0.00438016, 1.32957387,
 -0.02960763, 0.94624854, 0.01674338, 1.335918  ,-0.02388779, 0.95497351,
  1.39115387,-0.00485938, 1.19392802, 0.06180589,-0.03850517,-0.10585968,
  0.07898723, 0.6584043 ,-0.01289537,-0.00319641, 0.75254719]

qacc:
[-1.97474244e-01, 1.26154468e+00,-4.40254943e+00, 1.50539077e+01,
  1.30445615e-01, 6.37644822e-01,-4.83330106e+00, 1.27430916e+01,
  3.08083025e-02, 2.60118900e+00,-1.09350006e+01, 2.01405633e+01,
 -3.87614187e-01, 6.48856504e-01,-1.78521518e+00, 3.08950274e+00,
 -2.88025155e+00,-2.70343609e+00,-1.61382208e+00,-1.97116187e+02,
 -1.55181135e+02,-2.13989768e+01]

qfrc_actuator:
[ 3.16693832e-03, 7.51055695e-02, 1.99584489e-02, 1.84639876e-03,
  6.55944081e-05, 3.68886938e-02, 1.08673643e-02, 1.78201668e-03,
 -3.04530626e-03, 3.54097793e-02, 1.08273293e-02, 1.78020120e-03,
  0.00000000e+00, 1.78338484e-03, 0.00000000e+00,-1.40548374e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007301574254342628
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05558343e-01,  8.76502971e-02, -9.48130542e-01, -2.68857546e-02,
        9.96151306e-01,  8.34250009e-02,  9.51793704e-01, -6.93889390e-18,
        3.06738887e-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([ 0.07254619, -0.04275827,  0.22452164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -0.35296939,  8.62914767, -0.35296939, 52.77113805,
        1.80530278,  8.62914767,  1.80530278,  8.71020831,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003949490524228057
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40552689e-14,  2.10829033e-14,  1.00000000e+00,  2.96325875e-28,
        1.00000000e+00, -2.10829033e-14, -1.00000000e+00,  0.00000000e+00,
       -1.40552689e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0015695 , -0.08205554,  0.06164958])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.48656215e-04, 4.00821440e-02, 9.97115303e-03, 6.05159492e-05,
  3.75163993e-05,-1.07072409e-04,-3.42677838e-05, 3.11386538e-05,
  8.89581698e-06,-6.16774847e-05,-4.49807727e-05, 4.30332387e-05,
  2.61855372e-03, 4.12052713e-03, 8.85018749e-03, 1.55258911e-03,
  1.89966172e-07, 2.46596306e-06,-4.90499947e+00, 6.38786930e-03,
  2.19061045e-03, 1.46370268e-04]


--- Step 2389 ---
qpos:
[-0.01533276, 1.29214332,-0.03191289, 0.94845207, 0.00438133, 1.32961543,
 -0.02960793, 0.94624991, 0.0167434 , 1.3359326 ,-0.02388963, 0.9549746 ,
  1.39117397,-0.00487013, 1.19390819, 0.06180364,-0.03852291,-0.1058843 ,
  0.07901491, 0.65841526,-0.01265522,-0.0039895 , 0.75253789]

qacc:
[ 5.94514538e-02,-2.30129475e+00, 7.78644448e+00,-1.22211721e+01,
  1.26382813e-01,-2.56681805e-01,-3.38238483e+00, 1.64734153e+01,
  1.64018314e-01, 3.35978888e+00,-1.17663343e+01, 1.29076600e+01,
 -8.96070265e-03,-2.34357254e-02, 1.93567990e+00,-2.21272819e+00,
  3.78389797e-01,-4.20883882e+00, 3.73705206e+00,-2.67658268e+01,
 -2.37260622e+02,-1.02286732e+01]

qfrc_actuator:
[ 3.15258292e-03, 7.50550744e-02, 1.99680470e-02, 1.81057810e-03,
  7.97875017e-05, 3.68105136e-02, 1.08721557e-02, 1.83686004e-03,
 -3.00324839e-03, 3.53905888e-02, 1.07616033e-02, 1.78943287e-03,
  0.00000000e+00, 1.77750217e-03, 0.00000000e+00,-2.17703949e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000729531447823728
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30555989,  0.08765215, -0.94812987, -0.02688646,  0.99615114,
        0.08342672,  0.95179319,  0.        ,  0.30674049])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07254422, -0.04275878,  0.22452205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003911345788939369
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.8384681e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.8384681e-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([-0.03679844, -0.0867946 ,  0.06165259])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.57443439e-04, 3.99739378e-02, 9.94344364e-03,-2.69885807e-05,
  3.63209678e-05,-1.43475945e-04,-1.91833339e-05, 5.14099714e-05,
  4.73158257e-05,-6.09058368e-05,-8.16377289e-05, 7.11077452e-06,
  2.63128359e-03, 4.09574840e-03, 8.92580916e-03, 1.48221518e-03,
  1.06415365e-04, 8.33516030e-05,-4.90503856e+00, 6.39136915e-03,
  2.19035606e-03, 1.73028849e-04]


--- Step 2390 ---
qpos:
[-0.015338  , 1.29215584,-0.0319289 , 0.948452  , 0.00438259, 1.3296559 ,
 -0.0296077 , 0.94625362, 0.01674372, 1.33594652,-0.02389172, 0.95497337,
  1.39119431,-0.00488102, 1.19389098, 0.06180147,-0.03852575,-0.10589619,
  0.07904719, 0.65843747,-0.01240959,-0.00422641, 0.75252126]

qacc:
[ 3.35699428e-01, 5.36470854e-02,-2.00883402e+00, 2.73254918e+00,
  4.02574429e-02, 1.15833842e+00,-1.02950285e+01, 3.67464679e+01,
  1.22150399e-01,-4.19934285e+00, 1.72960826e+01,-4.13622141e+01,
  1.48612596e-01,-2.08936350e-01, 3.65184422e+00,-7.17807934e+00,
  3.72281056e+00, 3.18117713e+00, 1.15335933e+00, 2.11135049e+02,
  1.81102388e+02,-3.14277658e+00]

qfrc_actuator:
[ 3.18180055e-03, 7.50728572e-02, 1.99620501e-02, 1.80717484e-03,
  6.99050156e-05, 3.67832311e-02, 1.09105414e-02, 1.95732194e-03,
 -2.99600892e-03, 3.53378678e-02, 1.07413826e-02, 1.67013235e-03,
  0.00000000e+00, 1.76056077e-03, 0.00000000e+00,-2.98842651e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007290101520045673
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30556159,  0.08765396, -0.94812916, -0.02688717,  0.99615098,
        0.0834284 ,  0.95179262,  0.        ,  0.30674225])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07254243, -0.04275932,  0.22452244])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003932266299502857
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.23505025e-14,  1.41168342e-14,  1.00000000e+00,  5.97855020e-28,
        1.00000000e+00, -1.41168342e-14, -1.00000000e+00,  0.00000000e+00,
       -4.23505025e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06886543, -0.12662977,  0.06165151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.79696762e-04, 4.00149799e-02, 9.92190401e-03,-5.43097301e-06,
  1.15389218e-05,-1.09147184e-04, 9.60479156e-06, 1.16849543e-04,
  3.51784041e-05,-1.02228137e-04,-4.11969025e-05,-1.23309021e-04,
  2.62951089e-03, 4.08264672e-03, 8.82004786e-03, 1.38131186e-03,
  1.50950795e-04, 3.35016654e-04,-4.90512910e+00, 6.38975929e-03,
  2.19256080e-03, 2.36252511e-04]


--- Step 2391 ---
qpos:
[-0.01534332, 1.29216962,-0.03194392, 0.94845229, 0.004384  , 1.32969589,
 -0.02960771, 0.94625666, 0.01674423, 1.33596024,-0.02389388, 0.95497412,
  1.39121453,-0.00489179, 1.19387243, 0.06179928,-0.03851541,-0.10589676,
  0.07907921, 0.65847044,-0.01215846,-0.00396898, 0.7524979 ]

qacc:
[-3.50344014e-02,-4.36055749e-01, 2.68572704e+00, 1.00120003e+00,
  6.28169960e-02,-1.14819312e+00, 4.35550814e+00,-1.12418569e+01,
  8.60733573e-02, 3.33525519e+00,-1.51631032e+01, 3.60841395e+01,
 -9.36465948e-02, 1.61454998e-01,-1.93913214e+00, 3.93393805e+00,
  3.29709080e+00, 2.83194002e+00,-6.84892454e-02, 1.87866915e+02,
  1.60745078e+02,-3.21024469e+00]

qfrc_actuator:
[ 3.20095314e-03, 7.50436883e-02, 2.00006925e-02, 1.84065004e-03,
  8.11665157e-05, 3.67690748e-02, 1.08976589e-02, 1.92019438e-03,
 -2.99196350e-03, 3.53898391e-02, 1.07657485e-02, 1.77796501e-03,
  0.00000000e+00, 1.77259552e-03, 0.00000000e+00,-2.04674073e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000728558920253454
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05564888e-01,  8.76555156e-02, -9.48127950e-01, -2.68879436e-02,
        9.96150847e-01,  8.34297783e-02,  9.51791541e-01, -3.46944695e-18,
        3.06745599e-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([ 0.07254089, -0.04275991,  0.22452277])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003915037305758581
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.08947922e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -7.08947922e-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([-0.06890398, -0.1266512 ,  0.06165328])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.59488017e-04, 4.00419762e-02, 9.98814314e-03, 2.67873169e-05,
  1.80643263e-05,-6.94302993e-05,-2.97536237e-05,-3.73463291e-05,
  2.48178863e-05,-1.63522164e-05,-3.90262190e-06, 1.00743084e-04,
  2.61801308e-03, 4.10237862e-03, 8.68943406e-03, 1.47218776e-03,
 -3.69114178e-06, 2.97560373e-05,-4.90501694e+00, 6.38814797e-03,
  2.19561894e-03, 1.35424603e-04]


--- Step 2392 ---
qpos:
[-0.01534774, 1.29218256,-0.03195839, 0.94845284, 0.00438569, 1.32973551,
 -0.02960852, 0.94625959, 0.01674503, 1.33597459,-0.02389641, 0.9549761 ,
  1.39123497,-0.00490293, 1.19385853, 0.06179742,-0.03849331,-0.10588717,
  0.07910674, 0.65851318,-0.01190185,-0.00326932, 0.75246797]

qacc:
[ 3.83834165e-01,-2.09503386e+00, 4.97917674e+00,-7.55684481e-01,
  1.19870691e-01, 1.50584243e+00,-5.30871347e+00, 3.68119182e+00,
  1.19580220e-01, 3.93288648e+00,-1.43184308e+01, 2.61864698e+01,
  1.87663427e-01,-4.06752969e-01, 5.86437185e+00,-1.05750199e+01,
  2.93960023e+00, 2.53847206e+00,-1.11868716e+00, 1.68238288e+02,
  1.43588846e+02,-3.15864670e+00]

qfrc_actuator:
[ 0.00319687, 0.07501992, 0.02004704, 0.00184265, 0.00010502, 0.03674487,
  0.01085457, 0.00191486,-0.00297211, 0.0354689 , 0.01076352, 0.00184118,
  0.        , 0.00174855, 0.        ,-0.00037808, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007281285791339506
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05566040e-01,  8.76571194e-02, -9.48127431e-01, -2.68885408e-02,
        9.96150706e-01,  8.34312709e-02,  9.51791154e-01, -3.46944695e-18,
        3.06746799e-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([ 0.0725392 , -0.04276048,  0.22452316])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038550894895439947
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.87988911e-14,  2.87988911e-14,  1.00000000e+00, -8.29376130e-28,
        1.00000000e+00, -2.87988911e-14, -1.00000000e+00,  0.00000000e+00,
        2.87988911e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06900105, -0.12671314,  0.06165815])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.59508929e-04, 3.99553368e-02, 9.98461731e-03, 1.10414104e-05,
  3.45109832e-05,-6.98238248e-05,-6.11926353e-05,-9.09764303e-06,
  3.45092764e-05, 7.21555878e-05,-2.93174683e-06, 6.49749199e-05,
  2.62325278e-03, 4.07248694e-03, 8.75653469e-03, 1.29928374e-03,
  8.35251696e-05, 4.06274211e-06,-4.90502059e+00, 6.39119597e-03,
  2.19167289e-03, 1.29539088e-04]


--- Step 2393 ---
qpos:
[-0.01535126, 1.2921938 ,-0.03197322, 0.94845388, 0.00438737, 1.32977441,
 -0.02960923, 0.94626346, 0.0167458 , 1.33598897,-0.0238978 , 0.95497672,
  1.39125527,-0.00491438, 1.19384994, 0.0617956 ,-0.03848584,-0.10588915,
  0.07913173, 0.65857303,-0.01166012,-0.0031348 , 0.75241995]

qacc:
[ 3.80680732e-01,-4.52631149e-01,-2.23619028e+00, 8.72614422e+00,
 -5.76408387e-03, 3.72708995e-01,-4.25459879e+00, 1.49343325e+01,
 -1.26529997e-02,-5.38837436e+00, 2.03520030e+01,-3.33049295e+01,
 -1.78148863e-01,-1.10598606e-02, 7.70804536e+00,-1.55430834e+01,
 -3.65654568e+00,-2.89084128e+00,-6.37722445e-01,-2.17454697e+02,
 -1.80338660e+02,-1.57300937e+01]

qfrc_actuator:
[ 3.19564543e-03, 7.50187375e-02, 2.00625592e-02, 1.86123336e-03,
  8.29845395e-05, 3.67147353e-02, 1.08650252e-02, 1.96379839e-03,
 -2.99619613e-03, 3.54569746e-02, 1.08166718e-02, 1.77106020e-03,
  0.00000000e+00, 1.77430404e-03, 0.00000000e+00,-5.34828096e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.26528478,  0.25703541,  0.06564155,  0.25703541,  0.28301123,
       -0.0694122 ,  0.06564155, -0.0694122 ,  0.5370851 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007279267962333434
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05567477e-01,  8.76584459e-02, -9.48126845e-01, -2.68890772e-02,
        9.96150589e-01,  8.34324917e-02,  9.51790678e-01,  3.46944695e-18,
        3.06748277e-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([ 0.0725379 , -0.04276112,  0.22452349])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037914076874293184
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.46413037e-14,  7.32065183e-15,  1.00000000e+00,  1.07183886e-28,
        1.00000000e+00, -7.32065183e-15, -1.00000000e+00,  0.00000000e+00,
       -1.46413037e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00128788, -0.08187385,  0.06166323])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.13299228e-04, 3.99956534e-02, 9.97327657e-03, 1.65503551e-05,
 -1.68152000e-06,-8.12751441e-05,-1.04662998e-05, 4.49004198e-05,
 -3.70109225e-06, 2.92351640e-05, 6.88039294e-05,-6.65331743e-05,
  2.61304048e-03, 4.11704892e-03, 8.52441938e-03, 1.12634944e-03,
  3.41254272e-04, 1.76607226e-04,-4.90510703e+00, 6.39755126e-03,
  2.18240300e-03, 1.91417909e-04]


--- Step 2394 ---
qpos:
[-0.01535512, 1.29220515,-0.03198772, 0.94845391, 0.00438878, 1.32981276,
 -0.02960951, 0.94626613, 0.01674628, 1.33600316,-0.02389785, 0.95497754,
  1.39127509,-0.00492581, 1.19384124, 0.06179388,-0.03849139,-0.10590149,
  0.07915009, 0.65864879,-0.01143216,-0.00350194, 0.75235551]

qacc:
[-1.42270261e-01,-2.47265442e+00, 1.03119277e+01,-2.07732413e+01,
 -1.13265989e-01,-3.92023414e+00, 1.43885015e+01,-2.60554059e+01,
 -1.20078271e-01,-3.49652853e+00, 1.07019270e+01,-6.84128661e+00,
 -3.75143671e-01, 3.33107126e-01,-4.00566342e-01, 1.22639706e+00,
 -3.25713899e+00,-2.59073305e+00,-1.65599074e+00,-1.93198144e+02,
 -1.59886683e+02,-1.43016828e+01]

qfrc_actuator:
[ 3.17803386e-03, 7.50145526e-02, 2.00780124e-02, 1.81840899e-03,
  5.13452174e-05, 3.66992724e-02, 1.08892715e-02, 1.90229248e-03,
 -3.02868845e-03, 3.54440471e-02, 1.08839374e-02, 1.78281431e-03,
  0.00000000e+00, 1.81227251e-03, 0.00000000e+00,-4.68407065e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000727914852018105
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30557087,  0.08765948, -0.94812565, -0.02688969,  0.9961505 ,
        0.08343337,  0.95178957,  0.        ,  0.30675171])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07253706, -0.04276179,  0.22452375])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.26000427,  2.52172685, -8.26000427, 14.40263005,
       18.8876068 ,  2.52172685, 18.8876068 , 70.50337865,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037870692185838772
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.93161535e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.93161535e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0012713 , -0.08186991,  0.06166391])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.51062588e-04, 4.00766174e-02, 1.00062271e-02,-5.09867805e-05,
 -3.26343701e-05,-6.13899253e-05, 8.43723296e-06,-6.31497109e-05,
 -3.46678848e-05, 1.46094980e-05, 7.88344647e-05, 1.31039246e-05,
  2.61972321e-03, 4.17046936e-03, 8.25909816e-03, 1.19046184e-03,
  4.28579751e-05,-1.08737607e-05,-4.90500537e+00, 6.38392074e-03,
  2.18978161e-03, 1.21850378e-04]


--- Step 2395 ---
qpos:
[-0.01535958, 1.2922174 ,-0.03200157, 0.94845333, 0.00439017, 1.32985052,
 -0.02960975, 0.94626807, 0.01674644, 1.33601654,-0.02389736, 0.95497997,
  1.39129462,-0.00493702, 1.19383055, 0.06179209,-0.03850993,-0.10590331,
  0.0791566 , 0.65869217,-0.01171858,-0.00384449, 0.75231145]

qacc:
[-2.53246607e-01,-1.58612364e+00, 7.84867835e+00,-1.43684000e+01,
 -1.08135896e-02,-2.12473306e+00, 7.48376320e+00,-1.45815955e+01,
 -1.38567525e-01, 2.36334042e-01,-5.30243710e+00, 2.36906212e+01,
 -2.79909251e-01, 3.96060330e-01,-2.74995828e+00, 5.38611437e+00,
 -3.24534130e+00, 2.63070555e+00,-2.96398199e+00,-1.60294809e+02,
  2.01419973e+02, 1.99371230e+01]

qfrc_actuator:
[ 3.16921105e-03, 7.50074417e-02, 2.00928898e-02, 1.79331536e-03,
  6.74626555e-05, 3.66572259e-02, 1.08859223e-02, 1.86504281e-03,
 -3.04820738e-03, 3.53419615e-02, 1.08880130e-02, 1.86042798e-03,
  0.00000000e+00, 1.82186229e-03, 0.00000000e+00,-3.92411538e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007279112495700256
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05573860e-01,  8.76606128e-02, -9.48124587e-01, -2.68903088e-02,
        9.96150399e-01,  8.34343713e-02,  9.51788594e-01,  3.46944695e-18,
        3.06754744e-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([ 0.07253622, -0.04276243,  0.22452401])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  0.42150318, -8.62607164,  0.42150318, 89.19115045,
        3.93621803, -8.62607164,  3.93621803,  8.82870245,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003762820578038825
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.47525374e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.47525374e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00520934, -0.12911869,  0.06166599])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.58921371e-04, 4.00642433e-02, 1.00048790e-02,-2.51708603e-05,
 -3.13707803e-06,-7.65169941e-05,-1.62871454e-05,-4.02521250e-05,
 -3.99765363e-05,-7.83189222e-05, 1.62574120e-05, 8.06790737e-05,
  2.64346719e-03, 4.17939223e-03, 8.26465209e-03, 1.26208914e-03,
  1.01969974e-05, 7.89808696e-05,-4.90501304e+00, 6.36533884e-03,
  2.19961483e-03, 1.41629764e-04]


--- Step 2396 ---
qpos:
[-0.01536465, 1.29223111,-0.03201454, 0.94845273, 0.00439147, 1.32988698,
 -0.02960971, 0.94626925, 0.01674631, 1.33602889,-0.02389707, 0.95498131,
  1.39131378,-0.00494789, 1.19381657, 0.06179013,-0.03851397,-0.10589298,
  0.07916629, 0.65874564,-0.01200042,-0.00364325, 0.75226119]

qacc:
[-2.64729977e-01,-5.03815274e-01, 3.98882006e+00,-4.54277530e+00,
 -3.61934056e-02,-3.78878842e+00, 1.18337485e+01,-1.81832738e+01,
 -1.21919218e-01,-2.68392046e+00, 9.32584353e+00,-2.01131686e+01,
 -3.58283028e-01, 5.53722632e-01,-4.27066018e+00, 7.96285111e+00,
  3.62384867e+00, 3.03566433e+00, 7.96282513e-01, 2.06103625e+02,
  1.77429554e+02,-2.65737434e+00]

qfrc_actuator:
[ 3.20156040e-03, 7.49977308e-02, 2.01069693e-02, 1.79660749e-03,
  5.88413741e-05, 3.65462409e-02, 1.08839902e-02, 1.82460410e-03,
 -3.05978524e-03, 3.52403392e-02, 1.08544275e-02, 1.79853883e-03,
  0.00000000e+00, 1.84972297e-03, 0.00000000e+00,-2.92808169e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007278604208724067
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30557537,  0.08766195, -0.94812398, -0.02689085,  0.99615028,
        0.0834356 ,  0.9517881 ,  0.        ,  0.30675629])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07253519, -0.04276302,  0.22452431])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037572605624300245
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.60125227e-14,  1.47743683e-14,  1.00000000e+00, -5.32062272e-28,
        1.00000000e+00, -1.47743683e-14, -1.00000000e+00,  0.00000000e+00,
        3.60125227e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06918202, -0.12680305,  0.06166651])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.20958561e-04, 4.00091233e-02, 9.98659527e-03, 8.39975150e-06,
 -1.04745885e-05,-1.57967038e-04,-1.99700534e-05,-4.40897299e-05,
 -3.51734658e-05,-1.39455640e-04,-4.46836703e-05,-6.18334127e-05,
  2.65834503e-03, 4.19657646e-03, 8.36457322e-03, 1.36462191e-03,
  1.30916791e-04, 2.64644653e-05,-4.90504350e+00, 6.38987251e-03,
  2.20411986e-03, 1.28780788e-04]


--- Step 2397 ---
qpos:
[-0.01536946, 1.29224455,-0.03202727, 0.94845168, 0.00439253, 1.32992252,
 -0.02960981, 0.94626993, 0.01674596, 1.33604057,-0.02389735, 0.95498222,
  1.39133284,-0.0049588 , 1.19380338, 0.06178828,-0.03850515,-0.10587179,
  0.0791745 , 0.65880836,-0.01227767,-0.00295765, 0.7522048 ]

qacc:
[ 1.11106604e-01,-1.75686838e+00, 6.22982521e+00,-1.05012466e+01,
 -1.02695068e-01,-1.66261544e+00, 5.00822866e+00,-9.61100054e+00,
 -9.53462483e-02,-9.10557030e-02, 8.97538852e-02,-4.50024936e+00,
 -9.07978222e-02, 5.19207037e-02, 8.10559833e-01,-1.15314590e+00,
  3.21537271e+00, 2.71608517e+00,-3.70922254e-01, 1.83743660e+02,
  1.57859866e+02,-2.60522617e+00]

qfrc_actuator:
[ 3.22337220e-03, 7.50032961e-02, 2.01200700e-02, 1.76332515e-03,
  3.54472452e-05, 3.65191109e-02, 1.08826392e-02, 1.80032093e-03,
 -3.06650685e-03, 3.52283069e-02, 1.08342899e-02, 1.77928328e-03,
  0.00000000e+00, 1.85282713e-03, 0.00000000e+00,-3.56420939e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007277258339510942
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30557463,  0.0876635 , -0.94812407, -0.02689127,  0.99615014,
        0.0834371 ,  0.95178832,  0.        ,  0.3067556 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07253386, -0.04276357,  0.22452468])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037365350427056646
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.97126352e-14, -1.48563176e-14,  1.00000000e+00, -4.41420344e-28,
        1.00000000e+00,  1.48563176e-14, -1.00000000e+00,  0.00000000e+00,
       -2.97126352e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06921852, -0.12682139,  0.06166819])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.73800577e-04, 3.99415803e-02, 9.95527954e-03,-2.41145247e-05,
 -2.95791411e-05,-1.19994027e-04,-3.58480390e-05,-3.05753691e-05,
 -2.74838104e-05,-9.97925460e-05,-5.42709351e-05,-2.61144037e-05,
  2.67657154e-03, 4.18265990e-03, 8.52880138e-03, 1.31007550e-03,
  4.21040962e-06, 2.12474447e-05,-4.90504054e+00, 6.40625645e-03,
  2.19614035e-03, 1.27811412e-04]


--- Step 2398 ---
qpos:
[-0.0153734 , 1.29225568,-0.03204069, 0.94844978, 0.00439333, 1.32995792,
 -0.02961063, 0.94627131, 0.01674558, 1.33605206,-0.02389847, 0.95498391,
  1.39135186,-0.00497008, 1.19379573, 0.06178673,-0.03851141,-0.10586204,
  0.07918035, 0.65888562,-0.0125671 ,-0.00284129, 0.75213279]

qacc:
[ 3.75974931e-01,-2.61892597e+00, 6.62102817e+00,-1.40809714e+01,
 -1.10496554e-01, 2.96204888e+00,-1.13125991e+01, 1.80050337e+01,
 -7.83335749e-03, 3.36549868e+00,-1.28154560e+01, 2.00977859e+01,
 -5.50284069e-02,-1.75880829e-01, 7.27400067e+00,-1.35339103e+01,
 -3.77015056e+00,-2.86110282e+00,-5.90167684e-01,-2.18043460e+02,
 -1.82805860e+02,-1.40879818e+01]

qfrc_actuator:
[ 3.20272343e-03, 7.50191771e-02, 2.01328863e-02, 1.70854545e-03,
  2.11330532e-05, 3.65601761e-02, 1.08642063e-02, 1.83904040e-03,
 -3.05250983e-03, 3.52523192e-02, 1.08048988e-02, 1.82087293e-03,
  0.00000000e+00, 1.85908031e-03, 0.00000000e+00,-5.53690373e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.26520411,  0.25518886,  0.07219324,  0.25518886,  0.28667392,
       -0.07589155,  0.07219324, -0.07589155,  0.53346575,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007276244942814973
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05573939e-01,  8.76649768e-02, -9.48124158e-01, -2.68916648e-02,
        9.96150015e-01,  8.34385194e-02,  9.51788530e-01, -3.46944695e-18,
        3.06754941e-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([ 0.07253259, -0.04276411,  0.22452504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003743990504898903
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.4826734e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.4826734e-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([-0.0011802 , -0.08184167,  0.06166773])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.40127319e-04, 3.99710537e-02, 9.95658786e-03,-5.60685411e-05,
 -3.17687327e-05,-3.34885006e-05,-4.69137923e-05, 3.34119220e-05,
 -2.22468939e-06,-4.26237294e-05,-5.58223771e-05, 3.64545257e-05,
  2.68207470e-03, 4.19130505e-03, 8.49015668e-03, 1.10718161e-03,
  1.06196322e-04, 2.52227185e-04,-4.90513750e+00, 6.42500621e-03,
  2.18250305e-03, 2.08380041e-04]


--- Step 2399 ---
qpos:
[-0.01537717, 1.29226633,-0.03205402, 0.94844704, 0.00439404, 1.32999254,
 -0.02961119, 0.94627314, 0.01674541, 1.33606356,-0.0238994 , 0.95498325,
  1.39137073,-0.00498145, 1.19378963, 0.06178526,-0.03853105,-0.10586256,
  0.07917973, 0.65897684,-0.01286858,-0.00322987, 0.7520462 ]

qacc:
[ 6.92383075e-02,-2.32237101e+00, 8.52986659e+00,-1.68354762e+01,
 -3.37345819e-02,-9.61267223e-01, 9.59253321e-01, 4.97604127e+00,
  8.68274646e-02,-4.54914219e+00, 1.95594858e+01,-4.40225998e+01,
 -1.35447954e-01, 7.03647238e-02, 2.06354455e+00,-3.87694875e+00,
 -3.34642700e+00,-2.56556577e+00,-1.61799906e+00,-1.93788378e+02,
 -1.61710441e+02,-1.32064145e+01]

qfrc_actuator:
[ 3.19137850e-03, 7.50433875e-02, 2.01641078e-02, 1.67694511e-03,
  3.01344629e-05, 3.64997248e-02, 1.08716606e-02, 1.86130063e-03,
 -3.02619850e-03, 3.52799915e-02, 1.08237235e-02, 1.70266916e-03,
  0.00000000e+00, 1.86756470e-03, 0.00000000e+00,-5.47347672e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007276880721375917
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05576098e-01,  8.76661464e-02, -9.48123354e-01, -2.68922163e-02,
        9.96149912e-01,  8.34395705e-02,  9.51787821e-01, -3.46944695e-18,
        3.06757140e-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([ 0.07253184, -0.04276471,  0.2245253 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.60999736, -0.67433101, -8.60999736,  8.93731079,
       -3.84255535, -0.67433101, -3.84255535, 57.69890289,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003741418022216794
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.48369284e-14,  1.48369284e-14,  1.00000000e+00,  2.20134444e-28,
        1.00000000e+00, -1.48369284e-14, -1.00000000e+00,  0.00000000e+00,
       -1.48369284e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00117032, -0.0818458 ,  0.06166801])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.84711801e-04, 4.01104006e-02, 1.00220661e-02,-4.53523867e-05,
 -9.74207732e-06,-8.73965871e-05,-3.49163190e-06, 2.07062892e-05,
  2.50029592e-05,-5.79470706e-06, 5.21471904e-06,-1.20234604e-04,
  2.68396925e-03, 4.21841769e-03, 8.21289170e-03, 1.09834812e-03,
  1.31923095e-05, 5.88788178e-06,-4.90504163e+00, 6.40846975e-03,
  2.19484759e-03, 1.33111375e-04]


--- Step 2400 ---
qpos:
[-0.01537981, 1.29227561,-0.03206762, 0.94844576, 0.00439476, 1.33002596,
 -0.02961111, 0.94627456, 0.01674535, 1.33607456,-0.02389914, 0.95498255,
  1.39138984,-0.00499301, 1.19378856, 0.06178343,-0.03854578,-0.10588057,
  0.07919668, 0.65906799,-0.01274687,-0.00388541, 0.75196529]

qacc:
[ 4.80205535e-01, 1.44667623e+00,-9.88569269e+00, 2.63719555e+01,
 -1.81043134e-03,-4.00122276e+00, 1.20043070e+01,-1.44959760e+01,
  4.44472474e-02,-3.94158307e+00, 1.21392686e+01,-1.06563452e+01,
  3.52319081e-02,-9.30268748e-02, 8.53160859e+00,-1.90459620e+01,
  1.22792805e+00,-4.37330991e+00, 4.39330034e+00, 3.90548157e+01,
 -2.47128728e+02,-5.07042119e-01]

qfrc_actuator:
[ 3.20373512e-03, 7.50361930e-02, 2.01881162e-02, 1.74835094e-03,
  3.52961281e-05, 3.64145672e-02, 1.08939474e-02, 1.83814128e-03,
 -3.02821959e-03, 3.52564920e-02, 1.08885384e-02, 1.70443129e-03,
  0.00000000e+00, 1.84174644e-03, 0.00000000e+00,-7.38278744e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000727812093108713
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05578631e-01,  8.76672619e-02, -9.48122435e-01, -2.68927841e-02,
        9.96149814e-01,  8.34405595e-02,  9.51786992e-01,  3.46944695e-18,
        3.06759713e-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([ 0.07253122, -0.0427653 ,  0.22452554])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -8.54598643,  -1.2461512 ,  -8.54598643,
        10.34431084, -11.71293951,  -1.2461512 , -11.71293951,
        88.96258897,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003716489199884667
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.4360262e-07,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.4360262e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04426554, -0.0876382 ,  0.06166987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.88954893e-04, 4.01274058e-02, 1.00414473e-02, 6.82083428e-05,
 -5.89012823e-07,-1.33805099e-04, 5.36734064e-06,-2.53520698e-05,
  1.27465332e-05,-2.93257113e-05, 6.07455807e-05,-1.04152986e-06,
  2.69130622e-03, 4.19705975e-03, 8.13560746e-03, 9.03633060e-04,
  1.65241430e-04, 4.68606500e-05,-4.90505723e+00, 6.38880185e-03,
  2.20839772e-03, 1.49679620e-04]


--- Step 2401 ---
qpos:
[-0.01538221, 1.29228575,-0.0320803 , 0.94844543, 0.00439534, 1.3300585 ,
 -0.02961144, 0.94627641, 0.01674519, 1.33608512,-0.02389834, 0.95498156,
  1.3914091 ,-0.00500454, 1.1937874 , 0.06178116,-0.03854572,-0.10588684,
  0.07921713, 0.65916528,-0.0126257 ,-0.00398957, 0.75188151]

qacc:
[ 1.03483812e-01, 2.30465287e-01,-1.32718500e+00, 1.15710708e+01,
 -5.30940064e-02, 6.65285378e-01,-4.46503539e+00, 9.42000826e+00,
 -3.96669995e-02,-2.55257101e+00, 8.21925503e+00,-1.02116114e+01,
  6.61561308e-02,-1.66275976e-02, 1.16458727e+00,-4.28510112e+00,
  3.69844688e+00, 2.93583321e+00, 8.76173793e-01, 2.07167801e+02,
  1.81938550e+02, 2.59358300e-01]

qfrc_actuator:
[ 3.21153148e-03, 7.50112337e-02, 2.02258830e-02, 1.80857904e-03,
  2.03581538e-05, 3.63685775e-02, 1.08714032e-02, 1.85943427e-03,
 -3.04722170e-03, 3.52205404e-02, 1.09088561e-02, 1.68803931e-03,
  0.00000000e+00, 1.83099902e-03, 0.00000000e+00,-6.92110578e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007281219429125484
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30558274,  0.08766801, -0.94812104, -0.02689338,  0.99614975,
        0.08344116,  0.95178566,  0.        ,  0.30676386])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07253101, -0.04276598,  0.22452571])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037444080444734296
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.41254032e-15,  1.48250806e-14,  1.00000000e+00, -1.09891508e-28,
        1.00000000e+00, -1.48250806e-14, -1.00000000e+00,  0.00000000e+00,
        7.41254032e-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([-0.0692411 , -0.12679132,  0.06166807])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.40453728e-04, 4.01708510e-02, 1.00931250e-02, 5.51812890e-05,
 -1.52902266e-05,-1.19949467e-04,-4.88809257e-05, 1.68985008e-05,
 -1.14716492e-05,-4.04118162e-05, 2.14504536e-05,-1.54931007e-05,
  2.67913529e-03, 4.19644973e-03, 7.88397121e-03, 9.68062873e-04,
  1.27613035e-04, 2.33656024e-04,-4.90505656e+00, 6.35620478e-03,
  2.20521984e-03, 2.08654624e-04]


--- Step 2402 ---
qpos:
[-0.01538586, 1.29229932,-0.03209103, 0.94844519, 0.00439607, 1.33009058,
 -0.02961247, 0.9462771 , 0.01674488, 1.33609526,-0.02389687, 0.9549783 ,
  1.3914282 ,-0.00501552, 1.1937785 , 0.06177841,-0.03853254,-0.10588255,
  0.07923641, 0.65926914,-0.01250372,-0.00360302, 0.75179443]

qacc:
[-5.30491118e-01,-5.88989341e-01, 7.18527128e+00,-7.34085278e+00,
  6.02917205e-02,-6.79916257e-01, 3.89543466e+00,-1.65818742e+01,
 -6.24261590e-02,-6.22559474e+00, 2.42026568e+01,-4.68523067e+01,
 -1.14379308e-01, 4.42366011e-01,-9.95875660e+00, 1.82687011e+01,
  3.28103983e+00, 2.63908221e+00,-2.93092829e-01, 1.84780924e+02,
  1.61451921e+02,-4.56511469e-01]

qfrc_actuator:
[ 3.21702470e-03, 7.50094401e-02, 2.02530545e-02, 1.82652764e-03,
  4.67407513e-05, 3.63640110e-02, 1.08405002e-02, 1.80020126e-03,
 -3.05850315e-03, 3.51950067e-02, 1.09381487e-02, 1.57225985e-03,
  0.00000000e+00, 1.84689398e-03, 0.00000000e+00,-4.14705762e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007284858109147911
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05585142e-01,  8.76687156e-02, -9.48120202e-01, -2.68938065e-02,
        9.96149686e-01,  8.34417573e-02,  9.51784873e-01, -3.46944695e-18,
        3.06766288e-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([ 0.07253075, -0.04276666,  0.2245259 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   8.40611506,   1.98091053,   8.40611506,
        11.71161916, -13.05003502,   1.98091053, -13.05003502,
        64.01498595,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003730386962867871
  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([-0.06927273, -0.12680149,  0.06166941])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.33816287e-04, 4.01260376e-02, 1.00737646e-02, 2.57978809e-05,
  1.73575417e-05,-8.01966868e-05,-5.94609517e-05,-6.38224769e-05,
 -1.80487973e-05,-4.42256282e-05, 2.33714385e-05,-1.16695271e-04,
  2.67200440e-03, 4.21087658e-03, 7.88867888e-03, 1.26712601e-03,
  5.27166614e-06, 1.00926338e-05,-4.90499161e+00, 6.38066142e-03,
  2.19428258e-03, 1.37300371e-04]


--- Step 2403 ---
qpos:
[-0.01539034, 1.29231428,-0.03210107, 0.94844541, 0.00439701, 1.33012255,
 -0.02961405, 0.946276  , 0.01674429, 1.33610517,-0.02389556, 0.95497681,
  1.39144708,-0.005026  , 1.19376514, 0.06177526,-0.03850763,-0.10586871,
  0.0792505 , 0.65937925,-0.01237987,-0.00277691, 0.75170342]

qacc:
[-3.56609532e-01, 7.64182375e-01,-1.24498202e+00, 5.58610643e+00,
  8.92414230e-02,-1.75089511e+00, 9.18761242e+00,-2.86078431e+01,
 -1.21325165e-01, 3.13290575e+00,-1.41522146e+01, 3.28364170e+01,
 -2.94671292e-01, 6.14010651e-01,-5.34741117e+00, 9.16656507e+00,
  2.92999858e+00, 2.38688059e+00,-1.29898828e+00, 1.65880497e+02,
  1.44233675e+02,-9.05470046e-01]

qfrc_actuator:
[ 3.22252542e-03, 7.50008723e-02, 2.02369743e-02, 1.83734044e-03,
  6.21928570e-05, 3.63842099e-02, 1.08227931e-02, 1.71182760e-03,
 -3.08281337e-03, 3.51936324e-02, 1.09369941e-02, 1.66522968e-03,
  0.00000000e+00, 1.87824666e-03, 0.00000000e+00,-3.53393148e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007286475852034194
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30558241,  0.08766986, -0.94812098, -0.02689392,  0.99614958,
        0.08344292,  0.95178575,  0.        ,  0.30676358])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07252976, -0.04276727,  0.22452625])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   8.46973169,   1.68831929,   8.46973169,
        11.11394954, -12.42921758,   1.68831929, -12.42921758,
        70.98957985,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0036749650995511196
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.26578279e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.26578279e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06936129, -0.1268523 ,  0.06167378])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.01504062e-04, 3.99455572e-02, 9.96028683e-03, 3.21792860e-05,
  2.56899918e-05,-3.79279402e-05,-4.20605122e-05,-9.39575608e-05,
 -3.49601414e-05,-2.48003097e-05,-1.05668979e-05, 8.96390568e-05,
  2.67974134e-03, 4.21502856e-03, 8.27536608e-03, 1.35239586e-03,
  1.13531838e-04, 5.46447731e-05,-4.90503418e+00, 6.40455358e-03,
  2.17911268e-03, 1.56843759e-04]


--- Step 2404 ---
qpos:
[-0.01539555, 1.29233062,-0.03211027, 0.94844541, 0.00439786, 1.33015443,
 -0.02961566, 0.94627416, 0.01674341, 1.33611477,-0.02389565, 0.95497652,
  1.39146588,-0.00503611, 1.19374712, 0.06177198,-0.03849887,-0.10586622,
  0.07926327, 0.65949867,-0.0122625 ,-0.00253922, 0.75160142]

qacc:
[-3.11353051e-01,-8.32474164e-01, 5.34613383e+00,-8.03901214e+00,
 -4.02242013e-02,-1.25693274e+00, 5.47041369e+00,-1.31984840e+01,
 -1.20963099e-01, 5.47265855e+00,-2.07367196e+01, 3.19692451e+01,
 -9.30150640e-02, 3.31765872e-01,-6.47204333e+00, 1.26802112e+01,
 -4.03527038e+00,-2.83700562e+00,-3.28387655e-01,-2.23257824e+02,
 -1.91479987e+02,-1.07500534e+01]

qfrc_actuator:
[ 3.24587304e-03, 7.49534099e-02, 2.02309318e-02, 1.82570779e-03,
  3.54561514e-05, 3.64013659e-02, 1.08308766e-02, 1.67806990e-03,
 -3.09699052e-03, 3.51357262e-02, 1.08470966e-02, 1.72054323e-03,
  0.00000000e+00, 1.88320480e-03, 0.00000000e+00,-2.26337037e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.26547552,  0.26421376, -0.02585229,  0.26421376,  0.26817845,
        0.02762431, -0.02585229,  0.02762431,  0.54779952,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007286421857266231
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30557771,  0.08767128, -0.94812236, -0.02689395,  0.99614946,
        0.08344441,  0.95178726,  0.        ,  0.3067589 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07252836, -0.04276783,  0.22452666])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003682521307663819
  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([-0.00102479, -0.08182308,  0.06167339])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.66647813e-04, 3.98286524e-02, 9.91997764e-03,-2.67437468e-06,
 -1.15812417e-05,-1.50911555e-05,-6.90946219e-06,-3.82671405e-05,
 -3.48111862e-05,-7.11004599e-05,-9.33328886e-05, 5.63696149e-05,
  2.69062532e-03, 4.19554433e-03, 8.49916091e-03, 1.49985972e-03,
  3.85316506e-04, 2.88394424e-04,-4.90515381e+00, 6.42794327e-03,
  2.16061151e-03, 2.41132867e-04]


--- Step 2405 ---
qpos:
[-0.01540131, 1.29234833,-0.03211862, 0.94844458, 0.00439822, 1.33018561,
 -0.02961634, 0.94627125, 0.0167423 , 1.33612396,-0.02389698, 0.95497448,
  1.39148474,-0.00504593, 1.19372404, 0.06176879,-0.03850438,-0.10587395,
  0.0792705 , 0.65962806,-0.01215261,-0.00282286, 0.75148863]

qacc:
[-2.30512486e-01,-1.90343015e+00, 1.00935731e+01,-1.92129094e+01,
 -2.03602460e-01,-5.28633670e+00, 1.83348013e+01,-2.79277020e+01,
 -9.90709429e-02,-2.28098269e-01, 3.59955803e+00,-2.30208491e+01,
  1.43315962e-01, 1.82582953e-02,-7.76108179e+00, 1.62394106e+01,
 -3.56786803e+00,-2.55415775e+00,-1.38528303e+00,-1.98333729e+02,
 -1.69025825e+02,-1.04942530e+01]

qfrc_actuator:
[ 3.28015723e-03, 7.49353251e-02, 2.02304836e-02, 1.78335450e-03,
 -1.63724669e-05, 3.63456997e-02, 1.08719028e-02, 1.62348548e-03,
 -3.10497453e-03, 3.50973231e-02, 1.07762881e-02, 1.62885985e-03,
  0.00000000e+00, 1.87223785e-03, 0.00000000e+00,-7.77042936e-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: -0.0007284679109659589
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05570893e-01,  8.76729561e-02, -9.48124402e-01, -2.68938633e-02,
        9.96149312e-01,  8.34461943e-02,  9.51789446e-01,  3.46944695e-18,
        3.06752099e-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([ 0.07252655, -0.04276835,  0.22452714])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.39361879, -2.03320938, -8.39361879, 10.56621459,
       -7.96692825, -2.03320938, -7.96692825, 41.52592202,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00369718967661916
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  3.0028836e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -3.0028836e-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([-0.00103672, -0.08184883,  0.06167248])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.37426830e-04, 3.97416716e-02, 9.87754956e-03,-3.39921674e-05,
 -5.86616881e-05,-6.67388189e-05, 3.61289070e-05,-5.60881617e-05,
 -2.85319452e-05,-9.43452398e-05,-9.36618292e-05,-9.51957942e-05,
  2.69516840e-03, 4.16556123e-03, 8.73200129e-03, 1.65494383e-03,
  6.29214321e-05, 1.83469316e-05,-4.90501118e+00, 6.39403586e-03,
  2.18040893e-03, 1.45465501e-04]


--- Step 2406 ---
qpos:
[-0.01540768, 1.29236706,-0.03212646, 0.94844261, 0.00439805, 1.33021595,
 -0.02961673, 0.94626844, 0.01674102, 1.33613279,-0.02389903, 0.95497237,
  1.39150351,-0.00505546, 1.19369598, 0.06176581,-0.03852258,-0.10589092,
  0.07926853, 0.6597672 ,-0.01205081,-0.00357125, 0.75136493]

qacc:
[-2.63189677e-01,-1.98242216e+00, 1.03912085e+01,-2.28094645e+01,
 -2.27687178e-01,-1.71933723e+00, 4.07031367e+00,-1.78275347e+00,
 -7.30779120e-02, 1.35789150e+00,-4.82932486e+00, 3.49833416e+00,
 -3.32141187e-03, 1.62908121e-01,-7.98121261e+00, 1.72638083e+01,
 -3.17265089e+00,-2.31077750e+00,-2.30003581e+00,-1.77252035e+02,
 -1.50154776e+02,-1.00731841e+01]

qfrc_actuator:
[ 3.30335326e-03, 7.49165601e-02, 2.02152899e-02, 1.72326728e-03,
 -4.73269507e-05, 3.62824986e-02, 1.08784778e-02, 1.62805174e-03,
 -3.10918005e-03, 3.51063657e-02, 1.07528284e-02, 1.62897226e-03,
  0.00000000e+00, 1.88717414e-03, 0.00000000e+00, 6.59588547e-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: -0.0007281066054811575
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05561948e-01,  8.76748200e-02, -9.48127113e-01, -2.68936523e-02,
        9.96149148e-01,  8.34482207e-02,  9.51792324e-01, -3.46944695e-18,
        3.06743170e-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([ 0.07252429, -0.04276882,  0.22452768])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.41975823, -1.92209474, -8.41975823, 10.60195695,
       -8.61030426, -1.92209474, -8.61030426, 46.35390102,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003664107075236553
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.51499806e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.51499806e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00097482, -0.08182311,  0.06167505])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.87641224e-04, 3.96538035e-02, 9.81968278e-03,-5.25305147e-05,
 -6.55659895e-05,-9.49600377e-05,-4.05018191e-06, 2.36073975e-06,
 -2.10468837e-05,-6.43073454e-05,-5.53252592e-05,-7.63065745e-06,
  2.69162967e-03, 4.16680363e-03, 8.98609642e-03, 1.79438875e-03,
  2.43012008e-05, 5.60546473e-05,-4.90499361e+00, 6.36107467e-03,
  2.19907085e-03, 1.49508642e-04]


--- Step 2407 ---
qpos:
[-0.01541338, 1.29238295,-0.03213585, 0.94844005, 0.0043977 , 1.33024572,
 -0.02961715, 0.94626674, 0.01673976, 1.33614066,-0.02390162, 0.95497411,
  1.39152213,-0.00506512, 1.19367173, 0.06176317,-0.03852492,-0.10589625,
  0.07927194, 0.65990737,-0.01195524,-0.00373737, 0.75124255]

qacc:
[ 2.83523772e-01,-5.63336191e-01,-1.42956048e+00,-3.87448192e+00,
 -7.41854861e-02, 1.23166395e+00,-7.20212798e+00, 1.94413319e+01,
  1.18225071e-02, 6.86043764e+00,-3.16466411e+01, 7.25006976e+01,
 -2.08318013e-01, 1.30231201e-01, 4.59179003e+00,-7.86957444e+00,
  3.96382641e+00, 2.90964120e+00, 1.34532768e+00, 2.16705693e+02,
  1.94415021e+02, 3.56384318e+00]

qfrc_actuator:
[ 3.30243659e-03, 7.49149611e-02, 2.01735023e-02, 1.67093318e-03,
 -3.00027018e-05, 3.62684461e-02, 1.08823971e-02, 1.68510948e-03,
 -3.09333366e-03, 3.50374614e-02, 1.07222562e-02, 1.82521244e-03,
  0.00000000e+00, 1.91751926e-03, 0.00000000e+00,-1.30823306e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.26518107,  0.2645327 , -0.01853251,  0.2645327 ,  0.26657518,
        0.01989949, -0.01853251,  0.01989949,  0.54922593,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007275382064252135
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05551561e-01,  8.76768898e-02, -9.48130269e-01, -2.68933778e-02,
        9.96148966e-01,  8.34504837e-02,  9.51795666e-01, -3.46944695e-18,
        3.06732799e-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([ 0.07252162, -0.04276924,  0.22452829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0036304969229598583
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64511752e-15,  1.52902350e-14,  1.00000000e+00,  1.16895644e-28,
        1.00000000e+00, -1.52902350e-14, -1.00000000e+00,  0.00000000e+00,
       -7.64511752e-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([-0.06946357, -0.12685867,  0.06167755])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.17570961e-04, 3.96017509e-02, 9.75258222e-03,-4.78883403e-05,
 -2.13620063e-05,-6.75211922e-05,-1.50816708e-05, 5.41844233e-05,
  3.42430475e-06,-1.15558663e-04,-4.96518024e-05, 1.92545153e-04,
  2.69661039e-03, 4.18233815e-03, 9.23491322e-03, 1.58696446e-03,
  1.86870278e-04, 3.08842484e-04,-4.90506309e+00, 6.32878478e-03,
  2.21737077e-03, 2.22857256e-04]


--- Step 2408 ---
qpos:
[-0.015418  , 1.29239566,-0.03214612, 0.94843757, 0.00439749, 1.3302745 ,
 -0.0296168 , 0.94626642, 0.0167386 , 1.33614791,-0.02390472, 0.95497919,
  1.3915405 ,-0.00507519, 1.19365572, 0.06176102,-0.03851326,-0.10589108,
  0.07927581, 0.6600502 ,-0.01186313,-0.00338669, 0.75112018]

qacc:
[ 4.64210692e-01,-1.65223969e+00, 1.69551159e-01, 2.85822133e+00,
  5.50433378e-02,-9.91883269e-01,-1.15108016e+00, 1.76264059e+01,
  4.16051964e-02, 6.28952925e+00,-2.82300164e+01, 6.33858369e+01,
 -3.15533713e-01, 6.09364105e-02, 1.07178619e+01,-1.97539816e+01,
  3.50146039e+00, 2.62594184e+00, 1.14396090e-01, 1.92988790e+02,
  1.71823395e+02, 2.10353394e+00]

qfrc_actuator:
[ 3.28601721e-03, 7.48738365e-02, 2.02063691e-02, 1.67641978e-03,
 -1.61127696e-06, 3.62129488e-02, 1.09204422e-02, 1.75486487e-03,
 -3.08334034e-03, 3.50290456e-02, 1.07052756e-02, 1.99320227e-03,
  0.00000000e+00, 1.93966923e-03, 0.00000000e+00,-3.72312602e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007269874882247507
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30554534,  0.0876787 , -0.94813211, -0.02689339,  0.99614881,
        0.08345239,  0.95179766,  0.        ,  0.3067266 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07251935, -0.04276968,  0.22452879])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   8.1803448 ,   2.76924825,   8.1803448 ,
        12.47138573, -11.32863514,   2.76924825, -11.32863514,
        42.10109237,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003639502749618252
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.62619993e-15,  1.52523999e-14,  1.00000000e+00,  1.16317851e-28,
        1.00000000e+00, -1.52523999e-14, -1.00000000e+00,  0.00000000e+00,
       -7.62619993e-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([-0.06946041, -0.12683801,  0.06167693])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.67901876e-04, 3.97019574e-02, 9.86263903e-03,-1.26709075e-05,
  1.57855262e-05,-9.43842449e-05, 2.46758001e-05, 6.85843857e-05,
  1.20144573e-05,-7.63588542e-05,-3.95605727e-05, 1.67604252e-04,
  2.70419900e-03, 4.21129483e-03, 9.04530552e-03, 1.32844268e-03,
  1.73696514e-05, 2.72823520e-05,-4.90498779e+00, 6.37044454e-03,
  2.19885896e-03, 1.33811466e-04]


--- Step 2409 ---
qpos:
[-0.01542244, 1.29240866,-0.03215521, 0.94843649, 0.00439748, 1.33030244,
 -0.02961689, 0.94626837, 0.01673756, 1.33615519,-0.02390791, 0.9549841 ,
  1.3915587 ,-0.00508523, 1.19364222, 0.06175891,-0.03851662,-0.10589624,
  0.07927516, 0.66020018,-0.01177561,-0.00357688, 0.75098886]

qacc:
[ 7.78160689e-02,-4.28451200e-01,-9.90765685e-01, 1.67684468e+01,
  9.15643082e-02, 3.94662363e+00,-1.88824030e+01, 4.32337842e+01,
  4.67989903e-02,-1.37251572e-02, 4.55132030e-01,-2.46958706e+00,
 -2.90093710e-01, 3.21726071e-01, 3.63006036e+00,-7.25082270e+00,
 -3.75661879e+00,-2.58395771e+00,-1.12991090e+00,-2.04611541e+02,
 -1.76708789e+02,-8.83778949e+00]

qfrc_actuator:
[ 3.27735958e-03, 7.48282321e-02, 2.02839827e-02, 1.76941289e-03,
  1.54332329e-05, 3.61509721e-02, 1.08894123e-02, 1.86702683e-03,
 -3.07694047e-03, 3.50747310e-02, 1.07143788e-02, 1.98344102e-03,
  0.00000000e+00, 1.93948048e-03, 0.00000000e+00,-3.56865837e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.26495725,  0.26400808,  0.02240718,  0.26400808,  0.26701726,
       -0.02427158,  0.02240718, -0.02427158,  0.55093221,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007267004752501
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05542991e-01,  8.76801394e-02, -9.48132730e-01, -2.68936280e-02,
        9.96148680e-01,  8.34538172e-02,  9.51798410e-01, -3.46944695e-18,
        3.06724284e-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([ 0.07251783, -0.04277019,  0.22452915])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003609239505085987
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.53802903e-14,  7.69014513e-15,  1.00000000e+00,  1.18276664e-28,
        1.00000000e+00, -7.69014513e-15, -1.00000000e+00,  0.00000000e+00,
       -1.53802903e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00086099, -0.08180151,  0.06167923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.04828835e-04, 3.98152801e-02, 9.98428092e-03, 7.59673407e-05,
  2.63540771e-05,-1.07506996e-04,-4.47057057e-05, 1.11686122e-04,
  1.34929640e-05, 6.61034791e-07,-5.39842884e-06,-9.26748028e-06,
  2.71618955e-03, 4.23183458e-03, 8.63349075e-03, 1.31958764e-03,
  1.03875454e-04, 4.96598949e-05,-4.90503098e+00, 6.40739854e-03,
  2.17770840e-03, 1.47209182e-04]


--- Step 2410 ---
qpos:
[-0.01542567, 1.29241935,-0.0321646 , 0.94843614, 0.00439755, 1.33032926,
 -0.02961746, 0.94627099, 0.01673661, 1.33616208,-0.02391021, 0.9549878 ,
  1.39157691,-0.00509568, 1.19363599, 0.06175693,-0.03850573,-0.10589091,
  0.07927544, 0.66035173,-0.01169264,-0.00324295, 0.75085842]

qacc:
[ 5.10441699e-01,-9.73342444e-01,-2.00773552e+00, 1.17394707e+01,
  2.74627860e-02, 9.73963253e-01,-6.30437565e+00, 1.38748609e+01,
  4.23895164e-02,-4.99124673e+00, 1.80781038e+01,-2.93089997e+01,
 -9.15582470e-02,-1.35502214e-01, 1.03304977e+01,-2.05191905e+01,
  3.56517766e+00, 2.62482337e+00, 2.30716635e-01, 1.95309851e+02,
  1.74713731e+02, 2.79203835e+00]

qfrc_actuator:
[ 3.27382975e-03, 7.48487546e-02, 2.03157290e-02, 1.78930431e-03,
  7.77848336e-06, 3.60676194e-02, 1.08533398e-02, 1.89667359e-03,
 -3.07274812e-03, 3.50459523e-02, 1.07566770e-02, 1.92247076e-03,
  0.00000000e+00, 1.94337183e-03, 0.00000000e+00,-6.13062759e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.26492895,  0.25224177,  0.08100272,  0.25224177,  0.29222786,
       -0.08500856,  0.08100272, -0.08500856,  0.52964487,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007265946410977032
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05539248e-01,  8.76815362e-02, -9.48133807e-01, -2.68937303e-02,
        9.96148557e-01,  8.34552519e-02,  9.51799609e-01,  3.46944695e-18,
        3.06720565e-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([ 0.07251649, -0.04277073,  0.22452951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0036186539715405003
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.06805523e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.06805523e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06950732, -0.12683429,  0.06167852])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.92184602e-04, 3.98213326e-02, 9.95719513e-03, 2.63904343e-05,
  7.88972278e-06,-1.48407387e-04,-5.89393185e-05, 2.77458785e-05,
  1.21616457e-05,-2.97814488e-05, 4.15450612e-05,-6.13116284e-05,
  2.72531201e-03, 4.23477234e-03, 8.50801391e-03, 1.06171965e-03,
  2.23507494e-05, 3.43097083e-05,-4.90498757e+00, 6.36695650e-03,
  2.20047050e-03, 1.33995765e-04]


--- Step 2411 ---
qpos:
[-0.01542867, 1.29242918,-0.03217441, 0.94843591, 0.00439761, 1.33035516,
 -0.02961842, 0.94627151, 0.01673574, 1.33616887,-0.02391196, 0.95498832,
  1.39159507,-0.00510611, 1.19363116, 0.06175469,-0.03851002,-0.10589595,
  0.07927148, 0.66051014,-0.011614  ,-0.00345398, 0.75071934]

qacc:
[ 1.04053386e-01, 2.12934399e-01,-2.28504963e+00, 3.89992949e+00,
  6.69697011e-05,-3.73057869e+00, 1.50141525e+01,-3.67875905e+01,
  3.49145263e-02,-7.10380883e+00, 2.94113547e+01,-6.21339280e+01,
 -1.42385067e-01, 1.73554399e-01, 2.86561654e+00,-7.02256561e+00,
 -3.79674859e+00,-2.59386379e+00,-1.05645198e+00,-2.05995153e+02,
 -1.78245653e+02,-8.60570165e+00]

qfrc_actuator:
[ 3.25453672e-03, 7.48404316e-02, 2.03032088e-02, 1.80093542e-03,
  3.12172029e-06, 3.60252997e-02, 1.08322124e-02, 1.78874602e-03,
 -3.06991361e-03, 3.50439174e-02, 1.07824426e-02, 1.76086197e-03,
  0.00000000e+00, 1.95012787e-03, 0.00000000e+00,-6.06297691e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.26497139,  0.25669924,  0.06569125,  0.25669924,  0.28279618,
       -0.06965327,  0.06569125, -0.06965327,  0.53715287,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007267533589977518
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.305538  ,  0.08768254, -0.94813412, -0.02689393,  0.99614847,
        0.08345624,  0.9518    ,  0.        ,  0.30671934])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07251578, -0.04277135,  0.22452976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003628807568038704
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.52973532e-14,  1.52973532e-14,  1.00000000e+00,  2.34009016e-28,
        1.00000000e+00, -1.52973532e-14, -1.00000000e+00,  0.00000000e+00,
       -1.52973532e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00087389, -0.08185173,  0.06167775])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.13058246e-04, 3.99287526e-02, 9.95970326e-03, 1.11173887e-06,
 -7.23635402e-09,-1.35290476e-04,-5.60685026e-05,-1.13420517e-04,
  1.00168544e-05,-1.22464767e-05, 2.28771527e-05,-1.62690961e-04,
  2.72457213e-03, 4.26188572e-03, 8.14455838e-03, 1.06172537e-03,
  9.88059305e-05, 4.68505240e-05,-4.90502919e+00, 6.40722501e-03,
  2.17789736e-03, 1.44399058e-04]


--- Step 2412 ---
qpos:
[-0.01543236, 1.29244028,-0.03218421, 0.9484363 , 0.00439765, 1.33038099,
 -0.02962004, 0.94626998, 0.0167348 , 1.33617582,-0.02391377, 0.95498621,
  1.39161351,-0.00511601, 1.19362154, 0.06175173,-0.0385273 ,-0.10588937,
  0.07925592, 0.6606276 ,-0.01205124,-0.00364675, 0.75060818]

qacc:
[-2.95391936e-01, 2.69445673e+00,-8.04580355e+00, 1.33077454e+01,
 -9.86871306e-03,-1.83602295e+00, 1.00838122e+01,-3.24557673e+01,
 -3.40954060e-02,-4.13393067e+00, 1.90201607e+01,-4.68178425e+01,
  6.17042382e-02, 3.49638644e-01,-4.89938215e+00, 6.89258802e+00,
 -3.24717985e+00, 2.90519080e+00,-2.90223245e+00,-1.63707125e+02,
  1.99443419e+02, 2.55857976e+01]

qfrc_actuator:
[ 3.22625971e-03, 7.48142599e-02, 2.02643646e-02, 1.84343834e-03,
  3.02602330e-07, 3.60788647e-02, 1.08201621e-02, 1.68953815e-03,
 -3.08566870e-03, 3.50577958e-02, 1.07805207e-02, 1.63009483e-03,
  0.00000000e+00, 1.92283898e-03, 0.00000000e+00,-4.41406724e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000726922750278778
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30553796,  0.08768345, -0.94813404, -0.02689421,  0.99614839,
        0.08345711,  0.95180001,  0.        ,  0.30671933])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0725152 , -0.04277198,  0.22452998])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -0.32272796, -8.6303316 , -0.32272796, 62.34549859,
       -2.00843263, -8.6303316 , -2.00843263,  8.71146821,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0036219382174911274
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.53263661e-14,  3.06527323e-14,  1.00000000e+00,  4.69794998e-28,
        1.00000000e+00, -3.06527323e-14, -1.00000000e+00,  0.00000000e+00,
       -1.53263661e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00539005, -0.12951059,  0.06167822])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.72576741e-04, 3.99449388e-02, 9.94167112e-03, 3.76039752e-05,
 -2.82778397e-06,-3.58179679e-05,-4.82378893e-05,-1.07503482e-04,
 -9.83756236e-06, 6.70945567e-06,-6.47862416e-06,-1.34239264e-04,
  2.72711869e-03, 4.23396637e-03, 8.07529520e-03, 1.24000230e-03,
  2.76612929e-05, 4.09381032e-05,-4.90498774e+00, 6.36401568e-03,
  2.20213124e-03, 1.34152281e-04]


--- Step 2413 ---
qpos:
[-0.01543603, 1.29245142,-0.03219362, 0.94843659, 0.00439781, 1.3304066 ,
 -0.02962161, 0.94626793, 0.01673359, 1.33618301,-0.02391517, 0.95498391,
  1.39163225,-0.00512591, 1.19361226, 0.06174873,-0.03852952,-0.10587121,
  0.07924418, 0.66074982,-0.01248929,-0.00328008, 0.75049512]

qacc:
[ 3.27757335e-03,-1.18482181e+00, 4.11478974e+00,-4.70374394e+00,
  5.00413148e-02,-1.31315271e+00, 4.97597307e+00,-1.00869737e+01,
 -1.12999935e-01,-1.15854033e+00, 4.55035339e+00,-6.40479777e+00,
  2.20538786e-01,-1.84847057e-01, 6.09074839e-01,-1.45217600e+00,
  3.76265169e+00, 2.89433174e+00, 9.55126373e-01, 2.09716359e+02,
  1.85112264e+02, 9.63358762e-01]

qfrc_actuator:
[ 3.22893628e-03, 7.47756056e-02, 2.02804810e-02, 1.83290889e-03,
  1.63618914e-05, 3.60829585e-02, 1.08317236e-02, 1.66736200e-03,
 -3.11244771e-03, 3.50987486e-02, 1.08156358e-02, 1.62506041e-03,
  0.00000000e+00, 1.91010208e-03, 0.00000000e+00,-5.00636059e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000726880669715893
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05536711e-01,  8.76845870e-02, -9.48134343e-01, -2.68944499e-02,
        9.96148289e-01,  8.34582253e-02,  9.51800403e-01, -3.46944695e-18,
        3.06718100e-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([ 0.07251418, -0.0427726 ,  0.22453025])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0036507665299625527
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.52053413e-14,  1.52053413e-14,  1.00000000e+00, -2.31202405e-28,
        1.00000000e+00, -1.52053413e-14, -1.00000000e+00,  0.00000000e+00,
        1.52053413e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06948183, -0.12676215,  0.06167586])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.09862850e-04, 3.98429909e-02, 9.95749850e-03,-3.77560610e-06,
  1.43900686e-05,-2.85583456e-05,-4.11151377e-06,-2.71266156e-05,
 -3.25818005e-05, 3.93709571e-05, 3.17529736e-05,-8.14502999e-06,
  2.71328074e-03, 4.19459647e-03, 8.31424869e-03, 1.21641532e-03,
  1.29264000e-04,-1.20895376e-05,-4.90508007e+00, 6.41007866e-03,
  2.21544937e-03, 1.04988994e-04]


--- Step 2414 ---
qpos:
[-0.01543955, 1.29246232,-0.03220234, 0.94843711, 0.00439811, 1.33043189,
 -0.02962331, 0.94626601, 0.01673238, 1.33619009,-0.02391577, 0.9549826 ,
  1.39165081,-0.00513593, 1.1936051 , 0.06174578,-0.03851843,-0.10584263,
  0.07923151, 0.6608768 ,-0.01292687,-0.0024158 , 0.75037918]

qacc:
[ 7.05063792e-02,-1.77004680e+00, 4.94815810e+00,-1.51065031e+00,
  6.25245661e-02, 1.45092784e-01,-1.21360603e+00, 2.57187034e+00,
  3.06253674e-03,-5.85699403e-01,-2.73248999e-01, 1.18477043e+01,
 -1.68204852e-01, 7.86198952e-02, 2.99775777e+00,-5.89423577e+00,
  3.33063385e+00, 2.60533720e+00,-2.33357941e-01, 1.86906044e+02,
  1.64244060e+02, 3.64281630e-01]

qfrc_actuator:
[ 3.24976207e-03, 7.47656927e-02, 2.03291831e-02, 1.84428540e-03,
  2.58636750e-05, 3.60575524e-02, 1.08215010e-02, 1.67293238e-03,
 -3.09236458e-03, 3.50848017e-02, 1.08547691e-02, 1.67634054e-03,
  0.00000000e+00, 1.94192779e-03, 0.00000000e+00,-5.70451796e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007268628136568971
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30553505,  0.08768573, -0.94813477, -0.02689466,  0.99614819,
        0.08345936,  0.95180093,  0.        ,  0.30671647])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07251317, -0.04277325,  0.22453053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   8.38292387,   2.07686404,   8.38292387,
        12.19951797, -14.38209288,   2.07686404, -14.38209288,
        66.68734223,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0036408401608939156
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.04935942e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.04935942e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06949901, -0.12676031,  0.06167642])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.30305795e-04, 3.98313633e-02, 9.98649264e-03, 1.24656303e-05,
  1.79910131e-05,-4.30017873e-05,-1.71014474e-05, 3.99446301e-06,
  8.53745129e-07, 1.37320936e-05, 5.01828643e-05, 5.31913062e-05,
  2.69821726e-03, 4.22683152e-03, 8.29783586e-03, 1.14887110e-03,
  2.66193829e-05, 7.79078134e-05,-4.90512639e+00, 6.44928259e-03,
  2.19371259e-03, 1.36876077e-04]


--- Step 2415 ---
qpos:
[-0.01544265, 1.29247279,-0.03221081, 0.94843815, 0.0043984 , 1.33045642,
 -0.02962498, 0.94626522, 0.01673143, 1.3361969 ,-0.02391524, 0.9549833 ,
  1.39166892,-0.00514604, 1.19359969, 0.06174266,-0.03852433,-0.10582574,
  0.07921919, 0.66101254,-0.01337161,-0.00216441, 0.75025258]

qacc:
[ 1.74905691e-01,-3.63925534e-01,-5.70940574e-01, 6.78947424e+00,
 -5.65834802e-03, 8.78879706e-01,-6.42121587e+00, 1.93514092e+01,
  1.06955801e-01, 6.82126308e-02,-4.66849740e+00, 2.72957525e+01,
 -3.91945245e-01, 2.91923642e-01, 3.13891471e+00,-7.16812035e+00,
 -4.24987964e+00,-2.92291142e+00, 8.94159031e-02,-2.32271338e+02,
 -1.99751717e+02,-1.07567767e+01]

qfrc_actuator:
[ 3.29906955e-03, 7.48087771e-02, 2.03614788e-02, 1.86852061e-03,
  1.36015790e-05, 3.59968797e-02, 1.08161308e-02, 1.73023587e-03,
 -3.06208396e-03, 3.50736645e-02, 1.09135094e-02, 1.77803985e-03,
  0.00000000e+00, 1.98285666e-03, 0.00000000e+00,-6.28944799e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.26502764,  0.25770078,  0.06188667,  0.25770078,  0.28070604,
       -0.06528604,  0.06188667, -0.06528604,  0.53688363,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007269637987974246
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30553295,  0.08768682, -0.94813535, -0.02689481,  0.99614809,
        0.08346046,  0.9518016 ,  0.        ,  0.30671439])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07251233, -0.04277392,  0.22453078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037197610824056954
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.98466219e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.98466219e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00099904, -0.08201122,  0.06167035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.71356494e-04, 3.98857445e-02, 9.98433557e-03, 2.53774487e-05,
 -1.64886943e-06,-8.78620963e-05,-1.56386226e-05, 5.56355064e-05,
  3.07891779e-05, 7.78302247e-06, 6.86724844e-05, 1.04819817e-04,
  2.70714684e-03, 4.27400197e-03, 8.19155032e-03, 1.08784725e-03,
  1.58746948e-04, 4.07597368e-04,-4.90527188e+00, 6.48620718e-03,
  2.16877746e-03, 2.51926705e-04]


--- Step 2416 ---
qpos:
[-0.01544521, 1.29248267,-0.03221922, 0.94843984, 0.00439877, 1.33048048,
 -0.02962677, 0.94626478, 0.01673077, 1.33620438,-0.02391487, 0.9549852 ,
  1.39168658,-0.00515626, 1.19359615, 0.06173925,-0.0385452 ,-0.10581934,
  0.07920272, 0.66115797,-0.01382494,-0.00245444, 0.75011531]

qacc:
[ 2.31727591e-01, 1.60735816e-01,-2.78878733e+00, 1.03262896e+01,
  3.23794869e-02, 2.86327567e-01,-2.35801575e+00, 6.17251542e+00,
  1.26777613e-01, 3.36248809e+00,-1.23403976e+01, 2.41141733e+01,
 -4.08839985e-01, 3.11742411e-01, 3.61402055e+00,-8.57308187e+00,
 -3.73965664e+00,-2.62134122e+00,-1.03685892e+00,-2.05883501e+02,
 -1.75641145e+02,-1.07768499e+01]

qfrc_actuator:
[ 3.32964982e-03, 7.48307033e-02, 2.03840939e-02, 1.90008707e-03,
  2.38884044e-05, 3.59866232e-02, 1.08135558e-02, 1.74648825e-03,
 -3.04368554e-03, 3.51354217e-02, 1.09123607e-02, 1.83757826e-03,
  0.00000000e+00, 2.01151714e-03, 0.00000000e+00,-6.98190138e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007271376319347295
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30553104,  0.08768779, -0.94813587, -0.02689494,  0.99614801,
        0.08346143,  0.95180221,  0.        ,  0.30671249])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07251163, -0.04277456,  0.22453103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.11535754, -2.95427636, -8.11535754, 12.14905033,
       -9.64930323, -2.95427636, -9.64930323, 35.14287019,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003744271151856743
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.48256227e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.48256227e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00103333, -0.08205317,  0.06166836])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.81432994e-04, 3.99294847e-02, 9.99444006e-03, 3.09541929e-05,
  9.31064241e-06,-6.04198473e-05,-1.99339216e-05, 1.44811554e-05,
  3.65791599e-05, 8.25329499e-05, 1.12353182e-05, 6.42290961e-05,
  2.72945869e-03, 4.30760697e-03, 8.10419958e-03, 1.02742420e-03,
  3.27660553e-05, 3.69689650e-05,-4.90511582e+00, 6.44624715e-03,
  2.19333764e-03, 1.39520163e-04]


--- Step 2417 ---
qpos:
[-0.01544789, 1.29249236,-0.03222766, 0.94844118, 0.00439909, 1.33050444,
 -0.02962837, 0.94626206, 0.01673053, 1.33621243,-0.02391583, 0.95498614,
  1.39170368,-0.00516637, 1.19359197, 0.06173561,-0.03855145,-0.10582789,
  0.07920017, 0.66128214,-0.01370579,-0.00277446, 0.75000692]

qacc:
[-4.85496921e-02,-7.36216953e-01, 2.82532896e+00,-6.43408823e+00,
 -2.17454279e-02,-4.52813322e+00, 1.92685483e+01,-4.29309060e+01,
  1.74884105e-01, 2.70336757e+00,-5.97765518e+00,-6.21837668e+00,
 -4.98038973e-01, 5.08509958e-01,-1.81226207e-01,-6.68118759e-01,
  3.65271874e+00,-3.73774208e+00, 3.47631631e+00, 1.77886784e+02,
 -2.24853150e+02, 1.66109334e+01]

qfrc_actuator:
[ 3.33094388e-03, 7.47870013e-02, 2.03654797e-02, 1.88245472e-03,
  1.21148583e-05, 3.60066327e-02, 1.08305563e-02, 1.63195261e-03,
 -3.01481208e-03, 3.51158347e-02, 1.08228568e-02, 1.78305946e-03,
  0.00000000e+00, 2.05060689e-03, 0.00000000e+00,-6.67201748e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007273763854391616
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30552962,  0.08768859, -0.94813626, -0.02689506,  0.99614794,
        0.08346223,  0.95180266,  0.        ,  0.30671109])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07251109, -0.04277518,  0.22453125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -8.51747712,  -1.42806174,  -8.51747712,
        10.66847892, -12.12027112,  -1.42806174, -12.12027112,
        80.92604784,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003750835598477123
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.39983795e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -7.39983795e-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([-0.06231596, -0.09002705,  0.06166765])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.55559400e-04, 3.99150871e-02, 9.97253503e-03,-1.92543811e-05,
 -6.28238520e-06,-1.70438284e-05, 3.31464469e-06,-1.16565269e-04,
  5.04755605e-05, 3.01027444e-05,-7.02355900e-05,-5.02361253e-05,
  2.75201859e-03, 4.35163116e-03, 8.01089207e-03, 1.07217809e-03,
  1.90013171e-04, 7.42645423e-06,-4.90509712e+00, 6.40885426e-03,
  2.21611168e-03, 1.36750866e-04]


--- Step 2418 ---
qpos:
[-0.01545109, 1.29250196,-0.03223675, 0.94844128, 0.00439946, 1.33052803,
 -0.02962968, 0.94625801, 0.01673053, 1.3362196 ,-0.02391641, 0.95498612,
  1.39172049,-0.00517618, 1.19358464, 0.06173168,-0.03872062,-0.10589838,
  0.07918648, 0.66063528,-0.01286033,-0.00207334, 0.75059399]

qacc:
[-2.24358272e-01,-4.92815412e-01, 3.98848183e+00,-1.76921270e+01,
  2.40350168e-02,-3.57242186e+00, 1.37740809e+01,-2.71136959e+01,
  1.01563173e-01,-3.84372332e+00, 1.30891870e+01,-2.19240967e+01,
 -2.77342796e-01, 4.47380338e-01,-3.74727812e+00, 6.39337205e+00,
 -4.07276096e+01,-1.54844903e+01,-2.78208565e+00, 6.18760314e+02,
  5.94265484e+01, 5.25079285e+02]

qfrc_actuator:
[ 3.31510603e-03, 7.47570186e-02, 2.03044586e-02, 1.81829640e-03,
  2.27076955e-05, 3.59736041e-02, 1.08412805e-02, 1.56568000e-03,
 -3.01539258e-03, 3.50117563e-02, 1.08235977e-02, 1.73279446e-03,
  0.00000000e+00, 2.06029413e-03, 0.00000000e+00,-5.75995088e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007275602665030231
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05528423e-01,  8.76894186e-02, -9.48136566e-01, -2.68952138e-02,
        9.96147863e-01,  8.34630554e-02,  9.51803042e-01, -3.46944695e-18,
        3.06709912e-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([ 0.0725105 , -0.04277574,  0.22453147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -0.55122878,  8.61875418, -0.55122878, 59.39991831,
        3.24667945,  8.61875418,  3.24667945,  8.84401118,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0263954096288409
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88536239, -0.44268119,  0.14200986, -0.43709426,  0.89667907,
        0.0701088 , -0.15837311,  0.        , -0.98737934])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0623151 , -0.09001536,  0.0616678 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.45410131e-04, 3.98945719e-02, 9.91370721e-03,-6.56601051e-05,
  6.88594708e-06,-4.54745450e-05, 4.32202098e-06,-6.93640492e-05,
  2.92246359e-05,-1.02687765e-04,-2.83834862e-06,-5.25861020e-05,
  2.78051353e-03, 4.35661508e-03, 8.04311374e-03, 1.17555926e-03,
  2.74812491e-05, 6.72177744e-05,-4.90499674e+00, 6.36262878e-03,
  2.19482190e-03, 1.72253880e-04]


--- Step 2419 ---
qpos:
[-0.01545453, 1.29251135,-0.03224633, 0.94843992, 0.00439992, 1.3305512 ,
 -0.02963114, 0.94625391, 0.01673038, 1.33622524,-0.02391525, 0.95498617,
  1.39173763,-0.00518585, 1.1935753 , 0.06172765,-0.03886578,-0.10597093,
  0.07916645, 0.66011641,-0.01215989,-0.00208722, 0.75106198]

qacc:
[-1.02814507e-01,-1.43409401e+00, 7.33931416e+00,-2.31017422e+01,
  3.55821394e-02,-1.84361547e-01, 4.38190062e-02,-3.03865959e-01,
 -6.46078092e-02,-6.59033635e+00, 1.89161079e+01,-1.45774154e+01,
  2.66602536e-01,-1.38965054e-01,-2.71175274e+00, 5.15108976e+00,
  5.99987392e+00,-5.16555235e-01,-1.58570638e+00,-3.15539867e+02,
 -1.80852157e+02,-9.18162619e+01]

qfrc_actuator:
[ 3.28944661e-03, 7.47352452e-02, 2.02718668e-02, 1.74499700e-03,
  2.88803348e-05, 3.59445825e-02, 1.08303073e-02, 1.56383947e-03,
 -3.05138949e-03, 3.49292132e-02, 1.09128091e-02, 1.73872952e-03,
  0.00000000e+00, 2.01659650e-03, 0.00000000e+00,-5.37273737e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2651815 ,  0.2634677 ,  0.03009986,  0.2634677 ,  0.26961949,
       -0.03884627,  0.03009986, -0.03884627,  0.60520758,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007275398253071413
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30552792,  0.0876904 , -0.94813664, -0.02689547,  0.99614778,
        0.083464  ,  0.95180319,  0.        ,  0.30670944])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07250966, -0.04277625,  0.22453171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -0.19167125,  8.63423645, -0.19167125, 15.13487336,
        0.14426029,  8.63423645,  0.14426029,  8.63956607,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038019787741667838
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.92011894e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.92011894e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00137266, -0.08214452,  0.06166361])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.46040498e-04, 3.98773459e-02, 9.91320860e-03,-7.72162062e-05,
  1.02340261e-05,-5.55807653e-05,-2.14390224e-05,-4.66165278e-06,
 -1.87428233e-05,-1.41488101e-04, 6.72890884e-05, 1.59453194e-06,
  2.79470124e-03, 4.29825884e-03, 8.20079912e-03, 1.22895653e-03,
  1.21228385e-03, 3.96401784e-04,-4.90553712e+00, 6.47127447e-03,
  2.45213516e-03, 1.01729053e-04]


--- Step 2420 ---
qpos:
[-0.01545857, 1.29252195,-0.03225517, 0.9484375 , 0.00440016, 1.33057347,
 -0.0296323 , 0.94625123, 0.01672996, 1.33623059,-0.02391427, 0.95498559,
  1.39175492,-0.00519531, 1.19356276, 0.06172366,-0.03899348,-0.10604638,
  0.07913705, 0.65970142,-0.01157495,-0.00272449, 0.75143372]

qacc:
[-2.55994424e-01,-2.20884796e+00, 1.12673354e+01,-2.27540637e+01,
 -9.02046011e-02, 3.88360821e-01,-5.59018138e+00, 2.17612770e+01,
 -1.12765397e-01,-9.89805200e-01, 4.02075919e+00,-1.05487521e+01,
  1.39072218e-01, 7.77590513e-03,-4.82137842e+00, 9.96703503e+00,
  4.36493079e+00,-7.24900638e-01,-2.34140082e+00,-2.71693196e+02,
 -1.61689809e+02,-7.44481768e+01]

qfrc_actuator:
[ 3.29332498e-03, 7.47185449e-02, 2.02919400e-02, 1.70243513e-03,
 -3.15446797e-06, 3.58826408e-02, 1.08421580e-02, 1.63541042e-03,
 -3.07283383e-03, 3.49493578e-02, 1.09115663e-02, 1.70671962e-03,
  0.00000000e+00, 2.01191321e-03, 0.00000000e+00,-4.23617005e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007273796745639848
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30552808,  0.08769144, -0.94813649, -0.02689581,  0.99614769,
        0.08346499,  0.95180313,  0.        ,  0.30670962])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07250867, -0.04277677,  0.22453195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.58209222, -4.13505192, -7.58209222, 12.70865639,
       -7.4670161 , -4.13505192, -7.4670161 , 22.32799456,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00384203786969306
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.44483613e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.44483613e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00163997, -0.08219388,  0.06166035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.61963986e-04, 3.98707184e-02, 9.95764418e-03,-4.68883208e-05,
 -2.59985266e-05,-9.71855607e-05,-1.62534730e-06, 6.91923551e-05,
 -3.25112326e-05,-4.49490070e-05,-2.11878748e-05,-3.41867215e-05,
  2.77802680e-03, 4.28658985e-03, 8.30105632e-03, 1.34698431e-03,
  4.59014418e-04, 1.36251595e-04,-4.90540661e+00, 6.60758671e-03,
  2.28062515e-03, 6.91028137e-05]


--- Step 2421 ---
qpos:
[-0.01546303, 1.29253297,-0.03226357, 0.94843502, 0.00440012, 1.33059455,
 -0.02963314, 0.9462498 , 0.01672957, 1.3362363 ,-0.02391455, 0.95498601,
  1.391772  ,-0.00520454, 1.19354934, 0.06171963,-0.03910876,-0.10612528,
  0.07909552, 0.65937017,-0.01108232,-0.00390826, 0.7517266 ]

qacc:
[-1.78032188e-01,-7.48635793e-01, 3.25472583e+00,-3.83424246e+00,
 -1.19821267e-01,-2.64253660e-01,-3.58143361e+00, 1.83310468e+01,
  1.28537214e-02, 5.63534642e+00,-1.98023469e+01, 2.84616373e+01,
 -2.70757747e-01, 4.20392011e-01,-1.18510190e+00, 2.31094358e+00,
  3.10588583e+00,-8.62357295e-01,-3.03426574e+00,-2.35398041e+02,
 -1.45005035e+02,-6.05101057e+01]

qfrc_actuator:
[ 3.29762914e-03, 7.47213224e-02, 2.03070809e-02, 1.69625255e-03,
 -2.23449987e-05, 3.58016047e-02, 1.08495437e-02, 1.69633228e-03,
 -3.04986711e-03, 3.49949913e-02, 1.08572777e-02, 1.75913271e-03,
  0.00000000e+00, 2.04826107e-03, 0.00000000e+00,-4.24851152e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007271239912670056
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05526397e-01,  8.76926957e-02, -9.48136916e-01, -2.68960483e-02,
        9.96147575e-01,  8.34662294e-02,  9.51803669e-01,  6.93889390e-18,
        3.06707966e-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([ 0.07250738, -0.04277728,  0.22453224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.32164692, -2.31018817, -8.32164692,  8.96355949,
       -1.1786089 , -2.31018817, -1.1786089 , 12.88189103,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003824360884533737
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.25757230e-15,  1.45151446e-14,  1.00000000e+00, -1.05344711e-28,
        1.00000000e+00, -1.45151446e-14, -1.00000000e+00,  0.00000000e+00,
        7.25757230e-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([-0.00177651, -0.08218495,  0.06166123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.96279776e-04, 3.98135750e-02, 9.93609369e-03,-1.30442204e-07,
 -3.45338528e-05,-1.33197934e-04,-9.80557839e-06, 5.95912833e-05,
  3.77493779e-06, 1.55866426e-05,-6.64824799e-05, 4.96738556e-05,
  2.77081716e-03, 4.31230788e-03, 8.46156498e-03, 1.34448730e-03,
  2.85318767e-04, 3.14651302e-04,-4.90544535e+00, 6.67519261e-03,
  2.17908002e-03, 1.57538510e-04]


--- Step 2422 ---
qpos:
[-0.01546725, 1.2925427 ,-0.03227256, 0.948432  , 0.00439982, 1.33061491,
 -0.02963433, 0.94624944, 0.01672945, 1.33624232,-0.02391557, 0.95498738,
  1.3917889 ,-0.0052138 , 1.19353827, 0.0617157 ,-0.03922708,-0.10619597,
  0.07904461, 0.65897705,-0.01123201,-0.00507873, 0.75206203]

qacc:
[ 1.04660792e-01,-1.01129868e+00, 2.34259139e+00,-7.40061751e+00,
 -1.10149249e-01, 1.82128842e+00,-9.30800447e+00, 2.10476804e+01,
  1.17456523e-01, 4.00295247e+00,-1.44785559e+01, 2.32797607e+01,
 -2.47183798e-01, 2.28490338e-01, 3.20651420e+00,-6.13333540e+00,
 -7.58354583e-01, 2.05306399e+00,-2.34337837e+00,-2.07026329e+02,
  2.45448696e+02, 3.86083291e+01]

qfrc_actuator:
[ 3.30224611e-03, 7.47538280e-02, 2.03015040e-02, 1.65806922e-03,
 -3.36737663e-05, 3.57807680e-02, 1.08363720e-02, 1.75046148e-03,
 -3.01819710e-03, 3.50198640e-02, 1.08255799e-02, 1.80756439e-03,
  0.00000000e+00, 2.07362414e-03, 0.00000000e+00,-5.30479623e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007268509224196973
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30552388,  0.08769408, -0.9481376 , -0.02689626,  0.99614745,
        0.08346762,  0.95180447,  0.        ,  0.30670547])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07250601, -0.04277777,  0.22453255])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  0.13480993,  8.63531141,  0.13480993, 78.33554541,
       -1.08810685,  8.63531141, -1.08810685,  8.65335059,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003847093286076561
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.44293749e-14,  2.88587498e-14,  1.00000000e+00,  4.16413719e-28,
        1.00000000e+00, -2.88587498e-14, -1.00000000e+00,  0.00000000e+00,
       -1.44293749e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00436928, -0.12930574,  0.06165897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.21767105e-04, 3.98245308e-02, 9.90821488e-03,-3.50702151e-05,
 -3.17094191e-05,-9.47970594e-05,-3.86145209e-05, 5.12569922e-05,
  3.39024464e-05, 2.19422863e-05,-3.47609555e-05, 4.81126911e-05,
  2.78103718e-03, 4.32645217e-03, 8.50570758e-03, 1.24040571e-03,
  4.88842860e-04, 7.82941940e-04,-4.90559450e+00, 6.69994628e-03,
  2.12250189e-03, 3.25222020e-04]


--- Step 2423 ---
qpos:
[-0.01547208, 1.29255365,-0.03228098, 0.94842931, 0.00439932, 1.33063446,
 -0.02963569, 0.94625078, 0.01672981, 1.33624829,-0.02391624, 0.95498826,
  1.39180539,-0.00522266, 1.19352464, 0.06171153,-0.03931373,-0.10623831,
  0.07901487, 0.65862152,-0.01134254,-0.00560813, 0.75236799]

qacc:
[-2.62000208e-01, 6.02432137e-01,-6.75593239e-01, 3.48531548e+00,
 -8.76332742e-02, 2.31518447e+00,-1.22748909e+01, 3.06752474e+01,
  1.96602764e-01,-1.84858764e+00, 6.94065152e+00,-1.16521023e+01,
 -4.71427548e-01, 7.22866142e-01,-3.02100913e+00, 5.15629400e+00,
  7.91532262e+00, 7.08806070e+00, 5.29053759e+00, 2.54101039e+02,
  1.96761775e+02,-2.03406726e+01]

qfrc_actuator:
[ 3.30655490e-03, 7.48234735e-02, 2.03376136e-02, 1.68994387e-03,
 -4.01953825e-05, 3.57428074e-02, 1.08291496e-02, 1.83568939e-03,
 -2.98156430e-03, 3.50144459e-02, 1.08429109e-02, 1.78224952e-03,
  0.00000000e+00, 2.11031954e-03, 0.00000000e+00,-4.14813065e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007266211725389729
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05523153e-01,  8.76953761e-02, -9.48137714e-01, -2.68965913e-02,
        9.96147339e-01,  8.34688706e-02,  9.51804694e-01, -3.46944695e-18,
        3.06704783e-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([ 0.07250486, -0.04277828,  0.22453281])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.59933849,  0.79884567,  8.59933849,  8.88251381,
       -2.64973418,  0.79884567, -2.64973418, 37.15997218,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003965589944384437
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.74887974e-16,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.74887974e-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([-0.06957402, -0.12681136,  0.06164956])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.13802806e-04, 3.99587442e-02, 9.97390129e-03, 2.35107450e-05,
 -2.52344032e-05,-9.65560603e-05,-2.86744559e-05, 8.24694864e-05,
  5.66518258e-05, 1.31612415e-06, 1.90700217e-05,-2.45531692e-05,
  2.79068714e-03, 4.36502098e-03, 8.38845045e-03, 1.35149383e-03,
  9.40770543e-04, 6.05174139e-04,-4.90536996e+00, 6.59631194e-03,
  2.05406810e-03, 3.16857971e-04]


--- Step 2424 ---
qpos:
[-0.01547815, 1.29256753,-0.03228802, 0.94842854, 0.00439866, 1.3306529 ,
 -0.02963634, 0.94625138, 0.01673046, 1.3362539 ,-0.02391544, 0.95498948,
  1.39182142,-0.00523066, 1.19350513, 0.06170677,-0.03937381,-0.10625681,
  0.07899871, 0.65829802,-0.01142174,-0.00556864, 0.75265015]

qacc:
[-5.30348023e-01, 3.43435960e+00,-1.05060816e+01, 2.95778844e+01,
 -6.39559086e-02,-4.65274800e+00, 1.49130703e+01,-2.07309639e+01,
  1.29488746e-01,-3.83470086e+00, 1.12394960e+01,-5.49955030e+00,
 -6.65046974e-01, 1.23349188e+00,-6.84609469e+00, 1.14480115e+01,
  6.64426237e+00, 5.95948475e+00, 3.39674660e+00, 2.24438734e+02,
  1.75782347e+02,-1.67474465e+01]

qfrc_actuator:
[ 3.31144027e-03, 7.48423944e-02, 2.03623031e-02, 1.79872130e-03,
 -4.37818323e-05, 3.56771837e-02, 1.08609746e-02, 1.79651815e-03,
 -2.97775657e-03, 3.50088362e-02, 1.09243791e-02, 1.80250977e-03,
  0.00000000e+00, 2.15338873e-03, 0.00000000e+00,-2.37085213e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007263269832214689
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30552072,  0.08769688, -0.94813836, -0.02689684,  0.99614721,
        0.08347037,  0.95180547,  0.        ,  0.30670238])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07250347, -0.04277875,  0.22453312])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -6.63806644,  5.52474893, -6.63806644, 13.79170666,
        6.19421986,  5.52474893,  6.19421986, 16.07880917,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004043286258973204
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.54453682e-14,  2.40261284e-14,  1.00000000e+00, -3.71092400e-28,
        1.00000000e+00, -2.40261284e-14, -1.00000000e+00,  0.00000000e+00,
        1.54453682e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0695097 , -0.12679291,  0.06164347])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.49396059e-04, 3.99164675e-02, 9.96999512e-03, 1.16449946e-04,
 -1.84790895e-05,-1.22303829e-04, 1.20779218e-05,-4.09660154e-05,
  3.72568351e-05,-1.92160875e-06, 8.31694993e-05, 2.02941640e-05,
  2.81077068e-03, 4.38799109e-03, 8.51673132e-03, 1.54125181e-03,
  3.23972773e-04, 1.47479119e-04,-4.90508458e+00, 6.46760970e-03,
  2.14001780e-03, 1.51683574e-04]


--- Step 2425 ---
qpos:
[-0.01548465, 1.29258294,-0.03229388, 0.94842886, 0.0043979 , 1.33067108,
 -0.02963682, 0.94624904, 0.01673103, 1.33625976,-0.02391467, 0.95499062,
  1.39183765,-0.00523825, 1.19348309, 0.06170191,-0.03941144,-0.10625513,
  0.07898965, 0.65800146,-0.01147569,-0.0050217 , 0.75291245]

qacc:
[-1.80534823e-01, 6.79190477e-01,-2.01829618e+00, 1.34684427e+01,
 -4.40303171e-02,-5.81812723e+00, 2.45817945e+01,-5.51821042e+01,
 -4.05098475e-02, 2.58611716e-01,-2.94203167e-01,-8.85193863e-01,
  1.59544867e-03, 3.16668829e-01,-3.45354682e+00, 6.67457114e+00,
  5.61095945e+00, 5.04463022e+00, 1.77516739e+00, 1.99374050e+02,
  1.57708074e+02,-1.38531935e+01]

qfrc_actuator:
[ 3.31754638e-03, 7.47399226e-02, 2.03613615e-02, 1.84538630e-03,
 -4.55798507e-05, 3.57021137e-02, 1.08798991e-02, 1.64894770e-03,
 -3.01142328e-03, 3.50211894e-02, 1.09187995e-02, 1.79621334e-03,
  0.00000000e+00, 2.12866099e-03, 0.00000000e+00,-1.99199695e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007258914700942753
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30551418,  0.08769881, -0.94814029, -0.02689686,  0.99614704,
        0.08347239,  0.95180757,  0.        ,  0.30669587])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07250151, -0.04277916,  0.22453355])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -6.58111776,  5.5924651 , -6.58111776, 14.13154737,
        6.46663871,  5.5924651 ,  6.46663871, 16.24619403,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004057440972767258
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.98557781e-15,  1.53914858e-14,  1.00000000e+00, -9.21269359e-29,
        1.00000000e+00, -1.53914858e-14, -1.00000000e+00,  0.00000000e+00,
        5.98557781e-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([-0.06952657, -0.12682378,  0.06164219])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.17662754e-04, 3.96674868e-02, 9.90057146e-03, 6.67036890e-05,
 -1.27054654e-05,-4.17183675e-05,-4.83956557e-06,-1.51808601e-04,
 -1.16683693e-05, 2.80987060e-05, 4.08549647e-06,-3.43717090e-06,
  2.83355209e-03, 4.32071200e-03, 8.81126029e-03, 1.60877487e-03,
  1.05796148e-04, 5.47904863e-05,-4.90497436e+00, 6.37145411e-03,
  2.19958958e-03, 1.13806499e-04]


--- Step 2426 ---
qpos:
[-0.01549039, 1.29259752,-0.03229955, 0.94842967, 0.00439707, 1.33068965,
 -0.02963829, 0.9462453 , 0.01673165, 1.336266  ,-0.02391435, 0.95499238,
  1.39185451,-0.00524599, 1.19346367, 0.06169729,-0.03943   ,-0.10623625,
  0.07898215, 0.65772722,-0.01150912,-0.00401982, 0.75315754]

qacc:
[ 3.22547902e-01,-7.81754320e-01, 2.29010554e-01, 5.91566356e+00,
 -2.86755145e-02, 7.81833624e-01, 9.40542838e-01,-1.73089624e+01,
  2.85122980e-02, 2.77659075e+00,-9.67587726e+00, 1.52370090e+01,
  4.77365290e-01,-4.89480660e-01, 3.16398405e+00,-5.50526199e+00,
  4.76816822e+00, 4.30092655e+00, 3.88795561e-01, 1.78109700e+02,
  1.42107882e+02,-1.15015743e+01]

qfrc_actuator:
[ 3.32406233e-03, 7.46713487e-02, 2.03624261e-02, 1.85484524e-03,
 -4.62915117e-05, 3.57454639e-02, 1.08380888e-02, 1.58085622e-03,
 -2.99628536e-03, 3.50438706e-02, 1.08974139e-02, 1.82753632e-03,
  0.00000000e+00, 2.08111182e-03, 0.00000000e+00,-3.16495571e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007254250745141189
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05505052e-01,  8.77008969e-02, -9.48143035e-01, -2.68967041e-02,
        9.96146853e-01,  8.34746347e-02,  9.51810501e-01,  3.46944695e-18,
        3.06686762e-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([ 0.07249929, -0.04277959,  0.22453404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -6.52141037,  5.66197701, -6.52141037, 14.55454801,
        6.81650754,  5.66197701,  6.81650754, 16.48755112,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004019979754062451
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.55349153e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.55349153e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0696081 , -0.12689426,  0.06164475])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.45339405e-04, 3.95218432e-02, 9.84215488e-03, 2.13931104e-05,
 -8.20918388e-06, 1.46439709e-05,-5.49918101e-05,-7.29852075e-05,
  8.25357047e-06, 3.88764016e-05,-1.55398098e-05, 3.22059377e-05,
  2.82406494e-03, 4.25288712e-03, 8.93792953e-03, 1.49604145e-03,
  1.68353983e-04, 2.23122249e-04,-4.90498838e+00, 6.29855190e-03,
  2.24004091e-03, 1.67055513e-04]


--- Step 2427 ---
qpos:
[-0.01549515, 1.29260984,-0.03230636, 0.94843044, 0.00439634, 1.33070841,
 -0.02964038, 0.94624284, 0.01673269, 1.33627289,-0.0239142 , 0.95499584,
  1.39187182,-0.00525398, 1.19344839, 0.06169278,-0.03943224,-0.10620259,
  0.07897147, 0.65747105,-0.01152571,-0.00260786, 0.75338714]

qacc:
[ 4.16190963e-01, 3.90899127e-02,-3.63764772e+00, 4.15413204e+00,
  4.45262467e-02, 4.10207958e+00,-1.56980087e+01, 2.83385459e+01,
  1.70453679e-01, 4.24630091e+00,-1.62554992e+01, 3.33485146e+01,
  3.07837108e-01,-4.05582133e-01, 5.72340532e+00,-1.11934956e+01,
  4.07842193e+00, 3.69451877e+00,-7.94580217e-01, 1.60029898e+02,
  1.28642519e+02,-9.57360579e+00]

qfrc_actuator:
[ 3.31206142e-03, 7.47136416e-02, 2.03474707e-02, 1.84215567e-03,
 -2.85938933e-05, 3.57638137e-02, 1.08141847e-02, 1.64885495e-03,
 -2.95198963e-03, 3.51080070e-02, 1.09024750e-02, 1.91626934e-03,
  0.00000000e+00, 2.07351589e-03, 0.00000000e+00,-4.56168402e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007250604838799253
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30549655,  0.08770275, -0.9481456 , -0.02689653,  0.99614669,
        0.08347664,  0.95181324,  0.        ,  0.30667827])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07249729, -0.0427801 ,  0.22453448])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -6.45752899,  5.73472721, -6.45752899, 15.03428175,
        7.20430811,  5.73472721,  7.20430811, 16.74869867,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003941024960171652
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.32051192e-14,  1.58461430e-14,  1.00000000e+00, -2.09250207e-28,
        1.00000000e+00, -1.58461430e-14, -1.00000000e+00,  0.00000000e+00,
        1.32051192e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06974102, -0.1269965 ,  0.06165035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.95524139e-04, 3.96060883e-02, 9.81794193e-03,-1.53962373e-05,
  1.28548635e-05, 1.33731472e-05,-2.94602652e-05, 6.51513862e-05,
  4.91731771e-05, 8.35145534e-05, 1.18250729e-05, 9.01913626e-05,
  2.79215678e-03, 4.25259981e-03, 8.80701892e-03, 1.34520669e-03,
  4.27389928e-04, 5.76516879e-04,-4.90509189e+00, 6.24229191e-03,
  2.26651138e-03, 2.85235974e-04]


--- Step 2428 ---
qpos:
[-0.01550004, 1.29262197,-0.03231316, 0.94842977, 0.00439592, 1.33072672,
 -0.02964219, 0.94624088, 0.01673388, 1.33628069,-0.02391489, 0.95499828,
  1.39188907,-0.00526202, 1.19343272, 0.06168857,-0.0394454 ,-0.10618442,
  0.0789668 , 0.65727625,-0.01160712,-0.00190011, 0.75355795]

qacc:
[-5.41654207e-02,-2.72015915e+00, 1.15234010e+01,-2.65064347e+01,
  1.25780196e-01,-4.65377454e-01,-2.22295834e-01, 6.26713848e+00,
  6.72934648e-02, 1.70508274e+00,-2.03962944e+00,-1.06181641e+01,
  3.91570819e-02,-1.03807246e-01,-1.48230058e+00, 4.31894973e+00,
 -2.72768842e+00,-3.87307068e+00, 1.50281074e+00,-2.86299520e+02,
 -2.06660311e+02,-4.64185424e+01]

qfrc_actuator:
[ 3.30618080e-03, 7.47176943e-02, 2.03596569e-02, 1.78099638e-03,
  3.50125472e-09, 3.57139434e-02, 1.08187960e-02, 1.67211591e-03,
 -2.96157199e-03, 3.51433452e-02, 1.08522950e-02, 1.86058571e-03,
  0.00000000e+00, 2.09005549e-03, 0.00000000e+00,-3.78467536e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007247698998128771
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05491284e-01,  8.77042654e-02, -9.48147160e-01, -2.68965329e-02,
        9.96146556e-01,  8.34782288e-02,  9.51814925e-01, -3.46944695e-18,
        3.06673031e-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([ 0.07249568, -0.0427807 ,  0.22453483])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004006503351198384
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.19572303e-15,  1.03914461e-14,  1.00000000e+00,  5.39910755e-29,
        1.00000000e+00, -1.03914461e-14, -1.00000000e+00,  0.00000000e+00,
       -5.19572303e-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([-0.00270453, -0.0823483 ,  0.06164534])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.40841712e-04, 3.97230745e-02, 9.88699875e-03,-7.47823051e-05,
  3.61824556e-05,-4.64130398e-05, 5.76106757e-06, 2.43297780e-05,
  1.94544373e-05, 8.64630976e-05,-2.98901078e-05,-5.07495743e-05,
  2.77004951e-03, 4.28177315e-03, 8.60052968e-03, 1.41701453e-03,
  8.22636075e-04, 1.05962165e-03,-4.90526110e+00, 6.19791766e-03,
  2.28267831e-03, 4.49395432e-04]


--- Step 2429 ---
qpos:
[-0.0155053 , 1.29263484,-0.03231918, 0.94842756, 0.00439581, 1.33074417,
 -0.02964373, 0.9462396 , 0.01673497, 1.33628882,-0.02391646, 0.95499836,
  1.39190591,-0.00527008, 1.19341547, 0.06168476,-0.03946877,-0.10617985,
  0.07896287, 0.65713345,-0.01174154,-0.00180997, 0.75368063]

qacc:
[-1.59161960e-01,-3.77373251e+00, 1.66339488e+01,-3.27385464e+01,
  1.33870159e-01,-7.33288603e-01,-3.63628068e-01, 8.70000318e+00,
 -4.37513402e-02,-1.25094521e+00, 9.32911056e+00,-3.54355084e+01,
 -2.09847123e-01, 1.24775342e-01,-3.52900894e+00, 8.99439695e+00,
 -2.55254484e+00,-3.39904276e+00, 1.83808033e-01,-2.49869822e+02,
 -1.82667741e+02,-3.89420948e+01]

qfrc_actuator:
[ 3.34019029e-03, 7.46976307e-02, 2.03874344e-02, 1.70992527e-03,
  1.71546612e-05, 3.56414631e-02, 1.08221269e-02, 1.70430892e-03,
 -2.98564619e-03, 3.51076149e-02, 1.07874595e-02, 1.73805312e-03,
  0.00000000e+00, 2.12098654e-03, 0.00000000e+00,-2.94833451e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007244516984094285
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30548618,  0.08770582, -0.94814866, -0.02689656,  0.99614642,
        0.08347985,  0.95181656,  0.        ,  0.30666795])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07249406, -0.04278127,  0.22453518])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  2.34863509,  8.31087782,  2.34863509, 20.5094464 ,
       -3.35530608,  8.31087782, -3.35530608,  9.58456547,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004081169979396296
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.80088694e-15,  1.36017739e-14,  1.00000000e+00,  9.25041264e-29,
        1.00000000e+00, -1.36017739e-14, -1.00000000e+00,  0.00000000e+00,
       -6.80088694e-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([-0.00286276, -0.08241014,  0.06163982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.81200494e-04, 3.97121285e-02, 9.91420689e-03,-7.39202700e-05,
  3.84981889e-05,-9.64259028e-05,-4.39952527e-06, 3.15545944e-05,
 -1.25813660e-05, 4.69433849e-06,-5.28358258e-05,-1.22013174e-04,
  2.77272283e-03, 4.31584860e-03, 8.62077944e-03, 1.48601742e-03,
  1.85193300e-04, 2.93620696e-04,-4.90503946e+00, 6.30433426e-03,
  2.22345419e-03, 2.16766286e-04]


--- Step 2430 ---
qpos:
[-0.01551086, 1.29264867,-0.03232409, 0.94842482, 0.00439582, 1.33076078,
 -0.02964496, 0.94624043, 0.01673587, 1.33629699,-0.02391914, 0.95500012,
  1.39192231,-0.00527807, 1.19339705, 0.06168125,-0.03950167,-0.10618727,
  0.07895507, 0.65703427,-0.01191966,-0.00226436, 0.75376307]

qacc:
[-1.26204280e-01,-2.63466941e+00, 1.12033515e+01,-1.64205403e+01,
  5.25723344e-02, 1.70958311e+00,-1.12432454e+01, 3.48279577e+01,
 -7.73544859e-02, 5.94660589e+00,-2.27100429e+01, 3.89994512e+01,
 -3.17052676e-01, 3.04739147e-01,-2.59149595e+00, 6.60810226e+00,
 -2.38316428e+00,-2.99823135e+00,-9.67898657e-01,-2.19339130e+02,
 -1.62170522e+02,-3.28201798e+01]

qfrc_actuator:
[ 3.36292575e-03, 7.46622525e-02, 2.04237913e-02, 1.68684728e-03,
  9.54774398e-06, 3.56092670e-02, 1.08423232e-02, 1.81249471e-03,
 -3.00046421e-03, 3.51004853e-02, 1.07319640e-02, 1.82568826e-03,
  0.00000000e+00, 2.14277662e-03, 0.00000000e+00,-2.43371282e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007241142221260377
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05479637e-01,  8.77075011e-02, -9.48150613e-01, -2.68965075e-02,
        9.96146272e-01,  8.34816365e-02,  9.51818664e-01, -3.46944695e-18,
        3.06661427e-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([ 0.07249231, -0.04278179,  0.22453556])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  2.33653747,  8.31428707,  2.33653747, 21.89567635,
       -3.7262222 ,  8.31428707, -3.7262222 ,  9.68353193,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004090607476731775
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.39259826e-15,  1.35703930e-14,  1.00000000e+00,  4.60388918e-29,
        1.00000000e+00, -1.35703930e-14, -1.00000000e+00,  0.00000000e+00,
       -3.39259826e-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([-0.00290969, -0.08240792,  0.06163908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.22600772e-04, 3.96399250e-02, 9.91145229e-03,-1.97196840e-05,
  1.51047245e-05,-8.55700778e-05, 1.74306588e-06, 1.05917893e-04,
 -2.22404865e-05,-1.85208483e-05,-6.41598617e-05, 8.33978386e-05,
  2.79353074e-03, 4.33842387e-03, 8.69979362e-03, 1.51741034e-03,
  1.47867161e-05, 1.31450159e-05,-4.90498461e+00, 6.36632471e-03,
  2.19032350e-03, 1.36395331e-04]


--- Step 2431 ---
qpos:
[-0.01551593, 1.29266132,-0.03232862, 0.94842171, 0.00439601, 1.3307767 ,
 -0.02964562, 0.9462415 , 0.0167366 , 1.3363057 ,-0.0239227 , 0.95500182,
  1.39193839,-0.00528631, 1.19338281, 0.06167821,-0.03954345,-0.10620532,
  0.07893938, 0.65697131,-0.0121341 ,-0.00320143, 0.75381112]

qacc:
[ 2.09083994e-01,-3.17191167e+00, 9.22968680e+00,-1.15087386e+01,
  7.66439052e-02,-2.03541790e+00, 5.07745372e+00,-1.33182358e+00,
 -7.74430326e-02, 2.98063382e+00,-8.74146331e+00, 6.57118369e+00,
 -2.70472621e-01, 8.28370470e-02, 4.74896511e+00,-7.59300459e+00,
 -2.22057115e+00,-2.65788673e+00,-1.96987177e+00,-1.93665880e+02,
 -1.44634989e+02,-2.77801861e+01]

qfrc_actuator:
[ 3.36121629e-03, 7.45816568e-02, 2.04468999e-02, 1.65666206e-03,
  2.26567646e-05, 3.55838058e-02, 1.08725037e-02, 1.82254171e-03,
 -3.00960817e-03, 3.51639309e-02, 1.07004089e-02, 1.82330160e-03,
  0.00000000e+00, 2.15900245e-03, 0.00000000e+00,-3.88791156e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007237978685076807
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05471113e-01,  8.77092996e-02, -9.48153193e-01, -2.68963127e-02,
        9.96146113e-01,  8.34835888e-02,  9.51821405e-01, -3.46944695e-18,
        3.06652918e-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([ 0.07249045, -0.04278227,  0.22453598])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  2.38543823,  8.30038923,  2.38543823, 23.43125481,
       -4.25188483,  8.30038923, -4.25188483,  9.85830737,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004047150156239382
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.37161086e-14, -1.37161086e-14,  1.00000000e+00, -1.88131636e-28,
        1.00000000e+00,  1.37161086e-14, -1.00000000e+00,  0.00000000e+00,
       -1.37161086e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00286833, -0.08235473,  0.06164212])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.35692463e-04, 3.95110190e-02, 9.87890997e-03,-2.34262109e-05,
  2.20178766e-05,-6.93916146e-05, 1.67315415e-05, 1.00121973e-05,
 -2.22706820e-05, 4.30945163e-05,-4.00265455e-05,-2.86154218e-06,
  2.81568556e-03, 4.35119550e-03, 8.75851352e-03, 1.35735970e-03,
  1.61548957e-04, 6.95190805e-05,-4.90504605e+00, 6.39868196e-03,
  2.17466987e-03, 1.61243875e-04]


--- Step 2432 ---
qpos:
[-0.01552   , 1.29267139,-0.03233375, 0.94842017, 0.00439667, 1.33079206,
 -0.0296456 , 0.94624128, 0.01673731, 1.33631417,-0.02392483, 0.95500066,
  1.39195398,-0.00529474, 1.19337616, 0.06167514,-0.03959349,-0.10623284,
  0.07891234, 0.656938  ,-0.01237898,-0.00456876, 0.75382912]

qacc:
[ 4.28338693e-01, 8.65373189e-01,-1.01291606e+01, 2.85610791e+01,
  1.95331547e-01,-4.79771925e+00, 1.74046548e+01,-2.96504352e+01,
 -3.36805057e-03,-9.11331626e+00, 3.50885149e+01,-6.31896261e+01,
 -6.56857141e-01, 5.45358933e-01, 1.13382197e+01,-2.32880094e+01,
 -2.06561683e+00,-2.36766218e+00,-2.83855354e+00,-1.72035662e+02,
 -1.29633134e+02,-2.36107964e+01]

qfrc_actuator:
[ 3.36192495e-03, 7.45289462e-02, 2.04623574e-02, 1.72877944e-03,
  6.58417494e-05, 3.55625760e-02, 1.09082946e-02, 1.75699711e-03,
 -2.99752189e-03, 3.51449311e-02, 1.07721891e-02, 1.67920330e-03,
  0.00000000e+00, 2.20768682e-03, 0.00000000e+00,-6.34889711e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007236623599017403
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30546336,  0.08771094, -0.94815554, -0.02689614,  0.99614597,
        0.08348537,  0.9518239 ,  0.        ,  0.30664518])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07248896, -0.04278276,  0.22453635])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  2.53367703,  8.2563465 ,  2.53367703, 25.15844517,
       -5.07023517,  8.2563465 , -5.07023517, 10.19229862,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003961264009655394
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.40134945e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.40134945e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00275693, -0.08226102,  0.06164818])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.11900000e-04, 3.95171733e-02, 9.87586662e-03, 6.71373549e-05,
  5.61737832e-05,-5.61508748e-05, 2.44009350e-05,-6.68802361e-05,
 -1.05564095e-06,-3.12399797e-06, 7.55607191e-05,-1.44049520e-04,
  2.83150599e-03, 4.41247186e-03, 8.54957313e-03, 1.08739435e-03,
  5.21908404e-04, 3.57834332e-04,-4.90518567e+00, 6.41154494e-03,
  2.17066469e-03, 2.58026806e-04]


--- Step 2433 ---
qpos:
[-0.01552411, 1.29268153,-0.03233852, 0.94841956, 0.0043978 , 1.33080683,
 -0.02964511, 0.94624029, 0.01673808, 1.33632118,-0.02392496, 0.95499856,
  1.39196908,-0.00530296, 1.19336999, 0.06167175,-0.03962417,-0.10624368,
  0.07890238, 0.65691925,-0.01261713,-0.00523089, 0.75383722]

qacc:
[-1.79649679e-02, 7.60265807e-01,-4.27918826e+00, 1.44831041e+01,
  2.03430598e-01,-3.36295615e+00, 1.15983618e+01,-1.85757229e+01,
  2.25051434e-02,-8.94061071e+00, 2.87547845e+01,-3.49469200e+01,
 -5.77904127e-01, 7.06818949e-01, 1.72690701e+00,-4.89256081e+00,
  4.84043734e+00, 4.17130893e+00, 4.26934520e+00, 2.68079898e+02,
  2.29194121e+02,-4.38848670e+00]

qfrc_actuator:
[ 3.36337423e-03, 7.45480999e-02, 2.04917860e-02, 1.78947655e-03,
  9.12147826e-05, 3.55262747e-02, 1.09293451e-02, 1.71853170e-03,
 -2.99055095e-03, 3.50060172e-02, 1.08507508e-02, 1.63042585e-03,
  0.00000000e+00, 2.24038936e-03, 0.00000000e+00,-5.86022222e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2641754 ,  0.25980858,  0.04783449,  0.25980858,  0.27349225,
       -0.05060365,  0.04783449, -0.05060365,  0.53902443,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007237836370818755
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05458633e-01,  8.77122356e-02, -9.48156942e-01, -2.68961211e-02,
        9.96145855e-01,  8.34867351e-02,  9.51825416e-01, -3.46944695e-18,
        3.06640470e-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([ 0.07248814, -0.0427833 ,  0.22453661])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004076950589745429
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.95693476e-15,  1.53178322e-14,  1.00000000e+00, -9.12473272e-29,
        1.00000000e+00, -1.53178322e-14, -1.00000000e+00,  0.00000000e+00,
        5.95693476e-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([-0.06961713, -0.12691938,  0.06163938])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.63133717e-04, 3.96653912e-02, 9.93465903e-03, 4.93375592e-05,
  5.85159092e-05,-6.47015187e-05, 1.08670860e-05,-4.09650730e-05,
  6.35284690e-06,-1.30209903e-04, 8.23156299e-05,-5.00046827e-05,
  2.85612095e-03, 4.45522275e-03, 8.17074364e-03, 1.13796695e-03,
  1.02434748e-03, 8.04182132e-04,-4.90537517e+00, 6.41186132e-03,
  2.17434946e-03, 4.03247789e-04]


--- Step 2434 ---
qpos:
[-0.01552853, 1.29269274,-0.03234276, 0.94841751, 0.00439904, 1.33082119,
 -0.02964499, 0.94623887, 0.01673891, 1.336327  ,-0.02392537, 0.95499943,
  1.39198424,-0.00531102, 1.19335979, 0.06166833,-0.039638  ,-0.10623992,
  0.07890274, 0.6569146 ,-0.01284925,-0.0052741 , 0.75383704]

qacc:
[-1.32125327e-01,-2.51757850e+00, 1.28626584e+01,-2.85201586e+01,
  4.69057872e-02,-2.30640742e-01, 9.87824739e-01,-5.53464461e+00,
  2.63742005e-02, 4.33158456e+00,-2.20219358e+01, 5.42046577e+01,
  1.44402752e-01,-5.89044457e-02,-5.86066898e+00, 1.18291680e+01,
  4.21357704e+00, 3.64868037e+00, 2.58025626e+00, 2.35325466e+02,
  2.01106720e+02,-4.14705838e+00]

qfrc_actuator:
[ 3.38366519e-03, 7.45199873e-02, 2.04756437e-02, 1.71906008e-03,
  7.01919262e-05, 3.54989451e-02, 1.09059912e-02, 1.69630936e-03,
 -2.98670653e-03, 3.49207368e-02, 1.08257303e-02, 1.78009598e-03,
  0.00000000e+00, 2.20991346e-03, 0.00000000e+00,-4.30887429e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007239353079563082
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05453509e-01,  8.77135496e-02, -9.48158472e-01, -2.68960760e-02,
        9.96145739e-01,  8.34881302e-02,  9.51827062e-01,  3.46944695e-18,
        3.06635361e-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([ 0.07248734, -0.04278382,  0.22453686])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00414961491458446
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.17383113e-14,  2.34104891e-14,  1.00000000e+00, -5.08904499e-28,
        1.00000000e+00, -2.34104891e-14, -1.00000000e+00,  0.00000000e+00,
        2.17383113e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06952294, -0.12685006,  0.061634  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.85527774e-04, 3.96336067e-02, 9.90134118e-03,-6.78230273e-05,
  1.35016769e-05,-6.23265926e-05,-3.59904958e-05,-2.47749039e-05,
  7.59478447e-06,-1.42741224e-04,-4.25681710e-05, 1.47063140e-04,
  2.88064904e-03, 4.41426092e-03, 8.14638720e-03, 1.30904912e-03,
  2.99968307e-04, 1.63106479e-04,-4.90509364e+00, 6.39943869e-03,
  2.19180076e-03, 1.85003261e-04]


--- Step 2435 ---
qpos:
[-0.01553218, 1.29270252,-0.03234769, 0.94841527, 0.0044001 , 1.33083534,
 -0.02964555, 0.9462372 , 0.01673965, 1.33633198,-0.02392641, 0.95500105,
  1.39199981,-0.0053192 , 1.19335181, 0.06166482,-0.03963707,-0.10622331,
  0.07890758, 0.65692281,-0.0130759 ,-0.00477102, 0.75382935]

qacc:
[ 3.28972662e-01,-3.37694528e-01,-7.75235374e-01,-6.55282640e-01,
 -7.98457065e-02, 1.08688498e+00,-3.36333239e+00, 8.42347137e-02,
 -3.93281973e-02, 1.89317799e+00,-8.98033664e+00, 1.68026179e+01,
  2.91866536e-01,-3.18355435e-01, 3.52234348e+00,-7.61444050e+00,
  3.68981894e+00, 3.21271680e+00, 1.12031115e+00, 2.07772075e+02,
  1.77456469e+02,-3.81471693e+00]

qfrc_actuator:
[ 3.38004048e-03, 7.44802407e-02, 2.04495744e-02, 1.69624939e-03,
  3.92613184e-05, 3.54947947e-02, 1.08744088e-02, 1.68379768e-03,
 -3.00252170e-03, 3.48857124e-02, 1.07932996e-02, 1.81449945e-03,
  0.00000000e+00, 2.17699879e-03, 0.00000000e+00,-5.67203015e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007239328790693798
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05446847e-01,  8.77149771e-02, -9.48160485e-01, -2.68959305e-02,
        9.96145613e-01,  8.34896768e-02,  9.51829203e-01, -3.46944695e-18,
        3.06628713e-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([ 0.07248618, -0.0427843 ,  0.22453718])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004158166965526504
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.16936024e-14,  1.00124319e-14,  1.00000000e+00, -2.17205716e-28,
        1.00000000e+00, -1.00124319e-14, -1.00000000e+00,  0.00000000e+00,
        2.16936024e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06951812, -0.12684275,  0.0616334 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.97390297e-04, 3.95402720e-02, 9.84810546e-03,-1.84028474e-05,
 -2.29661454e-05,-4.65104137e-05,-4.86100876e-05,-1.59919081e-05,
 -1.13335305e-05,-1.17951571e-04,-6.08460620e-05, 3.23599363e-05,
  2.87778605e-03, 4.37325969e-03, 8.34804535e-03, 1.17442887e-03,
  1.78093305e-05,-1.06390737e-05,-4.90501011e+00, 6.39678178e-03,
  2.19685493e-03, 1.25543989e-04]


--- Step 2436 ---
qpos:
[-0.01553461, 1.29270954,-0.03235378, 0.94841223, 0.00440089, 1.33084908,
 -0.02964645, 0.94623539, 0.0167401 , 1.33633641,-0.02392762, 0.95500094,
  1.39201558,-0.00532785, 1.19334977, 0.06166145,-0.03962314,-0.10619532,
  0.07891187, 0.65694206,-0.01329751,-0.00378292, 0.7538143 ]

qacc:
[ 5.19396008e-01,-1.86335288e+00, 3.33522997e+00,-1.03923756e+01,
 -1.12622830e-01, 1.57544260e-01,-8.91019316e-01,-5.44373758e-01,
 -1.18470385e-01,-3.25866418e+00, 1.32172325e+01,-3.09587613e+01,
  1.69434904e-01,-4.45136099e-01, 8.35078232e+00,-1.64959669e+01,
  3.25039596e+00, 2.84704443e+00,-1.38415083e-01, 1.84514167e+02,
  1.57481919e+02,-3.42335591e+00]

qfrc_actuator:
[ 3.37886170e-03, 7.45065983e-02, 2.04540733e-02, 1.64806962e-03,
  2.03934083e-05, 3.54690217e-02, 1.08560844e-02, 1.67711311e-03,
 -3.03000247e-03, 3.48809594e-02, 1.07923951e-02, 1.72753678e-03,
  0.00000000e+00, 2.17835438e-03, 0.00000000e+00,-7.71802206e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007239499648556899
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30544221,  0.08771614, -0.94816187, -0.02689588,  0.99614551,
        0.08349092,  0.95183069,  0.        ,  0.30662409])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07248524, -0.04278484,  0.22453743])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004114762570584171
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.04721903e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.04721903e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06958428, -0.12688475,  0.06163659])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.57636738e-04, 3.96381567e-02, 9.88726054e-03,-5.69775398e-05,
 -3.24204515e-05,-6.15880737e-05,-3.34365116e-05,-9.85802493e-06,
 -3.41733598e-05,-8.09333929e-05,-2.99092549e-05,-9.14770046e-05,
  2.85708851e-03, 4.38124798e-03, 8.23748302e-03, 9.74400610e-04,
  4.39689227e-05, 1.38075108e-04,-4.90506256e+00, 6.40078280e-03,
  2.19284766e-03, 1.76311679e-04]


--- Step 2437 ---
qpos:
[-0.01553633, 1.29271455,-0.03236106, 0.94840823, 0.00440158, 1.33086254,
 -0.02964764, 0.94623316, 0.01674011, 1.33634074,-0.02392858, 0.95500112,
  1.3920312 ,-0.00533677, 1.19335131, 0.06165795,-0.03959768,-0.10615717,
  0.07891127, 0.65697026,-0.01351445,-0.00236167, 0.75379165]

qacc:
[ 3.00886654e-01,-1.04364200e+00, 2.20190894e+00,-1.18001439e+01,
 -4.46614686e-02,-3.21272690e-01, 1.48748491e+00,-6.06323220e+00,
 -1.88787512e-01,-3.30658585e-01, 3.58396371e-01, 2.95707307e+00,
 -1.38531287e-01,-3.92973365e-02, 5.65758239e+00,-1.20840688e+01,
  2.88021153e+00, 2.53876813e+00,-1.22093343e+00, 1.64844951e+02,
  1.40586380e+02,-2.99575997e+00]

qfrc_actuator:
[ 3.37839556e-03, 7.45390142e-02, 2.04421486e-02, 1.60310376e-03,
  2.66685607e-05, 3.54660645e-02, 1.08456586e-02, 1.65615461e-03,
 -3.06425834e-03, 3.49299256e-02, 1.08279374e-02, 1.74744483e-03,
  0.00000000e+00, 2.20066059e-03, 0.00000000e+00,-8.57786187e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007241134580906715
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30544131,  0.08771689, -0.94816209, -0.02689604,  0.99614544,
        0.08349166,  0.95183098,  0.        ,  0.30662321])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07248484, -0.04278544,  0.22453757])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004029700075081591
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.13265133e-14,  2.75510089e-14,  1.00000000e+00, -1.13858713e-27,
        1.00000000e+00, -2.75510089e-14, -1.00000000e+00,  0.00000000e+00,
        4.13265133e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06970678, -0.1269659 ,  0.06164279])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.96278544e-04, 3.98085372e-02, 9.93316581e-03,-6.20479524e-05,
 -1.28564709e-05,-4.39584727e-05,-2.65798474e-05,-2.39982879e-05,
 -5.44311143e-05,-4.37085022e-06, 1.36577268e-05, 1.45102604e-05,
  2.84705992e-03, 4.42703896e-03, 7.94049751e-03, 8.81733859e-04,
  2.83501436e-04, 5.06921794e-04,-4.90520961e+00, 6.40904635e-03,
  2.18226573e-03, 3.03126468e-04]


--- Step 2438 ---
qpos:
[-1.55387136e-02, 1.29272068e+00,-3.23685320e-02, 9.48404766e-01,
  4.40222808e-03, 1.33087611e+00,-2.96489308e-02, 9.46232023e-01,
  1.67396942e-02, 1.33634446e+00,-2.39277976e-02, 9.55001836e-01,
  1.39204676e+00,-5.34517905e-03, 1.19334916e+00, 6.16536556e-02,
 -3.95717551e-02,-1.06138497e-01, 7.89376636e-02, 6.57008339e-01,
 -1.33248656e-02,-1.37036932e-03, 7.53764295e-01]

qacc:
[-2.81968440e-01, 2.89154093e+00,-8.76640527e+00, 1.31088945e+01,
 -1.40579237e-02, 2.29708651e+00,-9.58053476e+00, 2.10165600e+01,
 -1.81562679e-01,-4.55457649e+00, 1.27877845e+01,-4.39701841e+00,
 -2.43077991e-01, 6.04426198e-01,-3.01180596e+00, 2.66817549e+00,
  1.18966826e-01,-4.87023607e+00, 6.74690183e+00,-2.84534418e+01,
 -2.94407449e+02,-8.65691754e+00]

qfrc_actuator:
[ 3.34287684e-03, 7.45576583e-02, 2.04208714e-02, 1.64931361e-03,
  3.02228356e-05, 3.55123284e-02, 1.08578022e-02, 1.71574017e-03,
 -3.08454867e-03, 3.49043768e-02, 1.09205060e-02, 1.77690646e-03,
  0.00000000e+00, 2.20001404e-03, 0.00000000e+00,-7.12627662e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000724331727555913
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30544346,  0.08771739, -0.94816135, -0.02689638,  0.9961454 ,
        0.08349207,  0.95183028,  0.        ,  0.30662538])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07248479, -0.04278606,  0.22453763])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004036161463834953
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.73631651e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.73631651e-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([-0.03796862, -0.08723768,  0.06164226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.25479786e-04, 3.99272418e-02, 9.97167084e-03, 3.23019039e-05,
 -4.03308132e-06, 1.59337310e-05,-1.97255107e-07, 5.69457554e-05,
 -5.24231631e-05,-2.48986793e-05, 9.36884005e-05, 3.00745718e-05,
  2.85459770e-03, 4.43966775e-03, 7.76131020e-03, 1.03285862e-03,
  6.69113564e-04, 1.02376146e-03,-4.90542359e+00, 6.41974124e-03,
  2.16695913e-03, 4.81950374e-04]


--- Step 2439 ---
qpos:
[-1.55427663e-02, 1.29273131e+00,-3.23744418e-02, 9.48404586e-01,
  4.40273055e-03, 1.33088975e+00,-2.96499026e-02, 9.46234011e-01,
  1.67390713e-02, 1.33634831e+00,-2.39266519e-02, 9.55002219e-01,
  1.39206221e+00,-5.35240465e-03, 1.19333725e+00, 6.16479882e-02,
 -3.95615376e-02,-1.06132520e-01, 7.89656593e-02, 6.57066987e-01,
 -1.31526935e-02,-9.98731716e-04, 7.53716779e-01]

qacc:
[-7.11572453e-01, 7.27410784e+00,-2.33223835e+01, 5.53789065e+01,
 -6.33888726e-02, 4.58409226e+00,-2.12255634e+01, 5.45009677e+01,
 -8.64930994e-02,-1.39116729e+00, 5.41756256e+00,-8.65578222e+00,
 -4.68591832e-01, 1.30536900e+00,-1.02221999e+01, 1.49094810e+01,
 -3.92803390e+00,-3.17334014e+00, 4.01111981e-01,-2.39135163e+02,
 -1.96850414e+02,-1.84908758e+01]

qfrc_actuator:
[ 3.35842126e-03, 7.45657248e-02, 2.04289616e-02, 1.83787630e-03,
  1.43617980e-05, 3.55345933e-02, 1.08834155e-02, 1.87555088e-03,
 -3.07854515e-03, 3.49234279e-02, 1.09391845e-02, 1.75846175e-03,
  0.00000000e+00, 2.22044330e-03, 0.00000000e+00,-4.28056284e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007243873168615855
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05444730e-01,  8.77181021e-02, -9.48160878e-01, -2.68967098e-02,
        9.96145338e-01,  8.34927089e-02,  9.51829861e-01, -3.46944695e-18,
        3.06626673e-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([ 0.07248439, -0.04278665,  0.22453774])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.52045884,  1.41016242,  8.52045884,  9.38086355,
       -4.4984044 ,  1.41016242, -4.4984044 , 35.81654436,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004114887714142687
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.34903198e-14,  4.04709594e-14,  1.00000000e+00,  5.45966185e-28,
        1.00000000e+00, -4.04709594e-14, -1.00000000e+00,  0.00000000e+00,
       -1.34903198e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00303443, -0.08243413,  0.06163693])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.74062099e-04, 3.98796071e-02, 9.98931212e-03, 1.93960455e-04,
 -1.82403656e-05, 3.26519677e-05, 3.03593024e-05, 1.61619226e-04,
 -2.49450594e-05, 2.44430094e-05, 2.53392307e-05,-1.57338425e-05,
  2.85753094e-03, 4.43522411e-03, 7.94581148e-03, 1.35739812e-03,
  5.49689567e-04, 4.15411605e-04,-4.90520421e+00, 6.40152188e-03,
  2.16923588e-03, 3.00958817e-04]


--- Step 2440 ---
qpos:
[-1.55480161e-02, 1.29274569e+00,-3.23782623e-02, 9.48407044e-01,
  4.40321139e-03, 1.33090358e+00,-2.96510493e-02, 9.46236188e-01,
  1.67383602e-02, 1.33635298e+00,-2.39261115e-02, 9.55001678e-01,
  1.39207749e+00,-5.35881975e-03, 1.19331839e+00, 6.16416197e-02,
 -3.95652384e-02,-1.06137832e-01, 7.89905209e-02, 6.57144782e-01,
 -1.29963885e-02,-1.17347409e-03, 7.53651413e-01]

qacc:
[-5.10531847e-01, 3.78868456e+00,-1.18017363e+01, 3.83973064e+01,
 -9.21096835e-03, 1.03608921e+00,-3.47633931e+00, 5.08851618e+00,
 -3.74486939e-02, 1.11973329e+00,-4.89610091e-01,-1.07440218e+01,
 -3.60603972e-01, 9.14042678e-01,-8.11570316e+00, 1.35407925e+01,
 -3.47958117e+00,-2.82249552e+00,-7.83511534e-01,-2.11003801e+02,
 -1.73397474e+02,-1.66650043e+01]

qfrc_actuator:
[ 3.40587508e-03, 7.45281136e-02, 2.04529942e-02, 1.96686799e-03,
  2.24865553e-05, 3.55246954e-02, 1.08634775e-02, 1.88000690e-03,
 -3.07457125e-03, 3.49864990e-02, 1.09142103e-02, 1.71193836e-03,
  0.00000000e+00, 2.25263161e-03, 0.00000000e+00,-2.89728265e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007241640142865088
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30544022,  0.08771939, -0.94816221, -0.02689671,  0.99614522,
        0.08349406,  0.95183131,  0.        ,  0.30662218])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07248304, -0.04278719,  0.22453803])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.00979348,  3.22954877, -8.00979348, 18.55223421,
       24.59293266,  3.22954877, 24.59293266, 69.63073948,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004129598649900271
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.3442263e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.3442263e-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([-0.00304695, -0.08244865,  0.0616363 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.04910697e-04, 3.96172192e-02, 9.93516970e-03, 1.58736434e-04,
 -2.63737146e-06, 1.88541009e-05,-5.37550748e-06, 1.00946525e-05,
 -1.07499492e-05, 8.10420894e-05,-1.77861669e-05,-4.54162521e-05,
  2.86323629e-03, 4.40819486e-03, 8.43413057e-03, 1.56442369e-03,
  1.11412303e-04, 4.28808009e-05,-4.90503121e+00, 6.39028352e-03,
  2.17619246e-03, 1.73475807e-04]


--- Step 2441 ---
qpos:
[-0.01555386, 1.29276118,-0.03238096, 0.94840925, 0.00440357, 1.33091724,
 -0.02965245, 0.94623637, 0.01673762, 1.3363575 ,-0.02392468, 0.95500094,
  1.3920928 ,-0.00536502, 1.19329692, 0.06163548,-0.03958133,-0.10615324,
  0.07900814, 0.65723977,-0.01285462,-0.00183272, 0.75356969]

qacc:
[-2.51891326e-01,-1.99261416e+00, 8.77132595e+00,-1.12085141e+01,
 -5.07381185e-02,-2.96829963e+00, 1.35029008e+01,-3.47388999e+01,
 -1.24083014e-02,-2.95003418e+00, 9.77630467e+00,-1.06783677e+01,
  2.51031938e-02, 1.14712224e-01,-4.54416279e+00, 1.02997006e+01,
 -3.09850842e+00,-2.52405964e+00,-1.80940070e+00,-1.87247465e+02,
 -1.53603646e+02,-1.49931037e+01]

qfrc_actuator:
[ 3.40166021e-03, 7.44620354e-02, 2.04499358e-02, 1.93518132e-03,
  9.42942450e-06, 3.54776095e-02, 1.08343258e-02, 1.77518045e-03,
 -3.07184960e-03, 3.49509700e-02, 1.09526307e-02, 1.70254847e-03,
  0.00000000e+00, 2.25627170e-03, 0.00000000e+00,-2.57021283e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007238000521190141
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30543014,  0.08772111, -0.9481653 , -0.02689636,  0.99614507,
        0.08349599,  0.95183455,  0.        ,  0.30661211])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.072481  , -0.04278768,  0.22453848])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.80567333,  3.69570571, -7.80567333, 22.69090522,
       29.68449573,  3.69570571, 29.68449573, 71.33277258,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004091363281092615
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.35678862e-14,  1.35678862e-14,  1.00000000e+00,  1.84087535e-28,
        1.00000000e+00, -1.35678862e-14, -1.00000000e+00,  0.00000000e+00,
       -1.35678862e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00297789, -0.08240851,  0.06163946])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.60538078e-04, 3.93632052e-02, 9.82763527e-03,-4.83443971e-06,
 -1.46126565e-05,-3.74983273e-05,-2.57925201e-05,-1.04164049e-04,
 -3.61895712e-06, 4.43341594e-06, 5.08908218e-05,-8.55932087e-06,
  2.87166238e-03, 4.37141903e-03, 8.78218172e-03, 1.63229407e-03,
  1.37236332e-06, 1.98466437e-05,-4.90499630e+00, 6.37164382e-03,
  2.18655341e-03, 1.58527522e-04]


--- Step 2442 ---
qpos:
[-0.01556043, 1.29277799,-0.0323825 , 0.94841035, 0.00440394, 1.33092986,
 -0.02965381, 0.94623536, 0.01673688, 1.33636208,-0.02392305, 0.95499872,
  1.39210822,-0.005371  , 1.19327146, 0.06162975,-0.03960852,-0.10617773,
  0.07901499, 0.6573497 ,-0.01272621,-0.00292415, 0.75347254]

qacc:
[-3.11414613e-01,-3.27987872e+00, 1.50631400e+01,-2.66394284e+01,
  4.39401544e-03,-3.47492109e+00, 1.21352663e+01,-2.36852431e+01,
 -5.91268841e-04,-3.00467073e+00, 1.28606580e+01,-2.81475509e+01,
  1.90097690e-01,-6.64324200e-02,-7.12930549e+00, 1.63638844e+01,
 -2.77311224e+00,-2.26871832e+00,-2.69523355e+00,-1.67149217e+02,
 -1.36872521e+02,-1.34668235e+01]

qfrc_actuator:
[ 3.40182207e-03, 7.44332816e-02, 2.04662628e-02, 1.87993411e-03,
  1.92752318e-05, 3.53729873e-02, 1.08175429e-02, 1.71341107e-03,
 -3.06990255e-03, 3.49456908e-02, 1.09568243e-02, 1.62632023e-03,
  0.00000000e+00, 2.24305108e-03, 0.00000000e+00,-1.10811200e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007233795813883573
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05417943e-01,  8.77230430e-02, -9.48169050e-01, -2.68958775e-02,
        9.96144903e-01,  8.34981679e-02,  9.51838480e-01, -3.46944695e-18,
        3.06599915e-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([ 0.07247872, -0.04278815,  0.22453897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.58476955,  4.13013896, -7.58476955, 28.34930313,
       36.2017125 ,  4.13013896, 36.2017125 , 75.11878695,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004010606573904542
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.46027155e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.46027155e-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([-0.00284431, -0.08232515,  0.06164561])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.90234389e-04, 3.92789633e-02, 9.78800800e-03,-4.74050214e-05,
  1.22265701e-06,-1.33626648e-04,-3.01166262e-05,-6.60491062e-05,
 -1.86499719e-07, 6.82354299e-06, 1.05849317e-05,-7.47997297e-05,
  2.87042041e-03, 4.34740256e-03, 8.91298034e-03, 1.76712669e-03,
  1.20897072e-04, 2.38824013e-04,-4.90505733e+00, 6.34829100e-03,
  2.19953002e-03, 2.21105398e-04]


--- Step 2443 ---
qpos:
[-0.0155671 , 1.29279587,-0.03238281, 0.94841115, 0.0044048 , 1.33094164,
 -0.02965545, 0.94623395, 0.01673615, 1.33636725,-0.02392221, 0.95499666,
  1.3921239 ,-0.00537693, 1.19324362, 0.06162443,-0.03964568,-0.10621041,
  0.079008  , 0.65747215,-0.01261015,-0.00440348, 0.75336044]

qacc:
[-4.14140984e-02,-2.41018860e+00, 1.01559785e+01,-1.29524764e+01,
  2.07548177e-01,-1.04113416e+00, 2.86063757e+00,-6.45168110e+00,
  4.53464702e-03, 3.18611075e+00,-9.75092903e+00, 9.77455310e+00,
  3.12697720e-01,-2.77305598e-01,-4.77085362e+00, 1.15079665e+01,
 -2.49391160e+00,-2.04909375e+00,-3.45796968e+00,-1.50138682e+02,
 -1.22728096e+02,-1.20774177e+01]

qfrc_actuator:
[ 3.44049119e-03, 7.44440096e-02, 2.05114775e-02, 1.86476044e-03,
  7.82860768e-05, 3.53412928e-02, 1.08080041e-02, 1.69522271e-03,
 -3.06843649e-03, 3.49939103e-02, 1.09230583e-02, 1.63560906e-03,
  0.00000000e+00, 2.21963344e-03, 0.00000000e+00,-3.87920418e-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: -0.0007228432639890675
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30540336,  0.08772522, -0.94817355, -0.02689527,  0.99614471,
        0.08350066,  0.95184318,  0.        ,  0.30658534])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0724761 , -0.04278859,  0.22453953])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003896165121966555
  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([-0.00265992, -0.08220779,  0.06165412])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.65416913e-04, 3.92230671e-02, 9.77482153e-03,-7.36604231e-06,
  5.97277437e-05,-1.13569109e-04,-4.10464339e-05,-2.45957198e-05,
  1.35958980e-06, 5.18071170e-05,-3.34287752e-05, 8.06552730e-06,
  2.86435299e-03, 4.31351229e-03, 9.11259112e-03, 1.81879670e-03,
  4.00449244e-04, 6.24220436e-04,-4.90518301e+00, 6.32222517e-03,
  2.21445020e-03, 3.36540187e-04]


--- Step 2444 ---
qpos:
[-0.01557247, 1.29281097,-0.03238388, 0.94841359, 0.00440609, 1.33095328,
 -0.02965725, 0.94623228, 0.01673558, 1.3363731 ,-0.02392169, 0.95499641,
  1.39213979,-0.00538316, 1.19322283, 0.06161932,-0.03966456,-0.10622933,
  0.07901489, 0.65759589,-0.01250297,-0.00519904, 0.75324915]

qacc:
[ 5.53654539e-01, 1.17127656e+00,-1.15859566e+01, 3.07957120e+01,
  1.81518878e-01,-2.33872521e-01, 1.09532361e+00,-4.05125387e+00,
  6.82674196e-02, 4.87076184e+00,-1.84674941e+01, 3.65591240e+01,
  1.17365941e-02,-1.43956257e-01, 9.76658667e+00,-1.90268157e+01,
  4.57284084e+00, 3.44005065e+00, 3.47015950e+00, 2.54656832e+02,
  2.28122189e+02, 4.11115699e+00]

qfrc_actuator:
[ 3.43091324e-03, 7.44249093e-02, 2.05202495e-02, 1.92652959e-03,
  9.53017065e-05, 3.53890780e-02, 1.08208499e-02, 1.68510315e-03,
 -3.04951844e-03, 3.50559257e-02, 1.09206971e-02, 1.73068414e-03,
  0.00000000e+00, 2.22567241e-03, 0.00000000e+00,-3.30992656e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 2.63767102e-01,  2.63767016e-01,  2.13346459e-04,  2.63767016e-01,
        2.63767287e-01, -2.28328569e-04,  2.13346459e-04, -2.28328569e-04,
        5.46056977e-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: -0.000722266207991918
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05386611e-01,  8.77274605e-02, -9.48178733e-01, -2.68944832e-02,
        9.96144514e-01,  8.35032581e-02,  9.51848572e-01,  3.46944695e-18,
        3.06568582e-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([ 0.07247326, -0.04278904,  0.22454013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003972817628816239
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.98637043e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.98637043e-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([-0.06986963, -0.1269811 ,  0.06164846])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.60696551e-04, 3.91509551e-02, 9.72267945e-03, 6.95822074e-05,
  5.22542366e-05,-2.38812175e-05,-1.47674396e-05,-1.52863006e-05,
  1.97260207e-05, 8.43356292e-05, 4.18392546e-06, 9.58253995e-05,
  2.85179412e-03, 4.31678454e-03, 9.23266357e-03, 1.50655749e-03,
  7.91149189e-04, 1.12308083e-03,-4.90535037e+00, 6.29490829e-03,
  2.23075801e-03, 4.87528993e-04]


--- Step 2445 ---
qpos:
[-0.01557664, 1.29282305,-0.03238579, 0.94841575, 0.00440728, 1.33096451,
 -0.02965882, 0.94623015, 0.01673549, 1.33637868,-0.02392022, 0.95499698,
  1.39215586,-0.00538994, 1.1932091 , 0.06161468,-0.03966742,-0.10623599,
  0.07902945, 0.65772346,-0.01240152,-0.00539388, 0.75313807]

qacc:
[ 5.10195044e-01,-2.16030204e+00, 2.83852359e+00,-3.81352502e+00,
 -4.50352896e-02,-1.90292755e+00, 6.49722694e+00,-1.06145864e+01,
  2.03566052e-01,-1.50568137e+00, 2.83932001e+00, 7.09150536e+00,
  1.68992546e-01,-4.93603665e-01, 8.97870401e+00,-1.62843191e+01,
  4.00178989e+00, 3.06439061e+00, 1.91570138e+00, 2.24387308e+02,
  1.99680110e+02, 2.39251627e+00]

qfrc_actuator:
[ 3.40878318e-03, 7.43735711e-02, 2.05263886e-02, 1.90837044e-03,
  5.14803700e-05, 3.53599252e-02, 1.08293718e-02, 1.66211487e-03,
 -3.00253143e-03, 3.50016229e-02, 1.09547628e-02, 1.76898354e-03,
  0.00000000e+00, 2.21422040e-03, 0.00000000e+00,-5.04397027e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007219051132735452
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30537323,  0.08772926, -0.94818288, -0.02689386,  0.99614436,
        0.08350535,  0.95185288,  0.        ,  0.30655519])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07247105, -0.04278958,  0.2245406 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   8.21315073,   2.67038049,   8.21315073,
        12.7191594 , -12.55724308,   2.67038049, -12.55724308,
        47.25802461,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0040326681312817525
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.29050303e-14,  1.54860363e-14,  1.00000000e+00, -1.99847767e-28,
        1.00000000e+00, -1.54860363e-14, -1.00000000e+00,  0.00000000e+00,
        1.29050303e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06979916, -0.12691262,  0.06164424])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.73651465e-04, 3.92383611e-02, 9.76626148e-03,-3.07403826e-05,
 -1.29892864e-05,-4.57891941e-05, 1.70987817e-06,-2.44806696e-05,
  5.86390956e-05,-4.04974671e-06, 5.38077066e-05, 4.31595237e-05,
  2.84155774e-03, 4.32074906e-03, 8.88042932e-03, 1.32255978e-03,
  2.08541311e-04, 3.43905363e-04,-4.90507889e+00, 6.33789671e-03,
  2.21852392e-03, 2.32418534e-04]


--- Step 2446 ---
qpos:
[-0.0155799 , 1.29283272,-0.0323891 , 0.94841627, 0.00440832, 1.33097537,
 -0.02966063, 0.94622916, 0.01673577, 1.33638285,-0.02391768, 0.95499672,
  1.39217198,-0.00539715, 1.19319863, 0.06161031,-0.03965619,-0.10623167,
  0.07904629, 0.65785599,-0.01230336,-0.00505774, 0.75302625]

qacc:
[ 3.92205058e-01,-2.18905462e+00, 6.67237048e+00,-2.32421708e+01,
 -5.77281206e-02, 2.08745774e+00,-9.74710212e+00, 2.19410786e+01,
  1.55775393e-01,-6.17091486e+00, 1.95623635e+01,-2.56579027e+01,
  1.78088829e-01,-4.89983497e-01, 4.00903529e+00,-7.05352674e+00,
  3.52418225e+00, 2.74609571e+00, 5.72861960e-01, 1.98892448e+02,
  1.75876988e+02, 1.19507086e+00]

qfrc_actuator:
[ 3.43196255e-03, 7.43930039e-02, 2.04958381e-02, 1.82576887e-03,
  4.25309116e-05, 3.53381807e-02, 1.08172274e-02, 1.72045494e-03,
 -2.99234442e-03, 3.48427044e-02, 1.09740481e-02, 1.72023730e-03,
  0.00000000e+00, 2.21037901e-03, 0.00000000e+00,-5.53611971e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007217505109598545
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05363523e-01,  8.77306509e-02, -9.48185874e-01, -2.68934354e-02,
        9.96144233e-01,  8.35069473e-02,  9.51856009e-01,  6.93889390e-18,
        3.06545491e-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([ 0.0724695 , -0.04279019,  0.22454095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   8.30934294,   2.35405965,   8.30934294,
        12.12988622, -12.33141109,   2.35405965, -12.33141109,
        52.16369049,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004032889517904731
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.60288123e-16,  1.72057625e-15,  1.00000000e+00,  1.48019131e-30,
        1.00000000e+00, -1.72057625e-15, -1.00000000e+00,  0.00000000e+00,
       -8.60288123e-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([-0.06981124, -0.1269046 ,  0.06164446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.37020015e-04, 3.94085492e-02, 9.77795039e-03,-9.92781960e-05,
 -1.66154173e-05,-4.75531504e-05,-2.16360186e-05, 5.64596641e-05,
  4.48094980e-05,-1.49407544e-04, 2.58653282e-05,-4.62769627e-05,
  2.83227466e-03, 4.34385011e-03, 8.52756885e-03, 1.24968812e-03,
  1.54685695e-05, 3.15823199e-05,-4.90498989e+00, 6.37571960e-03,
  2.20211429e-03, 1.33065226e-04]


--- Step 2447 ---
qpos:
[-0.01558276, 1.29284056,-0.03239441, 0.94841716, 0.00440924, 1.33098554,
 -0.02966188, 0.94622956, 0.01673587, 1.33638647,-0.02391573, 0.95499588,
  1.39218763,-0.00540427, 1.19318943, 0.06160542,-0.03963246,-0.10621745,
  0.0790608 , 0.6579936 ,-0.01220664,-0.00424937, 0.75291259]

qacc:
[ 1.68544865e-01, 3.62566489e+00,-1.54722380e+01, 1.87697786e+01,
 -5.37574794e-02,-3.66400668e-03,-3.91270295e+00, 1.98642186e+01,
 -7.29425217e-02,-1.14575867e-01, 6.59443425e-01,-6.80372587e+00,
 -5.29586583e-01, 5.75461623e-01, 3.46494482e+00,-9.32448612e+00,
  3.12318780e+00, 2.47477312e+00,-5.84413497e-01, 1.77358127e+02,
  1.55894173e+02, 3.88297674e-01]

qfrc_actuator:
[ 3.44662030e-03, 7.44022431e-02, 2.04264116e-02, 1.84799376e-03,
  3.68242581e-05, 3.53032622e-02, 1.08463059e-02, 1.79067148e-03,
 -3.03982163e-03, 3.48352941e-02, 1.09484576e-02, 1.69159322e-03,
  0.00000000e+00, 2.26448154e-03, 0.00000000e+00,-5.99302468e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007216122837574931
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30535745,  0.08773172, -0.94818773, -0.02689323,  0.99614414,
        0.08350813,  0.95185796,  0.        ,  0.30653942])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07246829, -0.04279082,  0.22454121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   8.38529931,   2.06725237,   8.38529931,
        11.62070259, -12.10523485,   2.06725237, -12.10523485,
        57.73826289,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003984881320336545
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.70652517e-15,  2.08956604e-14,  1.00000000e+00, -1.81928593e-28,
        1.00000000e+00, -2.08956604e-14, -1.00000000e+00,  0.00000000e+00,
        8.70652517e-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([-0.06988884, -0.12694441,  0.0616482 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.05689003e-04, 3.95383051e-02, 9.77838469e-03, 4.92829572e-06,
 -1.55125412e-05,-6.38371208e-05, 1.89603092e-05, 6.94778699e-05,
 -2.10248550e-05,-8.63808531e-05,-5.31908194e-05,-3.33825336e-05,
  2.83013820e-03, 4.42016170e-03, 8.36444993e-03, 1.19088399e-03,
  9.58673937e-05, 4.44213151e-05,-4.90502706e+00, 6.41018755e-03,
  2.18220784e-03, 1.42828653e-04]


--- Step 2448 ---
qpos:
[-0.01558647, 1.29285011,-0.03239901, 0.94841784, 0.00440991, 1.33099484,
 -0.02966212, 0.94623183, 0.01673564, 1.33639027,-0.02391508, 0.95499572,
  1.39220281,-0.00541106, 1.19317646, 0.06160033,-0.0395976 ,-0.10619426,
  0.07906899, 0.65813572,-0.01210991,-0.00301832, 0.75279586]

qacc:
[-3.63684846e-01,-2.44904647e-02, 3.20721080e+00,-6.21456839e+00,
 -1.06171460e-01,-7.10319599e-01,-2.89375887e+00, 2.46812693e+01,
 -1.41887876e-01, 4.91577835e+00,-1.71103386e+01, 2.24825615e+01,
 -4.07825284e-01, 5.79132862e-01,-4.94188103e+00, 9.26232779e+00,
  2.78517536e+00, 2.24230990e+00,-1.57940081e+00, 1.59144126e+02,
  1.39089804e+02,-1.25941307e-01]

qfrc_actuator:
[ 3.43856856e-03, 7.43524895e-02, 2.04413408e-02, 1.86075345e-03,
  1.53560748e-05, 3.52609010e-02, 1.08994348e-02, 1.88506856e-03,
 -3.06824697e-03, 3.48829827e-02, 1.08971689e-02, 1.72833976e-03,
  0.00000000e+00, 2.28198547e-03, 0.00000000e+00,-4.29171211e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007213854539729059
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05355030e-01,  8.77326160e-02, -9.48188427e-01, -2.68932945e-02,
        9.96144060e-01,  8.35090571e-02,  9.51858738e-01, -3.46944695e-18,
        3.06537018e-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([ 0.07246723, -0.04279143,  0.2245414 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   8.42870742,   1.8824633 ,   8.42870742,
        11.4159187 , -12.44542528,   1.8824633 , -12.44542528,
        64.3606098 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003898288509109865
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.8999235e-16,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -8.8999235e-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([-0.07001832, -0.12702201,  0.06165471])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.77848918e-04, 3.95799188e-02, 9.89350885e-03,-6.52288428e-07,
 -3.06240327e-05,-7.19519528e-05, 4.48278560e-05, 9.46634608e-05,
 -4.08384903e-05,-1.14847321e-05,-7.51866804e-05, 3.18605447e-05,
  2.85349879e-03, 4.43332406e-03, 8.30150019e-03, 1.38694315e-03,
  3.67079331e-04, 2.82427667e-04,-4.90515275e+00, 6.44219010e-03,
  2.15950605e-03, 2.28855649e-04]


--- Step 2449 ---
qpos:
[-0.01559167, 1.2928623 ,-0.03240166, 0.94841713, 0.00441047, 1.33100414,
 -0.02966254, 0.94623451, 0.01673522, 1.33639365,-0.02391382, 0.95499699,
  1.39221763,-0.0054175 , 1.19315866, 0.0615956 ,-0.03958076,-0.10618339,
  0.07908037, 0.65828432,-0.01201523,-0.00244323, 0.75266953]

qacc:
[-6.33728493e-01,-4.14380747e+00, 2.05544488e+01,-3.55345951e+01,
 -4.62954068e-02, 1.18190795e+00,-4.69838932e+00, 8.80505420e+00,
 -8.00997471e-02, 2.43330327e-01,-4.33419074e+00, 2.04810830e+01,
 -2.42583100e-01, 4.07376976e-01,-8.20197756e+00, 1.83601729e+01,
 -4.50750773e+00,-3.07982358e+00, 7.95976817e-01,-2.47551320e+02,
 -2.15018759e+02,-9.57097521e+00]

qfrc_actuator:
[ 3.40022864e-03, 7.43177921e-02, 2.04872163e-02, 1.79724822e-03,
  2.01109773e-05, 3.52855480e-02, 1.08952899e-02, 1.90417528e-03,
 -3.06725732e-03, 3.48744684e-02, 1.09379322e-02, 1.80330562e-03,
  0.00000000e+00, 2.29500111e-03, 0.00000000e+00,-2.53928705e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.26344198,  0.26163216, -0.03082672,  0.26163216,  0.26729523,
        0.03270327, -0.03082672,  0.03270327,  0.54100081,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000721060627258862
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05350300e-01,  8.77338037e-02, -9.48189841e-01, -2.68932448e-02,
        9.96143955e-01,  8.35103209e-02,  9.51860257e-01, -3.46944695e-18,
        3.06532302e-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([ 0.07246582, -0.04279197,  0.22454168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038492428998881875
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.44213168e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.44213168e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.002521  , -0.08222374,  0.06165839])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.82140562e-04, 3.94597029e-02, 9.90376967e-03,-5.39212365e-05,
 -1.33180572e-05,-3.61170308e-06,-1.03498247e-05, 2.04749221e-05,
 -2.31187993e-05,-2.86328073e-05, 3.09033060e-05, 7.31734260e-05,
  2.87672735e-03, 4.42968729e-03, 8.49028376e-03, 1.57211445e-03,
  7.70317620e-04, 6.75076992e-04,-4.90534171e+00, 6.47210884e-03,
  2.13465010e-03, 3.68006997e-04]


--- Step 2450 ---
qpos:
[-0.01559681, 1.29287347,-0.0324038 , 0.94841504, 0.00441084, 1.33101406,
 -0.02966411, 0.94623635, 0.01673456, 1.33639706,-0.02391137, 0.95499873,
  1.3922323 ,-0.0054242 , 1.19314493, 0.06159162,-0.03957975,-0.10618355,
  0.07909003, 0.65844122,-0.01192456,-0.00244556, 0.75253371]

qacc:
[ 2.10070184e-02,-5.10204092e+00, 1.78461934e+01,-3.08324598e+01,
 -7.98219783e-02, 2.50692869e+00,-5.46719990e+00,-5.31292400e+00,
 -1.05745771e-01,-2.36399702e+00, 6.81422285e+00,-4.93234328e-01,
 -1.01523831e-01,-8.41565612e-02, 3.77555871e+00,-4.45013104e+00,
 -3.95534114e+00,-2.75866632e+00,-4.28411961e-01,-2.18589398e+02,
 -1.88479402e+02,-9.70911139e+00]

qfrc_actuator:
[ 3.38019578e-03, 7.43260126e-02, 2.05323860e-02, 1.70700462e-03,
  5.05304401e-06, 3.53321263e-02, 1.08398217e-02, 1.86106666e-03,
 -3.08413530e-03, 3.49215189e-02, 1.10147733e-02, 1.82916816e-03,
  0.00000000e+00, 2.30518192e-03, 0.00000000e+00,-4.31149592e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007206688379587517
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05341187e-01,  8.77354978e-02, -9.48192618e-01, -2.68929656e-02,
        9.96143806e-01,  8.35121906e-02,  9.51863187e-01,  3.46944695e-18,
        3.06523200e-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([ 0.07246396, -0.04279243,  0.22454206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.2358274 , -2.59960071, -8.2358274 , 11.37167014,
       -8.6657586 , -2.59960071, -8.6657586 , 36.09046141,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038989577059806366
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06780752e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.06780752e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0025858 , -0.0822899 ,  0.06165489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.36417744e-04, 3.93355029e-02, 9.85151290e-03,-7.46183877e-05,
 -2.29165608e-05, 4.31087707e-05,-5.67586992e-05,-4.30292258e-05,
 -3.05263222e-05, 3.93966816e-05, 7.68990526e-05, 2.76297403e-05,
  2.89502013e-03, 4.42282285e-03, 8.73226506e-03, 1.37702634e-03,
  2.14209392e-04, 1.38781089e-04,-4.90508257e+00, 6.42276608e-03,
  2.16373073e-03, 1.85636330e-04]


--- Step 2451 ---
qpos:
[-0.01560152, 1.29288461,-0.03240529, 0.94841248, 0.00441103, 1.33102451,
 -0.02966667, 0.94623766, 0.01673352, 1.33640103,-0.02390901, 0.9550001 ,
  1.39224728,-0.00543109, 1.1931327 , 0.0615879 ,-0.03959269,-0.10619365,
  0.07909373, 0.65860695,-0.01183929,-0.00295917, 0.75238817]

qacc:
[ 1.91043097e-01,-2.55432342e+00, 9.22984450e+00,-1.33354508e+01,
 -7.86612090e-02, 2.44887215e+00,-6.07972590e+00,-1.18270824e+00,
 -1.57842805e-01, 3.35626749e-01, 5.32672418e-01,-5.10512017e+00,
  3.01316804e-01,-3.99294444e-01, 1.38177111e+00,-1.66643654e+00,
 -3.49042958e+00,-2.48309078e+00,-1.49060192e+00,-1.94111440e+02,
 -1.66217751e+02,-9.56428625e+00]

qfrc_actuator:
[ 3.40571186e-03, 7.43448470e-02, 2.05777837e-02, 1.69003274e-03,
 -4.01754832e-06, 3.53557226e-02, 1.07901055e-02, 1.83496487e-03,
 -3.11159737e-03, 3.49483629e-02, 1.10059222e-02, 1.80820167e-03,
  0.00000000e+00, 2.26087242e-03, 0.00000000e+00,-4.29818567e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007204688136773739
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30533256,  0.08773717, -0.94819524, -0.02689272,  0.99614366,
        0.08351403,  0.95186596,  0.        ,  0.30651459])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07246247, -0.04279293,  0.22454239])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.28367529, -2.4428468 , -8.28367529, 11.37499336,
       -9.28667297, -2.4428468 , -9.28667297, 40.12740242,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003891457432637746
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.13243716e-15,  1.42648743e-14,  1.00000000e+00,  1.01743320e-28,
        1.00000000e+00, -1.42648743e-14, -1.00000000e+00,  0.00000000e+00,
       -7.13243716e-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([-0.00256213, -0.08229341,  0.06165558])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.59488677e-04, 3.94056436e-02, 9.87102569e-03,-2.22817997e-05,
 -2.25909405e-05, 3.49860420e-05,-4.90109265e-05,-2.74566568e-05,
 -4.54811682e-05, 6.44416539e-05, 8.38637072e-06,-1.68953500e-05,
  2.90223577e-03, 4.39177266e-03, 8.52881599e-03, 1.34125611e-03,
  2.52657475e-05, 9.31182625e-06,-4.90498930e+00, 6.37780497e-03,
  2.18921035e-03, 1.35105173e-04]


--- Step 2452 ---
qpos:
[-0.01560749, 1.29289974,-0.03240519, 0.94841036, 0.00441106, 1.33103499,
 -0.02966904, 0.94623725, 0.01673227, 1.33640582,-0.02390771, 0.95500054,
  1.39226252,-0.00543722, 1.19311016, 0.06158367,-0.03961803,-0.10621272,
  0.07908779, 0.65878115,-0.01176039,-0.00392816, 0.75223245]

qacc:
[-5.42704119e-01, 1.67637249e+00,-2.17118774e-02, 2.55808322e+00,
 -6.50212361e-02,-3.40718591e+00, 1.46896639e+01,-3.27041093e+01,
 -8.67077107e-02, 2.36164915e+00,-4.53589505e+00,-7.23556179e+00,
  1.99581091e-01, 3.13698143e-01,-1.36779737e+01, 2.57054713e+01,
 -3.09710263e+00,-2.24492809e+00,-2.40959015e+00,-1.73374699e+02,
 -1.47495820e+02,-9.22538760e+00]

qfrc_actuator:
[ 3.42263360e-03, 7.43339595e-02, 2.05697318e-02, 1.73440925e-03,
 -9.42324392e-06, 3.53476362e-02, 1.07973981e-02, 1.74808538e-03,
 -3.10968206e-03, 3.49803034e-02, 1.09464647e-02, 1.75979373e-03,
  0.00000000e+00, 2.23715186e-03, 0.00000000e+00,-3.71361285e-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: -0.0007203686408665914
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05323360e-01,  8.77387150e-02, -9.48198062e-01, -2.68923891e-02,
        9.96143523e-01,  8.35157561e-02,  9.51868922e-01, -3.46944695e-18,
        3.06505391e-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([ 0.07246109, -0.04279346,  0.22454271])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -8.30170413,  -2.38085813,  -8.30170413,
        11.62968032, -10.43725756,  -2.38085813, -10.43725756,
        45.02955447,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038376972292832115
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.44647032e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.44647032e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00246826, -0.08224732,  0.06165961])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.54017866e-04, 3.93962552e-02, 9.83100279e-03, 4.53204140e-05,
 -1.87342810e-05, 7.88999030e-07, 7.74698920e-06,-8.78909395e-05,
 -2.49313534e-05, 6.86835877e-05,-4.64185973e-05,-4.66353172e-05,
  2.88712405e-03, 4.37732356e-03, 8.45408888e-03, 1.72060697e-03,
  9.44477126e-05, 1.61880369e-04,-4.90501188e+00, 6.33580315e-03,
  2.21271688e-03, 1.75665392e-04]


--- Step 2453 ---
qpos:
[-0.01561496, 1.29291823,-0.03240408, 0.94840818, 0.00441083, 1.33104537,
 -0.0296713 , 0.94623651, 0.01673106, 1.33641118,-0.02390648, 0.95499933,
  1.39227811,-0.00544252, 1.19307712, 0.06157917,-0.03962629,-0.10621986,
  0.07909075, 0.6589524 ,-0.01169385,-0.00427083, 0.75208161]

qacc:
[-6.35922984e-01, 1.59523530e+00, 2.27188736e-01,-2.98031346e+00,
 -1.11023255e-01,-9.94651847e-01, 3.78024471e+00,-7.06986822e+00,
  1.66449988e-02,-1.88116851e+00, 1.03663053e+01,-2.83480216e+01,
  2.48943311e-01, 3.19561280e-01,-1.46827973e+01, 2.88103510e+01,
  4.26850643e+00, 2.98466428e+00, 2.22515081e+00, 2.31492470e+02,
  2.10923534e+02, 6.42733866e+00]

qfrc_actuator:
[ 3.41818709e-03, 7.43367263e-02, 2.05283930e-02, 1.72611708e-03,
 -3.03401773e-05, 3.53385756e-02, 1.08026114e-02, 1.73265991e-03,
 -3.09015961e-03, 3.50148110e-02, 1.09464147e-02, 1.67786895e-03,
  0.00000000e+00, 2.22491394e-03, 0.00000000e+00, 2.35978110e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.26314145,  0.24054852, -0.10667628,  0.24054852,  0.30909548,
        0.10362354, -0.10667628,  0.10362354,  0.49680623,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007199483820360397
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05308821e-01,  8.77407121e-02, -9.48202558e-01, -2.68917254e-02,
        9.96143347e-01,  8.35180679e-02,  9.51873605e-01,  6.93889390e-18,
        3.06490849e-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([ 0.07245877, -0.04279393,  0.2245432 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038343884101262327
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.52881390e-14,  1.62868334e-14,  1.00000000e+00, -5.74732040e-28,
        1.00000000e+00, -1.62868334e-14, -1.00000000e+00,  0.00000000e+00,
        3.52881390e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07016342, -0.12701725,  0.0616598 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.13180005e-04, 3.91989568e-02, 9.70960768e-03, 1.52456372e-05,
 -3.19709906e-05,-9.81661463e-06, 3.66320884e-06,-1.72033932e-05,
  4.80898251e-06, 6.20069445e-05, 6.71769996e-06,-8.23238088e-05,
  2.87412027e-03, 4.32713029e-03, 8.96989057e-03, 2.01947705e-03,
  3.44717504e-04, 5.08934147e-04,-4.90511335e+00, 6.29609780e-03,
  2.23516148e-03, 2.78641571e-04]


--- Step 2454 ---
qpos:
[-0.01562293, 1.29293759,-0.03240266, 0.94840618, 0.00441049, 1.33105546,
 -0.02967341, 0.94623595, 0.01672998, 1.33641659,-0.02390482, 0.95499786,
  1.39229423,-0.00544747, 1.19304075, 0.06157488,-0.03961956,-0.10621623,
  0.07909712, 0.65912344,-0.01163562,-0.00406054, 0.75193378]

qacc:
[-2.16663102e-01, 6.13275872e-01,-9.73833516e-01, 2.36455827e+00,
 -4.65405996e-02,-5.09882697e-01, 8.06892131e-01, 1.61007257e+00,
  5.21576041e-02,-1.57698560e+00, 5.73092950e+00,-8.00083846e+00,
  3.78558323e-01,-8.11461697e-02,-5.61066256e+00, 1.24162112e+01,
  3.74735179e+00, 2.69075494e+00, 8.53925466e-01, 2.05201406e+02,
  1.85295712e+02, 4.31973444e+00]

qfrc_actuator:
[ 3.40164710e-03, 7.43467351e-02, 2.05202979e-02, 1.72204932e-03,
 -2.48886372e-05, 3.53112875e-02, 1.08065750e-02, 1.74165336e-03,
 -3.07798742e-03, 3.49975177e-02, 1.09636930e-02, 1.66569132e-03,
  0.00000000e+00, 2.20144391e-03, 0.00000000e+00, 2.59790549e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007191501854295831
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30529013,  0.08774321, -0.94820834, -0.02689085,  0.99614313,
        0.08352098,  0.95187962,  0.        ,  0.30647215])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07245552, -0.04279435,  0.22454385])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   8.07975371,   3.05030437,   8.07975371,
        12.47789268, -10.1755775 ,   3.05030437, -10.1755775 ,
        35.5897919 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003859851438403457
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.52805358e-14,  1.79771010e-15,  1.00000000e+00,  2.74699735e-29,
        1.00000000e+00, -1.79771010e-15, -1.00000000e+00,  0.00000000e+00,
       -1.52805358e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07014006, -0.12697669,  0.06165798])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.71172635e-04, 3.90413222e-02, 9.65136420e-03, 1.41383021e-05,
 -1.34136405e-05,-3.25902627e-05, 1.94595784e-06, 8.41755044e-06,
  1.50173039e-05, 1.58285681e-05, 2.77336849e-05,-1.20521390e-05,
  2.85685421e-03, 4.26244908e-03, 9.49534306e-03, 2.05710986e-03,
  5.37982517e-05, 8.45946903e-05,-4.90499370e+00, 6.35408544e-03,
  2.21076698e-03, 1.43512609e-04]


--- Step 2455 ---
qpos:
[-0.01563021, 1.2929553 ,-0.03240102, 0.94840473, 0.00441012, 1.33106527,
 -0.0296752 , 0.94623653, 0.01672903, 1.3364216 ,-0.02390425, 0.95499845,
  1.39231045,-0.00545274, 1.19301029, 0.06157136,-0.03959959,-0.10620286,
  0.07910218, 0.65929563,-0.01158259,-0.00335899, 0.75178709]

qacc:
[ 2.94536670e-01,-1.83239987e+00, 2.22404543e+00, 5.49221023e+00,
 -1.53821827e-02, 7.54521374e-01,-5.22193311e+00, 1.78744882e+01,
  5.71976066e-02, 5.96242957e+00,-2.42091013e+01, 4.49340583e+01,
  2.82956691e-02,-2.09071693e-01, 6.41135801e+00,-9.75213491e+00,
  3.31074300e+00, 2.43821487e+00,-3.29548311e-01, 1.82992033e+02,
  1.63847989e+02, 2.81038230e+00]

qfrc_actuator:
[ 3.41296974e-03, 7.42912098e-02, 2.05679422e-02, 1.73805446e-03,
 -2.14159636e-05, 3.53088169e-02, 1.08274526e-02, 1.80042115e-03,
 -3.07032481e-03, 3.49139445e-02, 1.08843708e-02, 1.76564426e-03,
  0.00000000e+00, 2.22463451e-03, 0.00000000e+00, 4.48755727e-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: -0.0007182246384070841
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3052703 ,  0.08774588, -0.94821448, -0.02688993,  0.99614289,
        0.08352408,  0.95188601,  0.        ,  0.30645232])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07245197, -0.0427948 ,  0.22454454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   8.1412629 ,   2.88211993,   8.1412629 ,
        12.47781384, -10.85112929,   2.88211993, -10.85112929,
        39.2880708 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003834132101441713
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.35732684e-14,  1.62879221e-14,  1.00000000e+00, -2.21080340e-28,
        1.00000000e+00, -1.62879221e-14, -1.00000000e+00,  0.00000000e+00,
        1.35732684e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07018703, -0.12698871,  0.06165996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.07881234e-04, 3.89416967e-02, 9.68329854e-03, 2.12111371e-05,
 -4.44343599e-06,-1.99347566e-05, 1.49621358e-05, 5.80531868e-05,
  1.65327464e-05,-6.98017277e-05,-7.34416475e-05, 1.00960796e-04,
  2.82981169e-03, 4.26804066e-03, 9.66289925e-03, 1.83140819e-03,
  6.40250267e-05, 2.54748717e-05,-4.90501262e+00, 6.40318451e-03,
  2.18508162e-03, 1.30376689e-04]


--- Step 2456 ---
qpos:
[-0.01563687, 1.29297137,-0.03239934, 0.94840384, 0.00440988, 1.33107481,
 -0.02967645, 0.94623848, 0.01672806, 1.33642591,-0.02390504, 0.95499993,
  1.39232621,-0.00545828, 1.19298518, 0.0615684 ,-0.03959407,-0.10617643,
  0.07909754, 0.65942092,-0.01206754,-0.00264254, 0.75167243]

qacc:
[ 2.66403916e-01,-1.28575942e+00, 4.48076390e-01, 7.13746851e+00,
  6.04702534e-02, 5.46875929e-01,-5.02671756e+00, 2.04822106e+01,
 -1.08724232e-02, 4.28957557e+00,-1.68780979e+01, 2.53183943e+01,
 -4.25048886e-01, 2.17955855e-01, 6.24377565e+00,-1.02886054e+01,
 -3.61079479e+00, 3.26284035e+00,-2.42408737e+00,-1.71957615e+02,
  2.06867307e+02, 2.91834335e+01]

qfrc_actuator:
[ 3.44001490e-03, 7.42340526e-02, 2.05957396e-02, 1.76566045e-03,
 -1.40753691e-06, 3.53035733e-02, 1.08582636e-02, 1.87027331e-03,
 -3.08318225e-03, 3.48442825e-02, 1.08016965e-02, 1.80639393e-03,
  0.00000000e+00, 2.27635300e-03, 0.00000000e+00,-6.53721299e-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: -0.000717551017367174
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05251844e-01,  8.77483263e-02, -9.48220197e-01, -2.68890583e-02,
        9.96142676e-01,  8.35269257e-02,  9.51891953e-01, -3.46944695e-18,
        3.06433859e-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([ 0.07244896, -0.04279532,  0.22454514])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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,  8.63627036e+00,  4.01387242e-02,  8.63627036e+00,
        8.63753002e+00, -2.50960004e-01,  4.01387242e-02, -2.50960004e-01,
        6.26330586e+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: -0.0037972425117357017
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.92376118e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.92376118e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00397877, -0.12945556,  0.06166273])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.00399503e-04, 3.89672011e-02, 9.70002311e-03, 2.13223824e-05,
  1.73855578e-05,-1.16700983e-05, 3.03070224e-05, 7.10516245e-05,
 -3.09643359e-06,-1.19646472e-04,-1.01703310e-04, 3.88911264e-05,
  2.82525497e-03, 4.33582537e-03, 9.36807701e-03, 1.68307361e-03,
  2.86042106e-04, 2.19546411e-04,-4.90512856e+00, 6.44619355e-03,
  2.15799901e-03, 2.02621152e-04]


--- Step 2457 ---
qpos:
[-0.01564219, 1.29298418,-0.03239911, 0.94840282, 0.00440998, 1.3310838 ,
 -0.02967704, 0.94623886, 0.01672716, 1.33642955,-0.02390594, 0.9550001 ,
  1.39234151,-0.00546429, 1.19296714, 0.06156584,-0.03960476,-0.10616134,
  0.07909217, 0.65955512,-0.01255829,-0.00251949, 0.75154706]

qacc:
[ 5.70692420e-01,-6.02319373e-01,-2.93146338e+00, 3.09097969e+00,
  1.39212375e-01,-5.22230589e+00, 1.93757114e+01,-3.46930373e+01,
  2.99682547e-02,-2.84965062e+00, 1.08788333e+01,-2.41851528e+01,
 -3.86540325e-01, 3.92790322e-02, 9.27419009e+00,-1.71952102e+01,
 -4.05465067e+00,-2.83575460e+00,-1.84251638e-01,-2.24902569e+02,
 -1.93390117e+02,-1.04573421e+01]

qfrc_actuator:
[ 3.47628336e-03, 7.42298190e-02, 2.05762227e-02, 1.74673844e-03,
  2.83579422e-05, 3.52435107e-02, 1.08769263e-02, 1.78630751e-03,
 -3.07273989e-03, 3.48366824e-02, 1.08064796e-02, 1.74095491e-03,
  0.00000000e+00, 2.30976174e-03, 0.00000000e+00,-2.72693210e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007170927957141221
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05234917e-01,  8.77505600e-02, -9.48225440e-01, -2.68882569e-02,
        9.96142479e-01,  8.35295302e-02,  9.51897404e-01,  3.46944695e-18,
        3.06416927e-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([ 0.07244642, -0.04279585,  0.22454567])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038582259159233717
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.438774e-14,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
       -1.438774e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0024503 , -0.08234455,  0.06165815])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.05436764e-04, 3.90447561e-02, 9.67881454e-03,-2.56200459e-05,
  4.00233623e-05,-5.85230900e-05, 2.19029201e-05,-8.17651382e-05,
  8.61243323e-06,-9.25000893e-05,-2.90046369e-05,-7.10475246e-05,
  2.84830565e-03, 4.38286034e-03, 9.10091160e-03, 1.44793016e-03,
  8.45229700e-05, 2.87523985e-04,-4.90523186e+00, 6.47712700e-03,
  2.18024924e-03, 1.95698330e-04]


--- Step 2458 ---
qpos:
[-0.01564676, 1.29299463,-0.03240068, 0.94840152, 0.00441027, 1.33109234,
 -0.02967741, 0.9462386 , 0.01672679, 1.33643229,-0.02390559, 0.95499942,
  1.39235624,-0.00547045, 1.19295267, 0.06156325,-0.03962974,-0.10615643,
  0.07908167, 0.65969888,-0.01305632,-0.00292105, 0.75141093]

qacc:
[ 3.19562014e-01, 1.29608168e+00,-7.41532516e+00, 4.70600255e+00,
  8.16761180e-02,-2.28230502e+00, 8.07122017e+00,-1.42371049e+01,
  2.25523024e-01,-6.00800403e+00, 1.98344560e+01,-2.62672835e+01,
 -5.42583732e-01, 4.11149134e-01, 5.37574132e+00,-1.10892317e+01,
 -3.57251161e+00,-2.54508257e+00,-1.28192330e+00,-1.99482038e+02,
 -1.70188842e+02,-1.04304479e+01]

qfrc_actuator:
[ 3.48161702e-03, 7.42418586e-02, 2.05297798e-02, 1.73586968e-03,
  2.82297464e-05, 3.52219674e-02, 1.08879597e-02, 1.75447345e-03,
 -3.01289816e-03, 3.48133157e-02, 1.08807860e-02, 1.70241601e-03,
  0.00000000e+00, 2.35025130e-03, 0.00000000e+00,-3.43041855e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007168185724209103
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05222469e-01,  8.77523313e-02, -9.48229283e-01, -2.68877073e-02,
        9.96142323e-01,  8.35315679e-02,  9.51901411e-01,  3.46944695e-18,
        3.06404479e-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([ 0.07244456, -0.04279642,  0.22454606])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.18113466, -2.76691391, -8.18113466, 11.86668793,
       -9.55133367, -2.76691391, -9.55133367, 36.87748329,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038615449200082447
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.43753737e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.43753737e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00244902, -0.08236225,  0.06165782])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.43853079e-04, 3.92194258e-02, 9.70447448e-03,-3.00587704e-05,
  2.34863694e-05,-5.21445195e-05,-3.25052676e-07,-3.48321601e-05,
  6.49255318e-05,-8.23116942e-05, 5.08641743e-05,-4.37777173e-05,
  2.87131456e-03, 4.44728352e-03, 8.74728049e-03, 1.35777833e-03,
  5.10554438e-05,-3.48471731e-07,-4.90511294e+00, 6.43908224e-03,
  2.20356286e-03, 1.11588518e-04]


--- Step 2459 ---
qpos:
[-0.01565221, 1.29300678,-0.03240251, 0.94840069, 0.00441066, 1.33110081,
 -0.02967726, 0.94623859, 0.01672688, 1.3364349 ,-0.02390468, 0.95499895,
  1.39237061,-0.00547596, 1.19293236, 0.06156009,-0.03965505,-0.10617012,
  0.07909061, 0.65984995,-0.01319832,-0.00369695, 0.75127237]

qacc:
[-3.75779442e-01, 3.69612521e+00,-1.03054757e+01, 1.32240470e+01,
  4.71381088e-02,-1.01640074e+00, 2.67620494e+00, 7.51221903e-01,
  1.95429582e-01,-1.31142687e+00, 3.69185348e+00,-8.37423754e-01,
 -4.50488261e-01, 8.63838862e-01,-6.86204351e+00, 1.15724097e+01,
 -8.19501274e-02,-4.64911773e+00, 4.86294226e+00,-2.31585353e+01,
 -2.57214133e+02,-6.50380267e+00]

qfrc_actuator:
[ 3.46844311e-03, 7.42285716e-02, 2.04858761e-02, 1.78328914e-03,
  2.79222909e-05, 3.52591492e-02, 1.09301012e-02, 1.77137503e-03,
 -2.99491691e-03, 3.48520054e-02, 1.09244803e-02, 1.71556895e-03,
  0.00000000e+00, 2.35934197e-03, 0.00000000e+00,-1.00154868e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007165680225340726
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.305214  ,  0.08775383, -0.94823187, -0.02688742,  0.99614219,
        0.08353323,  0.95190413,  0.        ,  0.30639602])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07244306, -0.04279696,  0.22454637])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -8.49107705,  -1.57746234,  -8.49107705,
        10.80833491, -11.69116686,  -1.57746234, -11.69116686,
        71.56693006,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003830529160793128
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.89835419e-14,  1.44917710e-14,  1.00000000e+00,  4.20022851e-28,
        1.00000000e+00, -1.44917710e-14, -1.00000000e+00,  0.00000000e+00,
       -2.89835419e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03785654, -0.08702522,  0.06165997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.93192420e-04, 3.93244396e-02, 9.75094154e-03, 3.11377753e-05,
  1.35493159e-05, 7.17066621e-06, 3.08765449e-05, 1.45311938e-05,
  5.63114194e-05, 1.79048150e-06, 3.21145971e-05, 1.11865457e-05,
  2.89990355e-03, 4.46367738e-03, 8.56974061e-03, 1.60220016e-03,
  2.72518952e-04, 2.57220359e-05,-4.90511936e+00, 6.40349568e-03,
  2.22532395e-03, 1.27736274e-04]


--- Step 2460 ---
qpos:
[-0.01565742, 1.29301905,-0.03240483, 0.94840162, 0.00441112, 1.33110982,
 -0.02967715, 0.94623841, 0.01672719, 1.336438  ,-0.02390349, 0.9549979 ,
  1.39238511,-0.0054812 , 1.19291216, 0.06155651,-0.03966423,-0.10617195,
  0.07910601, 0.66000203,-0.01334727,-0.00388227, 0.7511352 ]

qacc:
[ 1.04056646e-01, 4.50109144e+00,-1.80965538e+01, 3.59529656e+01,
  2.62831577e-02, 4.88762756e-01,-4.00471688e-01,-1.94935248e+00,
  9.00884669e-02,-1.12867681e+00, 5.59097435e+00,-1.17106079e+01,
 -1.25564614e-01, 3.72313775e-01, 1.46132342e+00,-4.85309726e+00,
  4.03055041e+00, 2.96502158e+00, 1.61077275e+00, 2.19550834e+02,
  1.97450870e+02, 3.98584688e+00]

qfrc_actuator:
[ 3.48100036e-03, 7.42147173e-02, 2.04604121e-02, 1.86505127e-03,
  2.75117517e-05, 3.53136125e-02, 1.09372701e-02, 1.76360920e-03,
 -3.00219410e-03, 3.49097472e-02, 1.09500008e-02, 1.68802609e-03,
  0.00000000e+00, 2.34886030e-03, 0.00000000e+00,-1.83604033e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007160767804115335
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30520414,  0.0877556 , -0.94823488, -0.0268871 ,  0.99614204,
        0.0835352 ,  0.9519073 ,  0.        ,  0.30638617])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07244105, -0.04279745,  0.22454676])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003845388889877406
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.44357704e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.44357704e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07021341, -0.12691518,  0.06165904])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.49776851e-04, 3.92253160e-02, 9.73786916e-03, 8.96584438e-05,
  7.58462648e-06, 6.48443006e-05, 1.24990840e-05,-6.29716798e-06,
  2.59700781e-05, 6.53177097e-05, 2.98425848e-05,-2.62857674e-05,
  2.91780962e-03, 4.42094802e-03, 8.86169518e-03, 1.54716906e-03,
  3.35856430e-04, 2.96805959e-04,-4.90509656e+00, 6.34407516e-03,
  2.22710583e-03, 2.34619978e-04]


--- Step 2461 ---
qpos:
[-0.01566134, 1.29302921,-0.03240831, 0.94840377, 0.00441176, 1.33111965,
 -0.02967768, 0.9462385 , 0.01672772, 1.33644099,-0.02390142, 0.95499552,
  1.39239983,-0.00548673, 1.19289822, 0.06155287,-0.03965921,-0.10616311,
  0.07912271, 0.66015671,-0.01350051,-0.00354441, 0.7509982 ]

qacc:
[ 5.49789716e-01, 2.39917908e+00,-1.36270334e+01, 2.71023266e+01,
  7.54043540e-02, 3.26055274e+00,-9.88048998e+00, 1.10781696e+01,
  9.89418034e-02,-4.81562857e+00, 1.82027791e+01,-3.10951323e+01,
  5.06828792e-02,-1.82493386e-01, 9.40736834e+00,-1.94701293e+01,
  3.55145601e+00, 2.66789012e+00, 3.27353250e-01, 1.95100266e+02,
  1.74268293e+02, 2.57928384e+00]

qfrc_actuator:
[ 3.49047092e-03, 7.42014281e-02, 2.04463651e-02, 1.91268015e-03,
  4.47965073e-05, 3.53601183e-02, 1.09060377e-02, 1.77687431e-03,
 -2.98905701e-03, 3.48718518e-02, 1.09824139e-02, 1.61900198e-03,
  0.00000000e+00, 2.34449821e-03, 0.00000000e+00,-4.27261912e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007155807535043079
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05194651e-01,  8.77573043e-02, -9.48237776e-01, -2.68867922e-02,
        9.96141885e-01,  8.35370867e-02,  9.51910356e-01, -3.46944695e-18,
        3.06376687e-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([ 0.07243902, -0.04279796,  0.22454715])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   8.15441598,   2.84469276,   8.15441598,
        13.17643864, -13.01429125,   2.84469276, -13.01429125,
        45.94230609,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038496469043187986
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.20990166e-15,  1.44198033e-14,  1.00000000e+00, -1.03965364e-28,
        1.00000000e+00, -1.44198033e-14, -1.00000000e+00,  0.00000000e+00,
        7.20990166e-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([-0.07022144, -0.12690219,  0.06165897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.47021669e-04, 3.92061060e-02, 9.74891276e-03, 4.93020087e-05,
  2.17625366e-05, 8.45667732e-05,-1.73255255e-05, 1.54417625e-05,
  2.84739165e-05, 3.25114633e-06, 4.77853574e-05,-6.68229412e-05,
  2.91175744e-03, 4.40279189e-03, 8.85679676e-03, 1.32498951e-03,
  6.11236714e-05, 2.85252429e-05,-4.90502001e+00, 6.39258928e-03,
  2.20526131e-03, 1.48188657e-04]


--- Step 2462 ---
qpos:
[-0.01566544, 1.29304064,-0.03241084, 0.94840501, 0.00441244, 1.33112966,
 -0.02967866, 0.94623913, 0.01672831, 1.33644355,-0.0238994 , 0.95499379,
  1.39241464,-0.00549234, 1.19288311, 0.06154947,-0.03964227,-0.10616658,
  0.07914653, 0.6602939 ,-0.01314541,-0.00323542, 0.75088527]

qacc:
[-7.74280389e-02,-2.39965145e+00, 1.16473050e+01,-2.11806819e+01,
  1.76213346e-02, 2.37940732e+00,-8.58588754e+00, 1.36869301e+01,
  2.28773291e-02, 7.28658343e-01,-4.33993353e+00, 1.14977307e+01,
  2.01272777e-01,-2.71326735e-01,-2.48243937e+00, 6.12336375e+00,
  2.98055298e+00,-3.07674133e+00, 1.77985680e+00, 1.56868576e+02,
 -2.00608339e+02, 1.34166477e+01]

qfrc_actuator:
[ 3.47919409e-03, 7.41551423e-02, 2.04755215e-02, 1.88641794e-03,
  3.70520965e-05, 3.53303456e-02, 1.08701469e-02, 1.80239534e-03,
 -2.99928224e-03, 3.48124872e-02, 1.09650047e-02, 1.65035099e-03,
  0.00000000e+00, 2.32652257e-03, 0.00000000e+00,-2.87926942e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007152889310221566
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30518826,  0.08775857, -0.94823972, -0.02688662,  0.99614177,
        0.08353848,  0.95191241,  0.        ,  0.30637031])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07243754, -0.04279856,  0.22454744])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   2.61090423,   8.23225097,   2.61090423,
        67.02295909, -18.5176338 ,   8.23225097, -18.5176338 ,
        14.50933429,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038195464384354685
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.45334406e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.45334406e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06336281, -0.09045598,  0.06166143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.71270492e-04, 3.92647276e-02, 9.83552040e-03,-3.74111975e-05,
  5.10000719e-06, 1.40131124e-05,-2.08825676e-05, 2.79200275e-05,
  6.58791125e-06,-5.02391828e-05,-1.33076729e-05, 3.12918023e-05,
  2.90038080e-03, 4.39996069e-03, 8.54384642e-03, 1.46707490e-03,
  6.03495311e-05, 7.04983751e-05,-4.90506491e+00, 6.43553006e-03,
  2.18126123e-03, 1.66941632e-04]


--- Step 2463 ---
qpos:
[-0.01567063, 1.29305478,-0.03241167, 0.94840473, 0.00441282, 1.33113934,
 -0.02967956, 0.94624078, 0.01672874, 1.33644572,-0.02389764, 0.95499384,
  1.39242928,-0.00549774, 1.19286281, 0.06154641,-0.03978269,-0.10622766,
  0.07915411, 0.65969729,-0.01212833,-0.00195416, 0.75143102]

qacc:
[-4.66303561e-01,-3.66280508e+00, 1.93841580e+01,-3.62586331e+01,
 -1.30017329e-01, 1.08921870e+00,-6.16453489e+00, 1.72913863e+01,
 -7.03371911e-02, 3.21168987e+00,-1.46846292e+01, 3.34843248e+01,
  2.05740140e-02, 5.02329574e-02,-8.67401883e+00, 1.92163944e+01,
 -3.93395317e+01,-1.44048183e+01,-4.05939534e+00, 5.79830701e+02,
  6.69415540e+01, 4.98281727e+02]

qfrc_actuator:
[ 3.47417680e-03, 7.41575488e-02, 2.05112164e-02, 1.81743784e-03,
 -3.39723287e-06, 3.52906094e-02, 1.08670195e-02, 1.85262994e-03,
 -3.02343893e-03, 3.47938438e-02, 1.09537895e-02, 1.74047390e-03,
  0.00000000e+00, 2.33577837e-03, 0.00000000e+00,-7.88437797e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.26180685, -0.2580133 ,  0.04440676, -0.2580133 ,  0.28784592,
        0.15129288,  0.04440676,  0.15129288,  1.14085257,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007150330615521977
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05179771e-01,  8.77599247e-02, -9.48242323e-01, -2.68862904e-02,
        9.96141654e-01,  8.35400011e-02,  9.51915140e-01, -3.46944695e-18,
        3.06361821e-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([ 0.07243595, -0.04279916,  0.22454777])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  0.52046899, -8.62066638,  0.52046899, 89.43217446,
        4.87801204, -8.62066638,  4.87801204,  8.9308715 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.025213441760772868
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.84380203e-01, -4.42190102e-01,  1.49464277e-01, -4.36007205e-01,
        8.96921353e-01,  7.36872008e-02, -1.66641452e-01, -1.38777878e-17,
       -9.86017559e-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([-0.06341821, -0.09041342,  0.06166553])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.75332436e-04, 3.92040290e-02, 9.82413251e-03,-6.18173933e-05,
 -3.74395234e-05,-3.52995469e-05,-1.95424678e-06, 5.07039195e-05,
 -2.02672097e-05,-4.81182741e-05,-2.16305625e-05, 8.89771271e-05,
  2.89578538e-03, 4.41305532e-03, 8.60292875e-03, 1.66415042e-03,
  1.55543468e-04,-7.53828650e-06,-4.90501563e+00, 6.38515323e-03,
  2.16823423e-03, 1.37481851e-04]


--- Step 2464 ---
qpos:
[-0.01567575, 1.29306939,-0.03241156, 0.94840489, 0.00441296, 1.33114851,
 -0.02967976, 0.94624196, 0.01672895, 1.33644732,-0.02389622, 0.95499499,
  1.39244364,-0.00550319, 1.19284379, 0.06154361,-0.03990232,-0.10629166,
  0.07915894, 0.65921971,-0.01124547,-0.00143607, 0.75186492]

qacc:
[ 3.30041971e-02,-1.12074959e+00, 3.48128190e+00, 1.92710781e+00,
 -9.90945148e-02,-3.33507328e+00, 1.10264540e+01,-1.46143052e+01,
 -9.20423379e-02, 2.07279519e+00,-9.87966928e+00, 2.15996463e+01,
 -2.45034602e-01, 1.92340323e-01, 1.13320218e+00,-1.20762644e+00,
  5.19569809e+00,-7.28284117e-01,-6.89592747e-01,-3.30396435e+02,
 -2.00507085e+02,-8.61096699e+01]

qfrc_actuator:
[ 3.50940514e-03, 7.41339606e-02, 2.05496917e-02, 1.83034525e-03,
 -9.87961499e-06, 3.52631000e-02, 1.09009644e-02, 1.82824622e-03,
 -3.03800345e-03, 3.47465243e-02, 1.09287508e-02, 1.79346062e-03,
  0.00000000e+00, 2.36112306e-03, 0.00000000e+00,-1.65404937e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.26171374,  0.26095621, -0.01989811,  0.26095621,  0.26423054,
        0.03300688, -0.01989811,  0.03300688,  0.69458657,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000714691545028609
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30516707,  0.08776166, -0.94824625, -0.02688571,  0.9961415 ,
        0.08354201,  0.95191923,  0.        ,  0.30634912])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07243387, -0.04279968,  0.22454822])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -0.47378492,  8.62335809, -0.47378492,  5.13421618,
       -0.19241514,  8.62335809, -0.19241514,  8.62579196,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038694869466116
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.58646715e-15,  1.43458686e-14,  1.00000000e+00,  5.14509864e-29,
        1.00000000e+00, -1.43458686e-14, -1.00000000e+00,  0.00000000e+00,
       -3.58646715e-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([-0.00263515, -0.08244295,  0.06165815])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.65235980e-04, 3.90448971e-02, 9.77721027e-03, 2.79647401e-05,
 -2.85757893e-05,-4.59633190e-05, 2.82971627e-05,-2.43085142e-05,
 -2.65306083e-05,-7.55332968e-05,-3.42946628e-05, 5.30045278e-05,
  2.90437944e-03, 4.42823336e-03, 8.86238007e-03, 1.56077639e-03,
  2.10014363e-03, 7.66802819e-04,-4.90576508e+00, 6.34063932e-03,
  2.55312939e-03, 1.98604784e-04]


--- Step 2465 ---
qpos:
[-0.01568087, 1.29308473,-0.03241023, 0.94840517, 0.00441293, 1.33115721,
 -0.02967923, 0.94624249, 0.01672896, 1.33644856,-0.02389512, 0.95499502,
  1.39245783,-0.00550868, 1.19282521, 0.06154111,-0.04000713,-0.1063593 ,
  0.07915748, 0.65883966,-0.01046943,-0.001582  , 0.75220888]

qacc:
[-3.73625422e-03,-2.13741763e+00, 7.89301841e+00,-5.91773559e+00,
 -7.16230007e-02,-3.70212589e+00, 1.26760149e+01,-1.82491181e+01,
 -8.44701238e-02,-1.54675718e+00, 6.73874664e+00,-1.85394346e+01,
 -1.04493724e-01, 4.78347086e-02,-2.66583899e-01, 1.91855201e+00,
  3.70778561e+00,-9.11202345e-01,-1.57183004e+00,-2.84352073e+02,
 -1.78130904e+02,-6.99703791e+01]

qfrc_actuator:
[ 3.51478961e-03, 7.40781738e-02, 2.05899278e-02, 1.83775312e-03,
 -1.36843660e-05, 3.52432306e-02, 1.09387486e-02, 1.79566841e-03,
 -3.04669499e-03, 3.47355906e-02, 1.09133660e-02, 1.73536980e-03,
  0.00000000e+00, 2.36078091e-03, 0.00000000e+00,-1.45357194e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007144750287256876
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05153036e-01,  8.77633876e-02, -9.48250606e-01, -2.68850040e-02,
        9.96141349e-01,  8.35440529e-02,  9.51923748e-01, -3.46944695e-18,
        3.06335076e-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([ 0.07243189, -0.0428002 ,  0.22454867])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -0.40321438,  8.62694587, -0.40321438,  7.49207999,
       -0.05348261,  8.62694587, -0.05348261,  8.63386392,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003943869739052953
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.03765019e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -7.03765019e-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([-0.00293724, -0.08252837,  0.06165276])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.66752824e-04, 3.89652833e-02, 9.77082362e-03, 1.27996175e-05,
 -2.06681352e-05,-4.05529810e-05, 3.12934570e-05,-3.36767537e-05,
 -2.43567946e-05,-5.78413274e-05,-3.24838368e-05,-6.00927736e-05,
  2.91855592e-03, 4.43009194e-03, 8.79940741e-03, 1.56843884e-03,
  8.45752602e-04, 1.45835220e-04,-4.90547604e+00, 6.50355708e-03,
  2.36821671e-03, 4.14810306e-05]


--- Step 2466 ---
qpos:
[-0.01568641, 1.29310093,-0.03240834, 0.94840453, 0.00441278, 1.33116566,
 -0.02967858, 0.9462423 , 0.01672895, 1.33645043,-0.02389379, 0.95499354,
  1.39247209,-0.00551404, 1.19280377, 0.06153882,-0.04010167,-0.10643106,
  0.07914652, 0.65853904,-0.00977874,-0.00230877, 0.75247949]

qacc:
[-1.77567991e-01,-1.96627499e+00, 9.65235026e+00,-1.95856166e+01,
 -4.98392961e-02,-1.93773002e+00, 7.39094407e+00,-1.46515805e+01,
 -5.99642661e-03,-2.35769734e+00, 1.17079953e+01,-2.78558024e+01,
  1.18552411e-01,-3.84718103e-02,-4.89070859e+00, 1.09322897e+01,
  2.56441256e+00,-1.02814134e+00,-2.37274134e+00,-2.46214882e+02,
 -1.58797796e+02,-5.70071466e+01]

qfrc_actuator:
[ 3.50232313e-03, 7.40558757e-02, 2.05772965e-02, 1.78875662e-03,
 -1.58536666e-05, 3.52281058e-02, 1.09430155e-02, 1.75854772e-03,
 -3.03404097e-03, 3.48530152e-02, 1.09571399e-02, 1.66567110e-03,
  0.00000000e+00, 2.34504921e-03, 0.00000000e+00,-2.60007912e-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: -0.0007143593036946505
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05137133e-01,  8.77651411e-02, -9.48255562e-01, -2.68841442e-02,
        9.96141195e-01,  8.35461716e-02,  9.51928870e-01,  3.46944695e-18,
        3.06319158e-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([ 0.07242992, -0.04280071,  0.22454915])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -0.40419178,  8.62690013, -0.40419178,  7.01809796,
       -0.07581978,  8.62690013, -0.07581978,  8.63281129,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003953600876863694
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40406563e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.40406563e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00309966, -0.08254671,  0.06165202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.54730112e-04, 3.89061322e-02, 9.69690954e-03,-4.20682675e-05,
 -1.43663980e-05,-3.25088941e-05,-1.10074476e-06,-3.81875264e-05,
 -1.72694438e-06, 7.73040576e-05, 2.70257547e-05,-7.37581591e-05,
  2.92704310e-03, 4.41684733e-03, 8.77712607e-03, 1.67230085e-03,
  2.80042126e-04, 6.14654376e-05,-4.90539361e+00, 6.59030377e-03,
  2.25453286e-03, 3.94129100e-05]


--- Step 2467 ---
qpos:
[-0.01569128, 1.29311511,-0.03240762, 0.94840434, 0.00441255, 1.33117338,
 -0.02967766, 0.94624135, 0.01672914, 1.3364533 ,-0.02389189, 0.9549905 ,
  1.39248608,-0.00551947, 1.19278585, 0.06153656,-0.04020021,-0.10649382,
  0.07912711, 0.65817588,-0.00973676,-0.00302341, 0.75279517]

qacc:
[ 2.85791668e-01, 1.31966351e+00,-8.42716395e+00, 1.38667319e+01,
 -3.33866498e-02,-2.93065857e+00, 9.97527787e+00,-1.69408504e+01,
  8.44398382e-02,-2.94607874e+00, 1.43457952e+01,-3.11285638e+01,
 -3.35526021e-01, 2.88945719e-01, 5.18210827e+00,-1.05059146e+01,
 -9.98433863e-01, 2.24786044e+00,-2.11613226e+00,-2.09288270e+02,
  2.47770351e+02, 3.91760128e+01]

qfrc_actuator:
[ 3.53281503e-03, 7.40710141e-02, 2.05508727e-02, 1.79567598e-03,
 -1.70255866e-05, 3.51625543e-02, 1.09452344e-02, 1.71903605e-03,
 -3.00868512e-03, 3.49400970e-02, 1.10004946e-02, 1.58983777e-03,
  0.00000000e+00, 2.39092288e-03, 0.00000000e+00,-2.02138913e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007141474516926989
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30511988,  0.08776704, -0.94826094, -0.02688321,  0.99614103,
        0.08354846,  0.95193442,  0.        ,  0.3063019 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07242771, -0.04280119,  0.22454968])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -0.19823976,  8.63408813, -0.19823976, 83.96545613,
        1.72956551,  8.63408813,  1.72956551,  8.67607468,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003988935820366177
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.17488426e-14,  1.39162809e-14,  1.00000000e+00, -5.80988619e-28,
        1.00000000e+00, -1.39162809e-14, -1.00000000e+00,  0.00000000e+00,
        4.17488426e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0031103 , -0.12938948,  0.0616493 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.06035554e-04, 3.88786256e-02, 9.64246551e-03, 1.11031092e-05,
 -9.65018325e-06,-8.49551555e-05,-5.39368278e-06,-4.13923906e-05,
  2.43406041e-05, 1.32906368e-04, 5.93592981e-05,-7.44662922e-05,
  2.92388802e-03, 4.45567428e-03, 8.92098927e-03, 1.48555974e-03,
  1.72590880e-04, 3.36993286e-04,-4.90545214e+00, 6.62889113e-03,
  2.18732049e-03, 1.40713028e-04]


--- Step 2468 ---
qpos:
[-0.01569595, 1.29312828,-0.03240817, 0.94840451, 0.00441228, 1.33118019,
 -0.02967664, 0.946241  , 0.01672929, 1.3364565 ,-0.02389033, 0.95498634,
  1.3924996 ,-0.00552472, 1.1927683 , 0.06153403,-0.04030344,-0.10654836,
  0.07909585, 0.65776035,-0.0102641 ,-0.00372592, 0.75314812]

qacc:
[ 8.55321793e-02, 2.65822667e+00,-1.10076517e+01, 1.42178477e+01,
 -2.16431422e-02,-4.53063882e-01,-1.20876032e+00, 8.55473231e+00,
 -2.12599275e-02,-5.56446093e-01, 4.60569442e+00,-1.71465992e+01,
 -5.31858038e-01, 6.28851278e-01, 1.38210563e+00,-3.94085143e+00,
 -1.17248775e+00, 2.05588140e+00,-2.95842046e+00,-1.82993014e+02,
  2.18027505e+02, 3.28937982e+01]

qfrc_actuator:
[ 3.55265653e-03, 7.41288854e-02, 2.05176868e-02, 1.81737794e-03,
 -1.75906771e-05, 3.51028074e-02, 1.09460416e-02, 1.74941930e-03,
 -3.02917389e-03, 3.48840817e-02, 1.09543900e-02, 1.52874298e-03,
  0.00000000e+00, 2.43842046e-03, 0.00000000e+00,-2.00408377e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007139896803168878
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05105673e-01,  8.77686927e-02, -9.48265356e-01, -2.68824687e-02,
        9.96140882e-01,  8.35504416e-02,  9.51939001e-01,  3.46944695e-18,
        3.06287674e-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([ 0.07242584, -0.0428017 ,  0.22455012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  0.33760654,  8.62976238,  0.33760654, 10.04450247,
       -0.05508806,  8.62976238, -0.05508806,  8.63851875,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003994136523988792
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.77963214e-14,  1.38981607e-14,  1.00000000e+00,  3.86317741e-28,
        1.00000000e+00, -1.38981607e-14, -1.00000000e+00,  0.00000000e+00,
       -2.77963214e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00303288, -0.12938114,  0.06164866])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.92352975e-04, 3.90367991e-02, 9.66813304e-03, 9.84832133e-06,
 -6.26232437e-06,-1.09093194e-04,-1.76443396e-05, 2.67282061e-05,
 -6.11126826e-06, 2.68417997e-05,-1.55914155e-05,-5.71508108e-05,
  2.93694589e-03, 4.50728806e-03, 8.74504900e-03, 1.48659016e-03,
  3.92448203e-04, 2.80787114e-04,-4.90519984e+00, 6.52712800e-03,
  2.12985022e-03, 1.86449462e-04]


--- Step 2469 ---
qpos:
[-0.01570093, 1.29314218,-0.03240905, 0.94840473, 0.00441197, 1.3311868 ,
 -0.02967646, 0.94624065, 0.0167293 , 1.33645933,-0.02388934, 0.95498258,
  1.39251282,-0.00552965, 1.19274778, 0.06153126,-0.04041178,-0.1065954 ,
  0.07904979, 0.65730036,-0.01129367,-0.00441662, 0.75353114]

qacc:
[-1.28593659e-01, 1.92662540e+00,-5.20845505e+00, 4.60277081e+00,
 -1.36278660e-02, 2.01670275e+00,-6.90577334e+00, 6.18057998e+00,
 -5.52865646e-02, 1.71052980e+00,-7.00778856e+00, 1.10608930e+01,
 -3.18099452e-01, 5.19538525e-01,-3.65644491e+00, 6.44519632e+00,
 -1.27647645e+00, 1.87589625e+00,-3.70405981e+00,-1.60897896e+02,
  1.92765453e+02, 2.76338008e+01]

qfrc_actuator:
[ 3.56630906e-03, 7.41589565e-02, 2.04987528e-02, 1.83012184e-03,
 -1.77878434e-05, 3.51180478e-02, 1.09105547e-02, 1.74967835e-03,
 -3.04149450e-03, 3.48134843e-02, 1.09085616e-02, 1.54768414e-03,
  0.00000000e+00, 2.45116464e-03, 0.00000000e+00,-9.16860021e-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: -0.000713762285303985
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30509364,  0.08777026, -0.94826908, -0.02688189,  0.99614074,
        0.08355227,  0.95194287,  0.        ,  0.30627564])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07242403, -0.04280218,  0.22455053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  0.05106943,  8.63621264,  0.05106943, 10.79782476,
       -0.0127816 ,  8.63621264, -0.0127816 ,  8.63643922,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003945712205399382
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.40687279e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.40687279e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00306316, -0.12942564,  0.06165173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.95951457e-04, 3.91179097e-02, 9.71232842e-03, 5.07371546e-06,
 -3.89641140e-06,-4.78037744e-05,-5.80543704e-05,-2.89852046e-06,
 -1.59249412e-05,-6.05218345e-05,-4.40413019e-05, 1.79510181e-05,
  2.96085829e-03, 4.51141282e-03, 8.72662299e-03, 1.60845874e-03,
  7.03638586e-04, 1.06443614e-04,-4.90506006e+00, 6.40543909e-03,
  2.06793528e-03, 1.23037216e-04]


--- Step 2470 ---
qpos:
[-0.01570511, 1.29315517,-0.03241049, 0.94840525, 0.00441178, 1.33119327,
 -0.02967682, 0.94624029, 0.01672918, 1.33646212,-0.02388876, 0.9549794 ,
  1.39252606,-0.00553471, 1.19272991, 0.06152855,-0.04049301,-0.10661406,
  0.07902155, 0.65689578,-0.01226343,-0.00450093, 0.75386821]

qacc:
[ 3.36409514e-01, 8.75867427e-01,-4.94148320e+00, 8.44471632e+00,
  5.36995173e-02, 1.22610407e+00,-4.17837480e+00, 3.51674653e+00,
 -5.80730029e-02, 2.07227687e+00,-7.95347814e+00, 1.34264613e+01,
 -2.37886077e-02,-5.38976220e-02, 3.77567126e+00,-7.48503317e+00,
  6.77409836e+00, 7.09329704e+00, 4.45824267e+00, 2.48337366e+02,
  1.77146767e+02,-3.26895308e+01]

qfrc_actuator:
[ 3.59442263e-03, 7.41354874e-02, 2.04879351e-02, 1.83765242e-03,
 -1.04679401e-08, 3.51246679e-02, 1.08896961e-02, 1.74996819e-03,
 -3.04881385e-03, 3.48412339e-02, 1.08987504e-02, 1.57805538e-03,
  0.00000000e+00, 2.44282654e-03, 0.00000000e+00,-2.20480789e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007134023631373901
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30508121,  0.08777192, -0.94827293, -0.02688131,  0.9961406 ,
        0.08355421,  0.95194687,  0.        ,  0.3062632 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07242196, -0.04280262,  0.22455098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.62473385,  0.44804342,  8.62473385,  8.71462844,
       -1.50657963,  0.44804342, -1.50657963, 37.63767827,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003902470750197111
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.33355783e-14,  1.60026940e-14,  1.00000000e+00, -2.13405179e-28,
        1.00000000e+00, -1.60026940e-14, -1.00000000e+00,  0.00000000e+00,
        1.33355783e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07076973, -0.12742558,  0.06165423])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.39118668e-04, 3.90572767e-02, 9.71764408e-03, 1.01754500e-05,
  1.54765855e-05,-3.13098961e-05,-3.69044206e-05,-2.90296295e-06,
 -1.67211758e-05,-1.38134684e-05,-2.61197550e-05, 2.77073329e-05,
  2.97561621e-03, 4.48641663e-03, 8.87614866e-03, 1.49172439e-03,
  1.06849842e-03,-1.42680699e-04,-4.90500136e+00, 6.27512149e-03,
  2.00495054e-03,-1.15443207e-05]


--- Step 2471 ---
qpos:
[-0.01570813, 1.29316709,-0.03241237, 0.94840657, 0.00441191, 1.33119944,
 -0.02967744, 0.94624098, 0.01672894, 1.33646498,-0.02388932, 0.954978  ,
  1.39253967,-0.00554007, 1.19271626, 0.06152582,-0.04055134,-0.10660888,
  0.07900406, 0.65653646,-0.01318653,-0.00404498, 0.75416817]

qacc:
[ 4.96877995e-01, 1.10751286e+00,-6.91697646e+00, 1.57576462e+01,
  1.30397541e-01, 2.10308156e+00,-9.48950000e+00, 2.05154856e+01,
 -4.92250172e-02, 6.24560448e+00,-2.38701340e+01, 4.13588968e+01,
  2.69339328e-01,-4.12031795e-01, 6.21935988e+00,-1.27751615e+01,
  5.72709972e+00, 5.96032762e+00, 2.68544994e+00, 2.19158225e+02,
  1.60184510e+02,-2.60387122e+01]

qfrc_actuator:
[ 3.59473785e-03, 7.41345110e-02, 2.05001200e-02, 1.87727882e-03,
  2.84055801e-05, 3.51083779e-02, 1.08776401e-02, 1.80355435e-03,
 -3.05307372e-03, 3.48390386e-02, 1.08396312e-02, 1.66822524e-03,
  0.00000000e+00, 2.40442978e-03, 0.00000000e+00,-3.49961395e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007131295552572844
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30507019,  0.08777333, -0.94827634, -0.02688077,  0.99614047,
        0.08355586,  0.95195042,  0.        ,  0.30625218])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07242013, -0.04280309,  0.22455138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.08921167,  3.02513328, -8.08921167,  9.90092353,
        3.38143535,  3.02513328,  3.38143535, 17.67832767,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003959224658846225
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.57733017e-14,  1.05155345e-14,  1.00000000e+00, -1.65864698e-28,
        1.00000000e+00, -1.05155345e-14, -1.00000000e+00,  0.00000000e+00,
        1.57733017e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07071478, -0.12743679,  0.06164966])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.99976820e-04, 3.91019093e-02, 9.75851022e-03, 3.42774406e-05,
  3.75473607e-05,-4.09582117e-05,-2.24697533e-05, 5.15065202e-05,
 -1.41303446e-05,-1.41386483e-05,-6.39824598e-05, 8.96415036e-05,
  2.97461701e-03, 4.45523577e-03, 8.74324357e-03, 1.35967910e-03,
  3.47508534e-04,-1.67545731e-04,-4.90486587e+00, 6.18367876e-03,
  2.09982298e-03,-2.55615768e-05]


--- Step 2472 ---
qpos:
[-0.01571126, 1.2931797 ,-0.03241377, 0.94840814, 0.00441221, 1.33120572,
 -0.02967864, 0.94624158, 0.0167289 , 1.33646745,-0.02389045, 0.95497841,
  1.39255325,-0.00554538, 1.19270263, 0.06152306,-0.04059018,-0.10658354,
  0.07899124, 0.65621372,-0.01407316,-0.00310532, 0.75443745]

qacc:
[-5.03688973e-02, 4.38626875e-02, 4.22154792e-01, 2.18644041e+00,
  7.36011016e-02, 1.60143046e+00,-4.88596143e+00, 3.28799585e+00,
  8.58585166e-02, 4.14697327e+00,-1.77446085e+01, 3.62969836e+01,
 -6.73484968e-02, 1.06907004e-01, 1.59890328e-01,-4.90857055e-01,
  4.87271526e+00, 5.04144101e+00, 1.16818911e+00, 1.94553369e+02,
  1.45309857e+02,-2.07500796e+01]

qfrc_actuator:
[ 3.55992961e-03, 7.41475514e-02, 2.05261976e-02, 1.90005762e-03,
  2.74678492e-05, 3.51318285e-02, 1.08530634e-02, 1.79930139e-03,
 -3.01995908e-03, 3.48010307e-02, 1.08050616e-02, 1.75731091e-03,
  0.00000000e+00, 2.41922067e-03, 0.00000000e+00,-3.02285240e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007130222464996443
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05060621e-01,  8.77743640e-02, -9.48279325e-01, -2.68802495e-02,
        9.96140382e-01,  8.35571132e-02,  9.51953502e-01,  3.46944695e-18,
        3.06242600e-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([ 0.07241866, -0.04280362,  0.22455173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.07447094,  3.06426107, -8.07447094,  9.99741884,
        3.58644399,  3.06426107,  3.58644399, 18.08681093,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003957219617398047
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.40278166e-14,  2.80556333e-14,  1.00000000e+00, -3.93559280e-28,
        1.00000000e+00, -2.80556333e-14, -1.00000000e+00,  0.00000000e+00,
        1.40278166e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07073786, -0.12749082,  0.06164953])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.06899887e-04, 3.91683481e-02, 9.80634777e-03, 1.77552511e-05,
  2.12164845e-05,-2.09558944e-06,-3.36388686e-05,-4.93597054e-06,
  2.47733383e-05,-5.56870174e-05,-4.19836130e-05, 8.88823454e-05,
  2.95631890e-03, 4.48501924e-03, 8.53324178e-03, 1.40792905e-03,
  2.43817252e-05, 8.38465318e-05,-4.90487697e+00, 6.12262401e-03,
  2.16172681e-03, 5.75010996e-05]


--- Step 2473 ---
qpos:
[-1.57151237e-02, 1.29319303e+00,-3.24152633e-02, 9.48409304e-01,
  4.41260329e-03, 1.33121224e+00,-2.96808159e-02, 9.46242143e-01,
  1.67289993e-02, 1.33646898e+00,-2.38908680e-02, 9.54979163e-01,
  1.39256676e+00,-5.55038646e-03, 1.19268654e+00, 6.15201631e-02,
 -4.07664867e-02,-1.06613132e-01, 7.89783376e-02, 6.55240379e-01,
 -1.41423687e-02,-1.32845540e-03, 7.55286882e-01]

qacc:
[-3.10086247e-01, 5.01213962e-01, 3.36477605e-01,-5.43507063e+00,
  4.05917065e-02, 2.84489537e+00,-8.79663182e+00, 6.92778062e+00,
  5.79022000e-02,-2.57752213e+00, 6.19802398e+00,-6.93508021e-01,
 -1.33018852e-01, 3.43865244e-01,-3.22617932e+00, 6.03500585e+00,
 -3.43659576e+01,-1.37345940e+01,-2.02146798e-02, 5.80333558e+02,
 -3.87425739e+01, 4.40394312e+02]

qfrc_actuator:
[ 3.52261718e-03, 7.41321654e-02, 2.04888569e-02, 1.87743674e-03,
  2.66812583e-05, 3.51433171e-02, 1.08036458e-02, 1.79655207e-03,
 -3.01795006e-03, 3.47419639e-02, 1.08383794e-02, 1.77401984e-03,
  0.00000000e+00, 2.43018764e-03, 0.00000000e+00,-2.19293246e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007129681666251698
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30504993,  0.08777545, -0.94828266, -0.02687964,  0.99614029,
        0.08355845,  0.95195694,  0.        ,  0.3062319 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07241717, -0.04280417,  0.2245521 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.023917823612266204
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.81918841e-01, -4.40959421e-01,  1.66655174e-01, -4.33291036e-01,
        8.97527041e-01,  8.18785014e-02, -1.85682622e-01, -1.38777878e-17,
       -9.82609772e-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([-0.0642379 , -0.09127866,  0.06164721])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.75486398e-04, 3.91183923e-02, 9.74488597e-03,-1.77309814e-05,
  1.17327830e-05, 3.56191732e-06,-5.38038780e-05,-3.90463260e-06,
  1.66341272e-05,-9.54407365e-05, 2.02710674e-05, 1.59015008e-05,
  2.95810842e-03, 4.49345639e-03, 8.53219405e-03, 1.49290829e-03,
 -1.76677126e-05, 5.30673271e-04,-4.90499167e+00, 6.08147386e-03,
  2.20069705e-03, 2.09600381e-04]


--- Step 2474 ---
qpos:
[-1.57192402e-02, 1.29320689e+00,-3.24164825e-02, 9.48410189e-01,
  4.41275851e-03, 1.33121831e+00,-2.96825144e-02, 9.46243689e-01,
  1.67290429e-02, 1.33646959e+00,-2.38908103e-02, 9.54979781e-01,
  1.39258036e+00,-5.55529649e-03, 1.19266965e+00, 6.15173320e-02,
 -4.09179355e-02,-1.06648394e-01, 7.89665961e-02, 6.54424580e-01,
 -1.43890802e-02,-3.71996551e-04, 7.55990268e-01]

qacc:
[-1.08261679e-01,-5.16944892e-01, 3.09732374e+00,-6.26231534e+00,
 -1.01564910e-01,-1.99462127e-01,-2.10698116e+00, 1.35498026e+01,
 -2.35921543e-02,-2.71779340e+00, 7.69063466e+00,-7.70619827e+00,
  4.78198201e-02, 2.44327863e-02,-1.36803123e+00, 3.06917718e+00,
  6.21356909e+00,-1.41682529e+00, 2.89860155e-01,-3.66957957e+02,
 -2.00613638e+02,-1.13027723e+02]

qfrc_actuator:
[ 3.53771626e-03, 7.40816642e-02, 2.04848558e-02, 1.86364098e-03,
 -9.51173285e-06, 3.51119479e-02, 1.08287011e-02, 1.84796442e-03,
 -3.03461896e-03, 3.46887245e-02, 1.08581017e-02, 1.76577635e-03,
  0.00000000e+00, 2.42083195e-03, 0.00000000e+00,-2.03767909e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.26120103,  0.26064649, -0.01701135,  0.26064649,  0.26292367,
        0.02639406, -0.01701135,  0.02639406,  0.66560853,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007128142513576942
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30503864,  0.08777676, -0.94828617, -0.02687905,  0.99614017,
        0.08356002,  0.95196058,  0.        ,  0.3062206 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07241547, -0.04280469,  0.2245525 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([8.63636364, 0.45061739, 8.62459975, 0.45061739, 6.0507626 ,
       0.13509227, 8.62459975, 0.13509227, 8.62930535, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.004057996977088807
  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([-0.00421758, -0.08269143,  0.0616417 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.26926867e-04, 3.90317691e-02, 9.74541282e-03,-1.12565499e-05,
 -2.92694948e-05,-4.00797224e-05, 1.95124821e-05, 4.98587196e-05,
 -6.85092101e-06,-1.01595604e-04, 3.85225940e-06,-1.01057046e-05,
  2.96102569e-03, 4.46882779e-03, 8.65547752e-03, 1.51501516e-03,
  1.90726327e-03, 2.35467950e-03,-4.90497561e+00, 5.44523532e-03,
  2.62851809e-03, 6.82312819e-04]


--- Step 2475 ---
qpos:
[-1.57243365e-02, 1.29322278e+00,-3.24166052e-02, 9.48410377e-01,
  4.41259482e-03, 1.33122340e+00,-2.96829930e-02, 9.46244119e-01,
  1.67289716e-02, 1.33647025e+00,-2.38919766e-02, 9.54978918e-01,
  1.39259362e+00,-5.55987705e-03, 1.19264806e+00, 6.15146108e-02,
 -4.10513388e-02,-1.06689547e-01, 7.89519545e-02, 6.53737644e-01,
 -1.47767912e-02,-1.27061050e-04, 7.56576977e-01]

qacc:
[-4.17754713e-01,-1.46818533e+00, 9.44238245e+00,-1.75135999e+01,
 -1.34838171e-01,-6.46440103e+00, 2.18518605e+01,-3.12832983e+01,
 -4.88216601e-02, 8.20525334e-01, 3.89731704e-01,-1.74493274e+01,
 -2.34316112e-01, 3.97707278e-01,-7.25124020e+00, 1.53207636e+01,
  4.51139517e+00,-1.47289165e+00,-7.24997819e-01,-3.14183835e+02,
 -1.78658764e+02,-9.19802448e+01]

qfrc_actuator:
[ 3.56632730e-03, 7.40099983e-02, 2.04827800e-02, 1.83742555e-03,
 -3.11456592e-05, 3.50377227e-02, 1.08796348e-02, 1.78883797e-03,
 -3.04460413e-03, 3.47103441e-02, 1.07986188e-02, 1.68965616e-03,
  0.00000000e+00, 2.45263218e-03, 0.00000000e+00,-1.58314082e-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: -0.0007126541179189316
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30502658,  0.08777816, -0.94828992, -0.02687842,  0.99614005,
        0.08356169,  0.95196446,  0.        ,  0.30620853])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07241369, -0.04280522,  0.22455293])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-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,  3.15194311e-01,  8.63061003e+00,  3.15194311e-01,
        8.83256479e+00, -7.16536705e-03,  8.63061003e+00, -7.16536705e-03,
        8.63662532e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.0041615270158722045
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.33391303e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.33391303e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00460079, -0.08278959,  0.06163401])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.68223178e-04, 3.89336054e-02, 9.72974615e-03,-2.34081401e-05,
 -3.89068823e-05,-9.11241822e-05, 4.67735058e-05,-5.85914093e-05,
 -1.40331604e-05,-3.41124943e-05,-7.91814075e-05,-7.92511904e-05,
  2.95696076e-03, 4.49608057e-03, 8.69566998e-03, 1.69991500e-03,
  7.57816726e-04, 9.45176156e-04,-4.90476035e+00, 5.85906918e-03,
  2.34121762e-03, 3.24833347e-04]


--- Step 2476 ---
qpos:
[-1.57298090e-02, 1.29323844e+00,-3.24169911e-02, 9.48410179e-01,
  4.41213862e-03, 1.33122806e+00,-2.96838138e-02, 9.46243183e-01,
  1.67289296e-02, 1.33647078e+00,-2.38938809e-02, 9.54977141e-01,
  1.39260649e+00,-5.56426162e-03, 1.19262597e+00, 6.15120424e-02,
 -4.11719365e-02,-1.06736643e-01, 7.89307185e-02, 6.53155768e-01,
 -1.52770050e-02,-5.02185999e-04, 7.57069286e-01]

qacc:
[-1.60431539e-01,-2.66945122e-01, 1.27379370e+00,-5.41470853e+00,
 -1.23918104e-01,-1.99804889e+00, 8.60687728e+00,-2.29984952e+01,
  1.23308925e-02, 2.36280486e-01, 8.49881675e-01,-1.11838241e+01,
 -4.06183573e-01, 5.11388709e-01,-1.17512239e+00, 3.09836402e+00,
  3.20137810e+00,-1.48552109e+00,-1.64864039e+00,-2.70565196e+02,
 -1.59415815e+02,-7.51734695e+01]

qfrc_actuator:
[ 3.56836763e-03, 7.39594190e-02, 2.04454205e-02, 1.80428685e-03,
 -4.38691939e-05, 3.50094779e-02, 1.08563967e-02, 1.71835552e-03,
 -3.03274511e-03, 3.47052670e-02, 1.07641301e-02, 1.64521839e-03,
  0.00000000e+00, 2.49109951e-03, 0.00000000e+00,-4.40679441e-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: -0.0007123770661919375
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05011542e-01,  8.77798912e-02, -9.48294601e-01, -2.68776304e-02,
        9.96139895e-01,  8.35637618e-02,  9.51969302e-01, -3.46944695e-18,
        3.06193480e-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([ 0.07241148, -0.04280568,  0.22455344])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([8.63636364, 0.28006123, 8.63182151, 0.28006123, 7.976818  ,
       0.02139909, 8.63182151, 0.02139909, 8.63566934, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.004191288208864774
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.32444128e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.32444128e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00482383, -0.08281487,  0.06163163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.19238702e-04, 3.87810744e-02, 9.63754463e-03,-2.16724874e-05,
 -3.56848433e-05,-7.12965926e-05,-3.74589522e-05,-7.31964849e-05,
  3.57355980e-06,-4.17577824e-05,-5.24685679e-05,-4.96116206e-05,
  2.97379406e-03, 4.51814983e-03, 8.93100785e-03, 1.66629300e-03,
  4.09043798e-04, 2.61717431e-04,-4.90475959e+00, 6.13761451e-03,
  2.16044662e-03, 1.71179520e-04]


--- Step 2477 ---
qpos:
[-0.01573473, 1.29325276,-0.03241799, 0.9484104 , 0.0044113 , 1.33123302,
 -0.02968533, 0.94624274, 0.01672896, 1.33647142,-0.02389639, 0.95497516,
  1.39261922,-0.00556872, 1.19260712, 0.0615096 ,-0.04128374,-0.10678961,
  0.07889956, 0.65265918,-0.0158674 ,-0.00142038, 0.75748413]

qacc:
[ 2.36558115e-01, 6.17510870e-01,-4.97590340e+00, 9.95944591e+00,
 -1.60223756e-01, 3.12745968e+00,-1.07302188e+01, 1.48450881e+01,
  3.19027224e-02, 1.44208430e+00,-4.09787906e+00, 1.12145004e+00,
 -2.25950755e-01, 1.92073933e-01, 4.43808945e+00,-8.52584507e+00,
  2.19934364e+00,-1.46818299e+00,-2.48154218e+00,-2.34392771e+02,
 -1.42604417e+02,-6.17086870e+01]

qfrc_actuator:
[ 3.58975916e-03, 7.39407100e-02, 2.04410697e-02, 1.82021945e-03,
 -6.88979589e-05, 3.50797013e-02, 1.08429875e-02, 1.74827006e-03,
 -3.02563047e-03, 3.47375995e-02, 1.07446413e-02, 1.63756744e-03,
  0.00000000e+00, 2.49806349e-03, 0.00000000e+00,-1.66590093e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007120546811501711
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04996980e-01,  8.77817320e-02, -9.48299114e-01, -2.68769152e-02,
        9.96139733e-01,  8.35659255e-02,  9.51973988e-01, -3.46944695e-18,
        3.06178912e-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([ 0.07240925, -0.04280612,  0.22455394])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([8.63636364, 0.25593929, 8.63257041, 0.25593929, 7.60400932,
       0.03060734, 8.63257041, 0.03060734, 8.63545619, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.004161148831974992
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.33403426e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.33403426e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00492023, -0.08278181,  0.06163348])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.59428990e-04, 3.87744238e-02, 9.64632376e-03, 1.35607524e-05,
 -4.60879154e-05, 2.12309822e-05,-3.37634273e-05, 2.49850306e-05,
  9.22359797e-06,-2.47978941e-06,-3.50590282e-05,-1.15825006e-05,
  2.99346384e-03, 4.51538841e-03, 8.95661934e-03, 1.53623069e-03,
  5.75220933e-04, 7.56787559e-05,-4.90490035e+00, 6.32397704e-03,
  2.04910616e-03, 1.57381533e-04]


--- Step 2478 ---
qpos:
[-0.01573884, 1.29326612,-0.03241957, 0.94841077, 0.00441027, 1.33123847,
 -0.02968692, 0.9462433 , 0.01672908, 1.33647228,-0.02389954, 0.95497379,
  1.39263217,-0.00557334, 1.1925906 , 0.06150718,-0.04151937,-0.10689334,
  0.07887312, 0.65158151,-0.01560952,-0.00159637, 0.75841633]

qacc:
[ 3.43927914e-01, 5.59482492e-01,-3.65438578e+00, 5.55321512e+00,
 -8.30969388e-02, 2.54845042e+00,-9.58824950e+00, 1.96060448e+01,
  3.33690787e-02, 3.04987341e+00,-1.08447870e+01, 1.62811333e+01,
  1.75772917e-01,-2.52465253e-01, 3.31636875e+00,-6.64154320e+00,
 -3.09587398e+01,-1.26898978e+01, 1.18109870e+00, 5.53686227e+02,
 -8.35904917e+01, 3.94195209e+02]

qfrc_actuator:
[ 3.60422833e-03, 7.39600607e-02, 2.04392280e-02, 1.82944179e-03,
 -6.56022453e-05, 3.51374203e-02, 1.08537191e-02, 1.80160324e-03,
 -3.02142045e-03, 3.47566675e-02, 1.07165622e-02, 1.66939728e-03,
  0.00000000e+00, 2.46856421e-03, 0.00000000e+00,-2.21445058e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.26093038, -0.26088311,  0.00496667, -0.26088311,  0.26102844,
        0.00515063,  0.00496667,  0.00515063,  0.53147637,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007118253833063512
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04984273e-01,  8.77833815e-02, -9.48303048e-01, -2.68763044e-02,
        9.96139588e-01,  8.35678546e-02,  9.51978076e-01,  3.46944695e-18,
        3.06166201e-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([ 0.07240732, -0.04280658,  0.22455439])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  1.4999031 , -8.50512008,  1.4999031 , 41.39077826,
        5.77633796, -8.50512008,  5.77633796,  9.65503793,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.022943284526923378
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.87944419, -0.43972209,  0.18227012, -0.43057171,  0.89813389,
        0.08923859, -0.20294315,  0.        , -0.97919052])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0648269 , -0.0919293 ,  0.06163153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.46150774e-04, 3.88602184e-02, 9.67518464e-03, 1.97988593e-06,
 -2.38991125e-05, 6.35741240e-05, 1.17701820e-05, 5.35644063e-05,
  9.65598571e-06, 1.05025980e-05,-3.28873409e-05, 3.04555864e-05,
  3.00069114e-03, 4.48965840e-03, 8.79481268e-03, 1.47538564e-03,
  1.06694530e-03, 2.27202868e-04,-4.90512941e+00, 6.44776072e-03,
  1.98292799e-03, 2.38191472e-04]


--- Step 2479 ---
qpos:
[-1.57425971e-02, 1.29327953e+00,-3.24215029e-02, 9.48411150e-01,
  4.40914940e-03, 1.33124445e+00,-2.96883979e-02, 9.46244138e-01,
  1.67294006e-02, 1.33647208e+00,-2.39017128e-02, 9.54974212e-01,
  1.39264552e+00,-5.57796108e-03, 1.19257353e+00, 6.15046430e-02,
 -4.18500796e-02,-1.07038019e-01, 7.88476691e-02, 6.50048424e-01,
 -1.46235347e-02,-1.19775930e-03, 7.59751120e-01]

qacc:
[ 1.50013570e-01, 1.04835684e+00,-3.35413850e+00, 2.93525609e+00,
 -4.03203751e-02, 8.80845680e-01,-2.58289995e+00, 5.08396408e+00,
  9.00162790e-02,-9.25614414e-01,-2.26837050e+00, 2.33599435e+01,
  3.24514185e-01,-2.81371976e-01,-4.42919360e-01, 3.29684472e-01,
 -2.37680453e+01,-1.02381678e+01, 2.47152239e-01, 4.51864394e+02,
 -9.24121239e+01, 3.07761365e+02]

qfrc_actuator:
[ 3.59631771e-03, 7.39668975e-02, 2.04213450e-02, 1.83473279e-03,
 -6.30952175e-05, 3.51695780e-02, 1.08608363e-02, 1.81502538e-03,
 -3.00123432e-03, 3.46611297e-02, 1.07546182e-02, 1.75969033e-03,
  0.00000000e+00, 2.43506052e-03, 0.00000000e+00,-1.82402706e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007116597650834305
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30497303,  0.08778477, -0.94830654, -0.02687574,  0.99613947,
        0.08356949,  0.9519817 ,  0.        ,  0.30615495])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0724056 , -0.04280709,  0.2245548 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  0.95826283, -8.58303613,  0.95826283,  6.62071128,
       -0.2250398 , -8.58303613, -0.2250398 ,  8.61123881,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.022612368792928893
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.87891842, -0.43945921,  0.18541306, -0.42999544,  0.89826255,
        0.09071009, -0.206413  ,  0.        , -0.97846496])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06508987, -0.09210098,  0.06163033])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.97901342e-04, 3.89146654e-02, 9.68600625e-03,-4.65024506e-07,
 -1.15932867e-05, 7.11953586e-05, 2.24541829e-05, 1.69221501e-05,
  2.58876623e-05,-9.52541626e-05, 3.72612281e-05, 9.03456305e-05,
  2.98908381e-03, 4.46449871e-03, 8.67891880e-03, 1.51281520e-03,
  1.31979607e-03, 6.83166898e-04,-4.90530661e+00, 6.64188513e-03,
  2.19083200e-03, 1.87194120e-04]


--- Step 2480 ---
qpos:
[-0.01574738, 1.29329579,-0.03242223, 0.94841125, 0.00440798, 1.3312509 ,
 -0.02968919, 0.94624545, 0.0167298 , 1.33647124,-0.02390291, 0.95497603,
  1.39265877,-0.00558214, 1.19254984, 0.061502  ,-0.04214014,-0.10718384,
  0.07882204, 0.64871849,-0.01385672,-0.00167524, 0.76090046]

qacc:
[-4.35899749e-01,-9.22865161e-03, 5.09528009e+00,-9.38306930e+00,
 -1.67331531e-02,-4.44752747e-01, 1.20644898e+00, 4.18099392e+00,
  3.27192400e-02,-1.06507410e+00,-3.30198431e-01, 1.66774851e+01,
 -3.21603983e-02, 2.84144666e-01,-9.46529533e+00, 1.89032481e+01,
  1.01609971e+01,-2.86110334e-01,-4.44277020e-02,-4.02665477e+02,
 -2.00013394e+02,-1.43722179e+02]

qfrc_actuator:
[ 3.61061648e-03, 7.39478527e-02, 2.04293596e-02, 1.83775224e-03,
 -6.10838913e-05, 3.52039073e-02, 1.09011375e-02, 1.84033227e-03,
 -3.00713249e-03, 3.46577753e-02, 1.08132378e-02, 1.83036868e-03,
  0.00000000e+00, 2.45230710e-03, 0.00000000e+00, 7.28991928e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.26082953,  0.25224812, -0.0663546 ,  0.25224812,  0.2785163 ,
        0.06723652, -0.0663546 ,  0.06723652,  0.51643027,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007114573051918288
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04962079e-01,  8.77860437e-02, -9.48309939e-01, -2.68751700e-02,
        9.96139353e-01,  8.35710160e-02,  9.51985218e-01, -3.46944695e-18,
        3.06143993e-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([ 0.07240383, -0.04280762,  0.22455521])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -0.28914011, -8.63152216, -0.28914011,  1.10356179,
        0.252335  , -8.63152216,  0.252335  ,  8.62791088,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004198050092250688
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.32230798e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.32230798e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00588468, -0.08281212,  0.06162949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.94592925e-04, 3.88931037e-02, 9.71209665e-03, 2.28181402e-06,
 -4.82717031e-06, 7.85702186e-05, 5.72699467e-05, 2.84995353e-05,
  9.38163036e-06,-4.60698727e-05, 4.68981684e-05, 7.10459196e-05,
  2.96958967e-03, 4.48153282e-03, 8.70649414e-03, 1.77455799e-03,
  3.16534611e-03, 1.55378114e-03,-4.90627636e+00, 6.95298775e-03,
  2.71307856e-03, 5.55561219e-05]


--- Step 2481 ---
qpos:
[-0.01575275, 1.29331358,-0.03242175, 0.94841185, 0.00440681, 1.33125754,
 -0.02968964, 0.94624779, 0.01673007, 1.33647136,-0.02390514, 0.95497794,
  1.39267156,-0.00558608, 1.19252399, 0.06149952,-0.0423963 ,-0.10733061,
  0.07878977, 0.64755867,-0.01326925,-0.00288383, 0.7618946 ]

qacc:
[-2.50840463e-01,-3.95637971e-01, 2.71354856e+00, 2.40903023e+00,
 -3.98707342e-03, 1.10180153e+00,-5.39548140e+00, 1.64531466e+01,
 -5.56260105e-02, 4.20499235e+00,-1.24082357e+01, 1.13715268e+01,
 -4.07321770e-01, 5.28027285e-01,-3.66002352e+00, 8.23809328e+00,
  8.47678346e+00,-2.35958007e-01,-1.66164753e+00,-3.35275878e+02,
 -1.67693666e+02,-1.19974678e+02]

qfrc_actuator:
[ 3.63947417e-03, 7.38927156e-02, 2.04514837e-02, 1.85744085e-03,
 -5.93874156e-05, 3.51861435e-02, 1.09074661e-02, 1.89021140e-03,
 -3.02863083e-03, 3.47629956e-02, 1.07772979e-02, 1.83571231e-03,
  0.00000000e+00, 2.49957320e-03, 0.00000000e+00, 1.02930688e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000711076448180404
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04947270e-01,  8.77876771e-02, -9.48314550e-01, -2.68743688e-02,
        9.96139209e-01,  8.35729894e-02,  9.51989985e-01, -3.46944695e-18,
        3.06129170e-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([ 0.07240145, -0.04280808,  0.22455574])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -0.2861712 , -8.63162111, -0.2861712 ,  1.12198304,
        0.24913041, -8.63162111,  0.24913041,  8.62810401,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004198966661457901
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.32201934e-14,  2.64403867e-14,  1.00000000e+00,  3.49547026e-28,
        1.00000000e+00, -2.64403867e-14, -1.00000000e+00,  0.00000000e+00,
       -1.32201934e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00628064, -0.08280918,  0.06162901])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.74546362e-04, 3.86958605e-02, 9.67359857e-03, 3.57891189e-05,
 -1.14930401e-06, 3.77090664e-05, 2.90383934e-05, 5.45838819e-05,
 -1.59622839e-05, 9.10181962e-05,-3.75239095e-05, 7.00381882e-06,
  2.97464080e-03, 4.50715447e-03, 9.03814360e-03, 1.80984334e-03,
  2.15226293e-03, 1.18565287e-03,-4.90621757e+00, 7.30566865e-03,
  2.24905286e-03, 1.37947853e-04]


--- Step 2482 ---
qpos:
[-0.01575818, 1.2933315 ,-0.03242069, 0.94841284, 0.00440564, 1.33126405,
 -0.02969037, 0.94625077, 0.01673031, 1.33647243,-0.02390791, 0.95498023,
  1.39268429,-0.00558995, 1.19249884, 0.06149734,-0.04260544,-0.10747699,
  0.07877101, 0.6465719 ,-0.01246886,-0.00471104, 0.76273659]

qacc:
[-2.57901865e-02,-6.93884127e-01, 1.66331014e+00, 3.04288990e+00,
  2.79838291e-03, 1.68936766e+00,-7.03030848e+00, 1.36121455e+01,
 -1.61404760e-02, 3.34613047e+00,-1.01380780e+01, 1.24450895e+01,
 -1.12306139e-01, 1.57256200e-01, 1.46555782e-01, 1.00575508e+00,
  1.17527701e+01, 9.75273014e-02, 3.37936024e+00,-1.65790302e+02,
 -2.80149248e+02,-1.19601613e+02]

qfrc_actuator:
[ 3.62378443e-03, 7.38515963e-02, 2.04638416e-02, 1.86871902e-03,
 -5.78941821e-05, 3.51372099e-02, 1.08757378e-02, 1.91858754e-03,
 -3.02380706e-03, 3.48255066e-02, 1.07572394e-02, 1.85584079e-03,
  0.00000000e+00, 2.49384898e-03, 0.00000000e+00, 6.85822016e-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: -0.0007106952597196459
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30492985,  0.08778952, -0.94831998, -0.0268734 ,  0.99613905,
        0.08357524,  0.95199559,  0.        ,  0.30611173])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07239887, -0.0428085 ,  0.22455633])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.60235331, -0.76569864,  8.60235331,  8.90834063,
        3.05556527, -0.76569864,  3.05556527, 42.96455832,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004138731521188571
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.34126002e-14,  1.34126002e-14,  1.00000000e+00,  1.79897844e-28,
        1.00000000e+00, -1.34126002e-14, -1.00000000e+00,  0.00000000e+00,
       -1.34126002e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04123529, -0.08846707,  0.06163287])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.88263439e-04, 3.85778057e-02, 9.62560865e-03, 2.24059694e-05,
  8.16164321e-07,-2.08022561e-05,-1.94554904e-05, 3.16358172e-05,
 -4.59738817e-06, 1.05726422e-04,-6.33775195e-06, 2.18903084e-05,
  2.99754489e-03, 4.48889227e-03, 9.14656692e-03, 1.76728902e-03,
  2.02802571e-03, 1.46976932e-03,-4.90637459e+00, 7.50189774e-03,
  1.95328436e-03, 3.65130541e-04]


--- Step 2483 ---
qpos:
[-0.01576423, 1.29335099,-0.0324184 , 0.94841345, 0.00440435, 1.33127008,
 -0.02969128, 0.94625375, 0.01673069, 1.33647365,-0.02390969, 0.9549817 ,
  1.39269712,-0.0055936 , 1.19247037, 0.0614955 ,-0.04276926,-0.10758056,
  0.07877939, 0.64563659,-0.01161579,-0.00595595, 0.76353323]

qacc:
[-2.63025674e-01,-1.94276580e+00, 9.60582059e+00,-1.36966833e+01,
 -5.52402279e-02,-1.64462472e-01,-2.17131182e-01, 4.72380940e-01,
  6.21148528e-02,-3.88026834e+00, 1.45305313e+01,-2.21399917e+01,
  1.40151334e-01,-3.80172312e-03,-5.92596286e+00, 1.36065389e+01,
  1.13313514e+01, 1.07024223e+01, 6.78430590e+00, 2.39309381e+02,
  1.68562079e+02,-3.07782090e+01]

qfrc_actuator:
[ 3.61657913e-03, 7.38196786e-02, 2.04882467e-02, 1.85710062e-03,
 -7.42879003e-05, 3.50875701e-02, 1.08571638e-02, 1.91628338e-03,
 -3.00323077e-03, 3.48087507e-02, 1.07998909e-02, 1.81352389e-03,
  0.00000000e+00, 2.47417476e-03, 0.00000000e+00, 2.26194281e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007103778895699506
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04911755e-01,  8.77913911e-02, -9.48325626e-01, -2.68723846e-02,
        9.96138882e-01,  8.35775287e-02,  9.52001416e-01, -3.46944695e-18,
        3.06093619e-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([ 0.07239634, -0.04280893,  0.22455692])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -0.46080179,  8.62406161, -0.46080179, 56.85120243,
        2.57622044,  8.62406161,  2.57622044,  8.77401652,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004219213614306244
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.57837648e-15,  2.63135059e-14,  1.00000000e+00,  1.73100149e-28,
        1.00000000e+00, -2.63135059e-14, -1.00000000e+00,  0.00000000e+00,
       -6.57837648e-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([-0.07181401, -0.12881068,  0.06162682])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.84078429e-04, 3.85392145e-02, 9.62149980e-03,-8.88167252e-06,
 -1.59129515e-05,-6.40433809e-05,-2.39309328e-05,-2.75193463e-06,
  1.78657630e-05, 4.11195803e-05, 6.32243596e-05,-3.88592619e-05,
  3.00104891e-03, 4.46629846e-03, 9.11217103e-03, 1.91023960e-03,
  2.08123944e-03, 2.25875853e-03,-4.90701526e+00, 7.78626691e-03,
  1.86523805e-03, 6.32835154e-04]


--- Step 2484 ---
qpos:
[-0.01577035, 1.29337098,-0.0324154 , 0.94841404, 0.00440304, 1.33127601,
 -0.02969223, 0.94625595, 0.01673111, 1.33647444,-0.02391028, 0.95498131,
  1.39271013,-0.00559719, 1.19244084, 0.06149403,-0.04289577,-0.10764881,
  0.07880621, 0.64474441,-0.01072205,-0.00667827, 0.76429385]

qacc:
[-3.41591892e-02,-1.25201422e+00, 4.91983194e+00,-4.80076894e+00,
 -3.03000988e-03,-1.34973748e+00, 5.82351949e+00,-1.40146693e+01,
  1.72680544e-02,-6.99746141e+00, 2.58662992e+01,-4.35735827e+01,
  1.73411459e-01,-1.19919939e-01,-2.68191731e+00, 7.06173492e+00,
  9.32866629e+00, 8.82873754e+00, 4.60914115e+00, 2.12787206e+02,
  1.53514273e+02,-2.51770266e+01]

qfrc_actuator:
[ 3.63279775e-03, 7.37917883e-02, 2.05012231e-02, 1.85011380e-03,
 -6.57740868e-05, 3.51089171e-02, 1.08642379e-02, 1.87820489e-03,
 -3.00887721e-03, 3.47448652e-02, 1.08433574e-02, 1.71702879e-03,
  0.00000000e+00, 2.46370354e-03, 0.00000000e+00, 2.50282027e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007099993525346085
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04890977e-01,  8.77934812e-02, -9.48332113e-01, -2.68711981e-02,
        9.96138697e-01,  8.35801056e-02,  9.52008104e-01, -3.46944695e-18,
        3.06072817e-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([ 0.0723935 , -0.04280934,  0.22455758])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -6.63007929,  5.53433153, -6.63007929, 14.32203081,
        6.81137803,  5.53433153,  6.81137803, 16.79633314,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004300006892237071
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.06846835e-15,  2.25917114e-14,  1.00000000e+00, -1.82280508e-28,
        1.00000000e+00, -2.25917114e-14, -1.00000000e+00,  0.00000000e+00,
        8.06846835e-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([-0.07181468, -0.12886006,  0.0616212 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.31134522e-04, 3.84325637e-02, 9.57213820e-03, 3.18684757e-06,
 -8.78420598e-07,-1.88790799e-05,-8.25486618e-06,-4.07526140e-05,
  4.90319090e-06,-2.99544204e-05, 5.75475457e-05,-9.43300730e-05,
  2.99539503e-03, 4.44510962e-03, 9.27822139e-03, 1.91740020e-03,
  1.37809649e-03, 1.34055447e-03,-4.90648078e+00, 7.46367878e-03,
  2.06061003e-03, 3.04459503e-04]


--- Step 2485 ---
qpos:
[-0.01577539, 1.29338814,-0.03241326, 0.94841458, 0.00440192, 1.33128205,
 -0.02969236, 0.94625691, 0.01673152, 1.33647493,-0.02390973, 0.95497941,
  1.39272321,-0.00560122, 1.19241808, 0.06149312,-0.0429914 ,-0.10768776,
  0.07884409, 0.64388849,-0.00979675,-0.00692945, 0.76502524]

qacc:
[ 4.63664800e-01,-1.49503854e+00, 4.84932991e-01, 8.01173331e-01,
  7.95544388e-02,-4.18439133e+00, 1.63723795e+01,-2.85463218e+01,
 -2.15223289e-03,-6.03518468e+00, 2.22649044e+01,-3.65082321e+01,
  2.51034669e-02,-2.89590505e-01, 8.25768173e+00,-1.43581656e+01,
  7.71991398e+00, 7.32802105e+00, 2.76486599e+00, 1.90306784e+02,
  1.40099711e+02,-2.08605782e+01]

qfrc_actuator:
[ 3.62727552e-03, 7.37845081e-02, 2.05073936e-02, 1.82794513e-03,
 -4.23868118e-05, 3.51549292e-02, 1.09221514e-02, 1.81944097e-03,
 -3.01245705e-03, 3.47419880e-02, 1.09044629e-02, 1.64265101e-03,
  0.00000000e+00, 2.47656873e-03, 0.00000000e+00,-1.18070419e-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: -0.0007096107169875451
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30486906,  0.08779561, -0.94833896, -0.02686992,  0.99613851,
        0.08358275,  0.95201516,  0.        ,  0.30605087])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07239058, -0.04280977,  0.22455825])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -6.52405263,  5.65893224, -6.52405263, 13.21206146,
        5.27521663,  5.65893224,  5.27521663, 14.71803937,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004316197556841206
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.08993262e-14,  9.64584287e-15,  1.00000000e+00, -2.01591617e-28,
        1.00000000e+00, -9.64584287e-15, -1.00000000e+00,  0.00000000e+00,
        2.08993262e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07188533, -0.12894953,  0.06162051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.29612029e-04, 3.84000129e-02, 9.54345815e-03,-1.79439134e-05,
  2.28684145e-05, 3.26953164e-05, 5.20855899e-05,-6.05075412e-05,
 -6.85436908e-07,-1.10030511e-05, 5.90348326e-05,-7.57773650e-05,
  2.98662614e-03, 4.45466359e-03, 9.33223964e-03, 1.64799103e-03,
  1.04637871e-03, 7.78747147e-04,-4.90612671e+00, 7.19701084e-03,
  2.21551844e-03, 9.86022657e-05]


--- Step 2486 ---
qpos:
[-0.0157791 , 1.29340191,-0.03241286, 0.9484153 , 0.00440089, 1.33128816,
 -0.02969205, 0.94625719, 0.01673206, 1.33647579,-0.02390817, 0.95497761,
  1.39273609,-0.00560568, 1.19240254, 0.06149243,-0.04306132,-0.1077022 ,
  0.07888678, 0.64306312,-0.00884687,-0.00675406, 0.76573229]

qacc:
[ 5.70347940e-01, 5.17428130e-01,-7.43229355e+00, 1.06285937e+01,
  3.51823230e-02,-2.27643165e+00, 8.92206560e+00,-1.57140774e+01,
  5.22648062e-02,-2.09317414e+00, 7.16727872e+00,-5.18503891e+00,
 -2.22383234e-01,-5.42620739e-02, 1.00424646e+01,-1.96035865e+01,
  6.42470917e+00, 6.12459538e+00, 1.20261645e+00, 1.71155018e+02,
  1.28154523e+02,-1.75192496e+01]

qfrc_actuator:
[ 3.64307878e-03, 7.38104803e-02, 2.04930009e-02, 1.83220869e-03,
 -4.57724944e-05, 3.51445379e-02, 1.09386982e-02, 1.78453528e-03,
 -2.99701456e-03, 3.48112430e-02, 1.09757333e-02, 1.65294728e-03,
  0.00000000e+00, 2.50391266e-03, 0.00000000e+00,-2.05300752e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007094264844090398
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30485066,  0.08779736, -0.94834472, -0.02686884,  0.99613836,
        0.08358494,  0.95202108,  0.        ,  0.30603244])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07238828, -0.04281026,  0.22455881])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -6.41731243,  5.77969532, -6.41731243, 12.6529513 ,
        4.4596984 ,  5.77969532,  4.4596984 , 13.58805684,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004279862567374115
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.48515581e-15,  6.48515581e-15,  1.00000000e+00,  4.20572459e-29,
        1.00000000e+00, -6.48515581e-15, -1.00000000e+00,  0.00000000e+00,
       -6.48515581e-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([-0.07201124, -0.12907127,  0.06162373])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.91046893e-04, 3.85674651e-02, 9.57178844e-03,-1.12460493e-05,
  1.01099161e-05, 1.60254746e-05, 2.70867832e-05,-3.37936888e-05,
  1.50381159e-05, 7.24477610e-05, 7.36097035e-05, 9.93262972e-06,
  2.98368148e-03, 4.50390721e-03, 8.99402913e-03, 1.41519354e-03,
  9.81802801e-04, 4.89556143e-04,-4.90590637e+00, 6.97313705e-03,
  2.34002001e-03,-1.42479596e-05]


--- Step 2487 ---
qpos:
[-0.01578186, 1.29341375,-0.03241395, 0.94841627, 0.00440018, 1.33129445,
 -0.02969243, 0.94625745, 0.01673259, 1.33647708,-0.02390617, 0.9549784 ,
  1.39274887,-0.00561034, 1.19239048, 0.06149156,-0.04313533,-0.10771713,
  0.07892002, 0.64225273,-0.00858753,-0.00650767, 0.7664172 ]

qacc:
[ 4.00051808e-01, 1.92913884e+00,-9.85743998e+00, 1.26062577e+01,
  1.38135804e-01, 2.08860536e+00,-6.45520600e+00, 5.16433901e+00,
  3.18402723e-04, 3.81721749e+00,-1.69455459e+01, 4.41140197e+01,
 -1.40160536e-01, 1.55744582e-02, 5.69148638e+00,-1.24218318e+01,
 -1.02094804e+00,-1.21171839e-01,-2.36052177e+00,-1.94855868e+02,
  2.87360526e+02,-1.02076646e+01]

qfrc_actuator:
[ 3.65323944e-03, 7.38403454e-02, 2.04674886e-02, 1.85212356e-03,
 -1.19344534e-05, 3.51358272e-02, 1.08949808e-02, 1.78164351e-03,
 -3.00579046e-03, 3.48344896e-02, 1.09995091e-02, 1.78404550e-03,
  0.00000000e+00, 2.50460892e-03, 0.00000000e+00,-2.74362888e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007094148754669544
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04837139e-01,  8.77986533e-02, -9.48348942e-01, -2.68680482e-02,
        9.96138242e-01,  8.35865510e-02,  9.52025434e-01,  3.46944695e-18,
        3.06018911e-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([ 0.07238666, -0.0428108 ,  0.22455922])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.60632611,  0.71967201, -8.60632611,  8.75961979,
        1.47398068,  0.71967201,  1.47398068, 26.26322449,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00422634089897804
  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([ 0.00057471, -0.12846621,  0.06162823])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.34319798e-04, 3.87668944e-02, 9.63282827e-03,-2.67266021e-07,
  3.98044000e-05, 4.39501469e-06,-3.84996866e-05,-2.39249920e-06,
  1.05704213e-07, 7.79701075e-05, 4.65750483e-05, 1.35630541e-04,
  2.99321650e-03, 4.52630433e-03, 8.63331761e-03, 1.33575767e-03,
  1.10907666e-03, 4.08585426e-04,-4.90578664e+00, 6.78250989e-03,
  2.44125322e-03,-5.64558221e-05]


--- Step 2488 ---
qpos:
[-0.01578411, 1.29342513,-0.03241519, 0.94841727, 0.00439998, 1.33130067,
 -0.02969352, 0.94625735, 0.01673294, 1.33647815,-0.02390408, 0.95498013,
  1.39276184,-0.0056152 , 1.19238068, 0.06149066,-0.04321419,-0.1077314 ,
  0.07894068, 0.64145161,-0.00893087,-0.00620431, 0.76708642]

qacc:
[ 2.20855952e-01,-1.63061823e-01,-2.40638480e-01, 7.77833074e-01,
  2.13984655e-01, 1.17558394e+00,-3.22981290e+00,-1.28405010e+00,
 -8.03559682e-02, 1.12904789e+00,-5.92755736e+00, 1.62232241e+01,
  1.70930940e-01,-2.84082027e-01, 3.41242962e+00,-7.10895614e+00,
 -1.21085851e+00, 1.64797783e-01,-3.14626446e+00,-1.71722340e+02,
  2.49346864e+02,-6.38329970e+00]

qfrc_actuator:
[ 3.62437339e-03, 7.38369345e-02, 2.04890224e-02, 1.86353583e-03,
  2.62085896e-05, 3.51102154e-02, 1.08515708e-02, 1.76207024e-03,
 -3.02902433e-03, 3.47588983e-02, 1.09772033e-02, 1.82534000e-03,
  0.00000000e+00, 2.47150624e-03, 0.00000000e+00,-3.15342244e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007094512366820592
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30482689,  0.08779962, -0.94835215, -0.02686744,  0.99613816,
        0.08358776,  0.95202873,  0.        ,  0.30600865])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07238538, -0.04281137,  0.22455956])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([8.63636364, 7.42898103, 4.40420455, 7.42898103, 8.20042663,
       0.73533545, 4.40420455, 0.73533545, 7.396005  , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.004229523849411318
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.31246810e-14, -6.56234049e-15,  1.00000000e+00, -8.61286254e-29,
        1.00000000e+00,  6.56234049e-15, -1.00000000e+00,  0.00000000e+00,
       -1.31246810e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00054012, -0.12839365,  0.06162853])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.58525297e-04, 3.88598725e-02, 9.72928341e-03,-1.25184789e-06,
  6.16312480e-05,-3.08232851e-05,-4.70069138e-05,-2.06167736e-05,
 -2.31684439e-05,-1.93692942e-05, 2.18014985e-06, 4.81298084e-05,
  2.99845913e-03, 4.50337442e-03, 8.45955871e-03, 1.30386268e-03,
  7.51310525e-04, 4.57229031e-04,-4.90513031e+00, 6.40734548e-03,
  2.31817445e-03, 7.66865212e-05]


--- Step 2489 ---
qpos:
[-0.01578628, 1.29343675,-0.03241586, 0.94841863, 0.00439997, 1.33130578,
 -0.02969387, 0.94625737, 0.01673306, 1.33647935,-0.02390314, 0.95498135,
  1.39277469,-0.00562017, 1.19237273, 0.06148972,-0.04329836,-0.1077442 ,
  0.07894596, 0.64065514,-0.00980307,-0.0058551 , 0.76774384]

qacc:
[ 3.42142303e-02,-5.76947621e-01, 1.49955765e+00, 2.85361497e+00,
  8.19380100e-02,-3.20817982e+00, 8.46033347e+00,-5.15769487e+00,
 -9.60573167e-02, 2.35459558e+00,-6.44683951e+00,-4.46324427e-01,
 -1.29543546e-01, 6.08565691e-02, 2.82378693e+00,-5.90423275e+00,
 -1.32924805e+00, 3.66371991e-01,-3.84591667e+00,-1.52045031e+02,
  2.17608899e+02,-3.72349150e+00]

qfrc_actuator:
[ 3.60764171e-03, 7.38661138e-02, 2.05380305e-02, 1.88772360e-03,
  1.33672434e-05, 3.50213991e-02, 1.08796374e-02, 1.76833397e-03,
 -3.04299007e-03, 3.47487438e-02, 1.09096748e-02, 1.79559485e-03,
  0.00000000e+00, 2.48921873e-03, 0.00000000e+00,-3.57305177e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007095854106857549
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30481722,  0.08780042, -0.94835518, -0.02686684,  0.99613809,
        0.08358879,  0.95203185,  0.        ,  0.30599896])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07238428, -0.04281197,  0.22455987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([8.63636364, 7.30696481, 4.60380735, 7.30696481, 8.32672671,
       0.49144239, 4.60380735, 0.49144239, 7.85636743, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0041779484057940935
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.32867010e-14,  1.32867010e-14,  1.00000000e+00,  1.76536423e-28,
        1.00000000e+00, -1.32867010e-14, -1.00000000e+00,  0.00000000e+00,
       -1.32867010e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00061154, -0.12838572,  0.06163256])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.15890194e-04, 3.89117457e-02, 9.78557430e-03, 2.17253846e-05,
  2.35253879e-05,-1.15717314e-04, 1.60811498e-05, 3.49052333e-06,
 -2.76444825e-05,-1.90213466e-05,-6.96559922e-05,-2.91282281e-05,
  2.98880988e-03, 4.53143169e-03, 8.34655641e-03, 1.26333078e-03,
  5.49997997e-04, 4.04350655e-04,-4.90472786e+00, 6.09915399e-03,
  2.21586511e-03, 8.33465070e-05]


--- Step 2490 ---
qpos:
[-0.01578849, 1.29344804,-0.03241671, 0.94842002, 0.00439986, 1.33130971,
 -0.02969324, 0.9462585 , 0.01673298, 1.33648073,-0.02390389, 0.95498084,
  1.39278707,-0.00562513, 1.19236602, 0.06148863,-0.04338808,-0.10774363,
  0.07895027, 0.639824  ,-0.01116266,-0.00534969, 0.76842178]

qacc:
[-2.15338844e-02, 8.60900933e-02,-8.52744171e-01, 1.21375125e+00,
 -4.03562924e-02,-2.29809790e+00, 3.34865382e+00, 1.06598996e+01,
 -8.55988749e-02, 1.86938743e+00,-2.33206741e+00,-1.79505166e+01,
 -4.45827616e-01, 4.14635641e-01, 2.34074547e+00,-5.44852930e+00,
 -1.38757260e+00, 3.34328918e+00,-2.41991835e-01,-9.62741544e+01,
  2.36937462e+02, 2.20720572e+01]

qfrc_actuator:
[ 3.61617394e-03, 7.38788301e-02, 2.05318605e-02, 1.88371494e-03,
 -1.22018827e-05, 3.49667223e-02, 1.09316813e-02, 1.82526297e-03,
 -3.05128234e-03, 3.47421007e-02, 1.08162080e-02, 1.70656049e-03,
  0.00000000e+00, 2.53739661e-03, 0.00000000e+00,-3.99843488e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007098494319936581
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04806786e-01,  8.78012022e-02, -9.48358462e-01, -2.68661589e-02,
        9.96138017e-01,  8.35898356e-02,  9.52035206e-01, -3.46944695e-18,
        3.05988508e-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([ 0.07238332, -0.04281258,  0.22456017])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.54834199,  1.22988862,  8.54834199,  8.84874143,
       -1.47613205,  1.22988862, -1.47613205, 18.89622086,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004082218493547284
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.09596440e-06, -1.35982803e-14,  1.00000000e+00,  1.49032311e-20,
        1.00000000e+00,  1.35982803e-14, -1.00000000e+00,  0.00000000e+00,
        1.09596440e-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([-0.0227017 , -0.12881024,  0.06163954])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.20410190e-04, 3.89124438e-02, 9.75116116e-03,-8.26659087e-07,
 -1.16913425e-05,-1.15471584e-04, 3.13406342e-05, 5.40180900e-05,
 -2.46131937e-05,-3.16364992e-05,-1.05950328e-04,-9.23091391e-05,
  2.99503894e-03, 4.58467087e-03, 8.25456430e-03, 1.22239848e-03,
  4.60315347e-04, 2.82558808e-04,-4.90450057e+00, 5.84027101e-03,
  2.12843855e-03, 6.25972693e-06]


--- Step 2491 ---
qpos:
[-0.01579112, 1.29346004,-0.03241769, 0.94841987, 0.00439972, 1.33131343,
 -0.02969285, 0.9462589 , 0.01673275, 1.33648182,-0.02390538, 0.95497892,
  1.39279924,-0.00562997, 1.19235588, 0.06148743,-0.04345859,-0.10771644,
  0.07895928, 0.63906086,-0.01245612,-0.00440985, 0.76904266]

qacc:
[-1.75516925e-01,-1.32340356e+00, 8.58944516e+00,-2.56510120e+01,
 -1.52495249e-02,-9.02987420e-01, 4.10392331e+00,-1.18999541e+01,
 -6.71721037e-02,-8.41608396e-01, 5.12844678e+00,-2.05817099e+01,
 -6.77978840e-02, 9.28899473e-02,-4.71719335e+00, 9.15044984e+00,
  4.80340089e+00, 6.65484934e+00, 1.17515709e+00, 1.88295679e+02,
  1.14066607e+02,-4.21310228e+01]

qfrc_actuator:
[ 3.63996307e-03, 7.38643899e-02, 2.04931009e-02, 1.80973000e-03,
 -9.69088182e-06, 3.49863144e-02, 1.09265670e-02, 1.78729343e-03,
 -3.05610479e-03, 3.47196976e-02, 1.07792031e-02, 1.63662279e-03,
  0.00000000e+00, 2.53278181e-03, 0.00000000e+00,-2.65062903e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007101578546704242
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04796835e-01,  8.78019964e-02, -9.48361587e-01, -2.68655267e-02,
        9.96137947e-01,  8.35908730e-02,  9.52038409e-01,  3.46944695e-18,
        3.05978540e-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([ 0.07238246, -0.04281316,  0.22456047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.61786852,  0.56490619,  8.61786852,  8.68902248,
       -0.80333159,  0.56490619, -0.80333159, 20.89150657,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00406030231159174
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.96530391e-14,  1.53806393e-14,  1.00000000e+00, -3.02276304e-28,
        1.00000000e+00, -1.53806393e-14, -1.00000000e+00,  0.00000000e+00,
        1.96530391e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0725024 , -0.12974724,  0.0616412 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.46716401e-04, 3.89144604e-02, 9.72130802e-03,-7.59577534e-05,
 -4.39231451e-06,-3.65601123e-05,-2.25513069e-05,-3.92522837e-05,
 -1.93536970e-05,-6.33344680e-05,-5.79259940e-05,-7.61231796e-05,
  3.01843498e-03, 4.58006354e-03, 8.19247768e-03, 1.36504208e-03,
  4.19532830e-04, 2.35975357e-04,-4.90433668e+00, 5.52523385e-03,
  2.06722471e-03,-1.06598290e-04]


--- Step 2492 ---
qpos:
[-0.01579462, 1.29347415,-0.03241833, 0.94841869, 0.00439971, 1.33131732,
 -0.02969299, 0.94625813, 0.01673254, 1.33648241,-0.0239071 , 0.95497824,
  1.39281126,-0.0056344 , 1.1923387 , 0.06148594,-0.04351275,-0.10766692,
  0.0789677 , 0.63835188,-0.01369931,-0.00307497, 0.76961663]

qacc:
[-3.69246189e-01, 7.37008796e-02, 5.22451695e+00,-1.78531567e+01,
  5.80862829e-02,-3.15145217e-01, 3.70818100e+00,-1.68615374e+01,
  1.25609168e-02, 2.09970114e+00,-1.01280838e+01, 2.33735264e+01,
 -5.06767938e-02, 2.82124181e-01,-9.52235483e+00, 1.82226811e+01,
  4.08670880e+00, 5.58258035e+00,-1.47698448e-01, 1.68196198e+02,
  1.07306657e+02,-3.34632624e+01]

qfrc_actuator:
[ 3.67328755e-03, 7.38327433e-02, 2.04525634e-02, 1.76631872e-03,
  9.64672544e-06, 3.50144655e-02, 1.09057295e-02, 1.72928543e-03,
 -3.04105517e-03, 3.47059975e-02, 1.07757900e-02, 1.70279363e-03,
  0.00000000e+00, 2.53188331e-03, 0.00000000e+00,-4.16245894e-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: -0.0007103125549210894
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04786326e-01,  8.78029223e-02, -9.48364878e-01, -2.68648859e-02,
        9.96137865e-01,  8.35920514e-02,  9.52041792e-01, -3.46944695e-18,
        3.05968016e-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([ 0.07238132, -0.04281368,  0.2245608 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.54733027,  1.23690019, -8.54733027,  8.74952811,
        0.78199854,  1.23690019,  0.78199854, 14.04019476,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003994706433420592
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.08442668e-14,  1.38961779e-14,  1.00000000e+00, -2.89655640e-28,
        1.00000000e+00, -1.38961779e-14, -1.00000000e+00,  0.00000000e+00,
        2.08442668e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07260702, -0.1298982 ,  0.06164609])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.00607728e-04, 3.88470197e-02, 9.68727268e-03,-4.26070832e-05,
  1.67446198e-05, 2.31451883e-06,-3.17069176e-05,-6.06695037e-05,
  3.62221530e-06,-6.23008686e-05,-2.45942478e-05, 6.08245214e-05,
  3.02876104e-03, 4.57353169e-03, 8.36407510e-03, 1.59417753e-03,
  1.58353139e-04, 7.08142791e-04,-4.90445845e+00, 5.47013577e-03,
  2.16957973e-03, 7.41701822e-05]


--- Step 2493 ---
qpos:
[-1.57990291e-02, 1.29349099e+00,-3.24181070e-02, 9.48417600e-01,
  4.39973832e-03, 1.33132125e+00,-2.96937393e-02, 9.46258076e-01,
  1.67325666e-02, 1.33648183e+00,-2.39085828e-02, 9.54978740e-01,
  1.39282337e+00,-5.63828176e-03, 1.19231404e+00, 6.14841412e-02,
 -4.36719209e-02,-1.07661545e-01, 7.89772892e-02, 6.37144161e-01,
 -1.41537721e-02,-1.11628302e-03, 7.70613874e-01]

qacc:
[-3.92175889e-01, 1.41946327e+00,-5.01937338e-01,-1.87058320e-01,
  1.25790210e-02, 2.87589964e+00,-1.07827902e+01, 1.75381215e+01,
  1.00684302e-01,-1.56254575e-01,-3.72818021e+00, 1.75471566e+01,
  6.68313340e-02, 2.92769819e-01,-1.01134353e+01, 1.92955474e+01,
 -2.62532834e+01,-1.10351675e+01, 2.93657559e-01, 4.89026877e+02,
 -1.08069502e+02, 3.30076758e+02]

qfrc_actuator:
[ 3.69519939e-03, 7.37890929e-02, 2.04282891e-02, 1.77687316e-03,
  3.41617173e-06, 3.50119366e-02, 1.08758532e-02, 1.76649917e-03,
 -3.01420714e-03, 3.46090761e-02, 1.07745666e-02, 1.75977757e-03,
  0.00000000e+00, 2.51511224e-03, 0.00000000e+00, 1.64214496e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007102002975720931
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04773478e-01,  8.78041393e-02, -9.48368895e-01, -2.68641286e-02,
        9.96137758e-01,  8.35935731e-02,  9.52045926e-01, -3.46944695e-18,
        3.05955150e-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([ 0.07237956, -0.04281412,  0.22456125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.019516091624984865
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.87558064, -0.43779032,  0.2042013 , -0.42634912,  0.8990771 ,
        0.09943235, -0.22712323,  0.        , -0.97386603])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06786251, -0.09349272,  0.06164688])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.65794822e-04, 3.86978339e-02, 9.64574826e-03, 1.98244321e-05,
  3.65058899e-06,-9.29584094e-06,-3.48137234e-05, 3.49504759e-05,
  2.89844924e-05,-1.34377171e-04,-1.44054163e-05, 5.58314157e-05,
  3.03623770e-03, 4.53591377e-03, 8.71612136e-03, 1.81431992e-03,
  1.07716415e-04, 1.28451374e-03,-4.90463535e+00, 5.42576593e-03,
  2.24264957e-03, 2.85522613e-04]


--- Step 2494 ---
qpos:
[-1.58033545e-02, 1.29350849e+00,-3.24168097e-02, 9.48416473e-01,
  4.39945927e-03, 1.33132526e+00,-2.96954619e-02, 9.46258478e-01,
  1.67328664e-02, 1.33648006e+00,-2.39088034e-02, 9.54978482e-01,
  1.39283562e+00,-5.64222988e-03, 1.19228946e+00, 6.14827435e-02,
 -4.38090166e-02,-1.07666719e-01, 7.89889022e-02, 6.36122547e-01,
 -1.47987863e-02, 6.45336929e-05, 7.71446108e-01]

qacc:
[ 3.78248265e-02,-2.08840482e+00, 7.93745757e+00,-7.70529647e+00,
 -1.29075911e-01, 3.53877568e+00,-1.23510232e+01, 1.59926977e+01,
  1.15015192e-01,-6.25543682e+00, 2.00545290e+01,-2.53634508e+01,
  1.79247454e-01,-2.26270492e-01,-1.10340100e+00, 4.01826488e+00,
  5.51957099e+00,-2.63805515e+00, 5.04941437e-01,-3.59200140e+02,
 -1.73114672e+02,-1.29673939e+02]

qfrc_actuator:
[ 3.71066372e-03, 7.37367797e-02, 2.04663772e-02, 1.76583266e-03,
 -3.58554851e-05, 3.50088289e-02, 1.08230810e-02, 1.78842583e-03,
 -2.99825241e-03, 3.45696177e-02, 1.08452937e-02, 1.72205121e-03,
  0.00000000e+00, 2.50626988e-03, 0.00000000e+00, 1.11100863e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.26038608,  0.25489922, -0.05317234,  0.25489922,  0.27998315,
        0.09394507, -0.05317234,  0.09394507,  0.71074287,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007098411000888045
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04757210e-01,  8.78056769e-02, -9.48373980e-01, -2.68631688e-02,
        9.96137623e-01,  8.35954966e-02,  9.52051161e-01,  3.46944695e-18,
        3.05938861e-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([ 0.07237712, -0.04281451,  0.22456181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([8.63636364, 1.60884006, 8.48518771, 1.60884006, 5.86134997,
       0.52615844, 8.48518771, 0.52615844, 8.53660099, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.004113864920753663
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01202553e-14,  2.69873476e-14,  1.00000000e+00,  2.73118848e-28,
        1.00000000e+00, -2.69873476e-14, -1.00000000e+00,  0.00000000e+00,
       -1.01202553e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00839375, -0.08211184,  0.06163762])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.27221866e-04, 3.85091010e-02, 9.64080403e-03, 4.09731282e-06,
 -3.71178847e-05,-1.40364568e-05,-5.75300671e-05, 2.14430344e-05,
  3.30615716e-05,-1.14919422e-04, 4.44836366e-05,-4.08324713e-05,
  3.03196651e-03, 4.49955734e-03, 9.09120119e-03, 1.77703881e-03,
  1.93388787e-03, 3.19150915e-03,-4.90460449e+00, 4.88970565e-03,
  2.68780134e-03, 8.00742571e-04]


--- Step 2495 ---
qpos:
[-1.58067877e-02, 1.29352403e+00,-3.24156544e-02, 9.48415527e-01,
  4.39866433e-03, 1.33132967e+00,-2.96976599e-02, 9.46258050e-01,
  1.67332568e-02, 1.33647863e+00,-2.39087778e-02, 9.54977692e-01,
  1.39284785e+00,-5.64657591e-03, 1.19227093e+00, 6.14818401e-02,
 -4.39301890e-02,-1.07681716e-01, 7.89982532e-02, 6.35252507e-01,
 -1.55937262e-02, 5.68270337e-04, 7.72146855e-01]

qacc:
[ 3.80600714e-01,-1.88500064e+00, 2.66557040e+00, 1.02646653e+00,
 -2.18651273e-01, 3.73957075e-01, 1.09614503e+00,-1.08071391e+01,
  3.83473603e-02,-1.14158988e+00, 5.32307104e+00,-1.09511869e+01,
 -3.58863023e-02,-2.15468230e-01, 7.43743191e+00,-1.30348098e+01,
  3.98080345e+00,-2.45592331e+00,-5.65532565e-01,-3.07725319e+02,
 -1.56555324e+02,-1.05301446e+02]

qfrc_actuator:
[ 3.70386681e-03, 7.36979933e-02, 2.04880665e-02, 1.75968134e-03,
 -7.68769191e-05, 3.50585644e-02, 1.08104457e-02, 1.74788657e-03,
 -3.00671468e-03, 3.46716229e-02, 1.08870615e-02, 1.69997199e-03,
  0.00000000e+00, 2.52033852e-03, 0.00000000e+00,-9.79768657e-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: -0.0007095564468546783
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30473929,  0.08780721, -0.9483796 , -0.02686206,  0.99613749,
        0.08359746,  0.95205693,  0.        ,  0.30592091])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07237468, -0.04281491,  0.22456239])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.62058574, -0.52180298, -8.62058574,  8.64997229,
       -0.22482548, -0.52180298, -0.22482548, 12.35065311,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004208066636390756
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89370346e-15, -1.31916046e-14,  1.00000000e+00, -1.30513824e-28,
        1.00000000e+00,  1.31916046e-14, -1.00000000e+00,  0.00000000e+00,
       -9.89370346e-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([-0.00874403, -0.08217251,  0.06163101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.15991605e-04, 3.84369988e-02, 9.60873582e-03,-1.80597194e-07,
 -6.29247336e-05, 3.13367679e-05,-2.12982622e-05,-4.21444936e-05,
  1.10520587e-05, 4.59464386e-05, 2.31871741e-05,-2.51364968e-05,
  3.02505291e-03, 4.51720453e-03, 9.08728087e-03, 1.54788147e-03,
  8.34888216e-04, 1.46791086e-03,-4.90444211e+00, 5.40070654e-03,
  2.35083236e-03, 3.82935818e-04]


--- Step 2496 ---
qpos:
[-1.58102402e-02, 1.29353910e+00,-3.24147493e-02, 9.48415427e-01,
  4.39751387e-03, 1.33133425e+00,-2.96991249e-02, 9.46257094e-01,
  1.67335117e-02, 1.33647844e+00,-2.39093553e-02, 9.54978332e-01,
  1.39285996e+00,-5.65076903e-03, 1.19225307e+00, 6.14807934e-02,
 -4.40401811e-02,-1.07705835e-01, 7.90014926e-02, 6.34505814e-01,
 -1.65070060e-02, 4.79767105e-04, 7.72741652e-01]

qacc:
[-8.25006904e-03, 1.49391202e+00,-7.35217115e+00, 1.64494431e+01,
 -1.50519453e-01,-2.64727693e+00, 9.99723693e+00,-1.48907143e+01,
 -5.75460650e-02, 5.72425097e+00,-1.95810980e+01, 3.26935457e+01,
 -2.36199711e-01, 3.59040839e-01, 1.44545744e+00,-3.56869855e+00,
  2.79508157e+00,-2.28025670e+00,-1.52786748e+00,-2.65244167e+02,
 -1.41632102e+02,-8.59250538e+01]

qfrc_actuator:
[ 3.68287396e-03, 7.36341785e-02, 2.04651979e-02, 1.80951807e-03,
 -8.31096335e-05, 3.50864112e-02, 1.08572869e-02, 1.72423192e-03,
 -3.02975510e-03, 3.47864545e-02, 1.08764589e-02, 1.77612269e-03,
  0.00000000e+00, 2.53075687e-03, 0.00000000e+00,-6.35850510e-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: -0.0007095006822673694
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30472337,  0.08780844, -0.9483846 , -0.02686104,  0.99613738,
        0.08359909,  0.95206205,  0.        ,  0.30590497])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07237277, -0.04281536,  0.22456288])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([8.63636364, 1.33415887, 8.5326899 , 1.33415887, 8.18086292,
       0.07122142, 8.5326899 , 0.07122142, 8.62522756, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00423108678024621
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.55991641e-15,  1.31198328e-14,  1.00000000e+00,  8.60650067e-29,
        1.00000000e+00, -1.31198328e-14, -1.00000000e+00,  0.00000000e+00,
       -6.55991641e-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([-0.00894316, -0.08216415,  0.0616295 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.50375047e-04, 3.84711904e-02, 9.59294318e-03, 4.06201159e-05,
 -4.33625428e-05, 3.97210484e-05, 4.93084864e-05,-2.43142955e-05,
 -1.65144667e-05, 1.44032239e-04, 2.70384344e-07, 7.76023940e-05,
  3.02639732e-03, 4.54759982e-03, 8.78521768e-03, 1.55764086e-03,
  4.97764297e-04, 4.90672762e-04,-4.90446817e+00, 5.76136284e-03,
  2.13688557e-03, 1.56474738e-04]


--- Step 2497 ---
qpos:
[-1.58147659e-02, 1.29355623e+00,-3.24125511e-02, 9.48415612e-01,
  4.39641958e-03, 1.33133876e+00,-2.96998978e-02, 9.46255886e-01,
  1.67335733e-02, 1.33647938e+00,-2.39098182e-02, 9.54980542e-01,
  1.39287192e+00,-5.65450871e-03, 1.19223049e+00, 6.14796929e-02,
 -4.41426240e-02,-1.07738411e-01, 7.89951855e-02, 6.33859356e-01,
 -1.75140102e-02,-1.29419480e-04, 7.73249998e-01]

qacc:
[-4.57593180e-01,-2.82082325e-01, 3.61915310e+00,-1.12781467e+00,
  2.39099098e-02,-2.38259229e+00, 8.19146937e+00,-9.99343217e+00,
 -8.19825988e-02, 3.87434450e+00,-1.40102461e+01, 2.95372706e+01,
 -1.82256547e-01, 4.69226578e-01,-6.79830595e+00, 1.36755570e+01,
  1.88729228e+00,-2.11451969e+00,-2.38664972e+00,-2.30063294e+02,
 -1.28286453e+02,-7.04743790e+01]

qfrc_actuator:
[ 3.67167083e-03, 7.35901468e-02, 2.04867701e-02, 1.83895245e-03,
 -5.06704986e-05, 3.50656761e-02, 1.08855379e-02, 1.71073798e-03,
 -3.04360011e-03, 3.48546845e-02, 1.08884429e-02, 1.85620395e-03,
  0.00000000e+00, 2.53859338e-03, 0.00000000e+00, 1.35081026e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007094443068847156
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30470815,  0.08780968, -0.94838937, -0.02686008,  0.99613727,
        0.08360069,  0.95206695,  0.        ,  0.30588972])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07237093, -0.04281583,  0.22456335])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([8.63636364, 1.29078611, 8.53935876, 1.29078611, 7.76447924,
       0.13179166, 8.53935876, 0.13179166, 8.61644237, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0041963523655788315
  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([-0.00902303, -0.08210058,  0.06163206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.40125839e-04, 3.84506535e-02, 9.62700107e-03, 2.77766254e-05,
  6.85283275e-06, 1.01169687e-05, 4.09103939e-05,-1.14191718e-05,
 -2.35904982e-05, 1.50233086e-04, 4.24154188e-05, 8.61629479e-05,
  3.03199928e-03, 4.54786509e-03, 8.75191845e-03, 1.76355353e-03,
  6.49226679e-04, 3.47700022e-05,-4.90461752e+00, 6.01656615e-03,
  2.00306971e-03, 6.58607211e-05]


--- Step 2498 ---
qpos:
[-1.58192408e-02, 1.29357325e+00,-3.24106343e-02, 9.48416426e-01,
  4.39537575e-03, 1.33134348e+00,-2.97000356e-02, 9.46253123e-01,
  1.67335989e-02, 1.33648134e+00,-2.39105635e-02, 9.54981997e-01,
  1.39288429e+00,-5.65806979e-03, 1.19220705e+00, 6.14784819e-02,
 -4.42148719e-02,-1.07775649e-01, 7.90097169e-02, 6.33276969e-01,
 -1.78739249e-02,-8.70999969e-04, 7.73718324e-01]

qacc:
[ 2.16107731e-02, 1.66810566e+00,-6.91838832e+00, 1.33323800e+01,
  2.14869264e-02,-4.11346537e+00, 1.69103568e+01,-3.27787362e+01,
 -1.53513475e-02, 8.09642195e-01, 5.00757490e-01,-9.76261017e+00,
  2.36701893e-01,-5.66742078e-02,-9.40532306e-01, 1.42777129e+00,
  7.54874929e+00,-1.16542772e+00, 5.20962968e+00, 1.54453672e+02,
 -2.91786031e+02,-3.86562757e+01]

qfrc_actuator:
[ 3.66740316e-03, 7.36798987e-02, 2.04803056e-02, 1.85636807e-03,
 -4.85556383e-05, 3.50869710e-02, 1.09201349e-02, 1.63226642e-03,
 -3.03406310e-03, 3.48768188e-02, 1.08602443e-02, 1.81366407e-03,
  0.00000000e+00, 2.50901383e-03, 0.00000000e+00, 9.49795142e-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: -0.0007092689579791533
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30468971,  0.08781127, -0.94839515, -0.02685894,  0.99613713,
        0.08360273,  0.95207288,  0.        ,  0.30587125])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07236865, -0.04281625,  0.22456391])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   6.1737724 ,   6.03914822,   6.1737724 ,
        41.39364912, -33.48750806,   6.03914822, -33.48750806,
        42.87037234,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004179098425928465
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.64152235e-15,  2.65660894e-14,  1.00000000e+00,  1.76439277e-28,
        1.00000000e+00, -2.65660894e-14, -1.00000000e+00,  0.00000000e+00,
       -6.64152235e-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([-0.0684039 , -0.09411807,  0.06163323])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.89507334e-04, 3.84367021e-02, 9.55584612e-03, 3.09695727e-05,
  6.15897639e-06, 3.45168909e-05, 4.08884762e-05,-7.72309652e-05,
 -4.38552756e-06, 1.16044834e-04, 8.48472613e-06,-3.48381473e-05,
  3.03959178e-03, 4.49567153e-03, 8.98863736e-03, 1.72624703e-03,
  1.10909688e-03,-5.85573304e-05,-4.90484335e+00, 6.19783664e-03,
  1.92141410e-03, 7.08691960e-05]


--- Step 2499 ---
qpos:
[-1.58221270e-02, 1.29358710e+00,-3.24104897e-02, 9.48418491e-01,
  4.39422977e-03, 1.33134826e+00,-2.97000698e-02, 9.46251553e-01,
  1.67337956e-02, 1.33648347e+00,-2.39103926e-02, 9.54982602e-01,
  1.39289714e+00,-5.66201900e-03, 1.19219057e+00, 6.14772076e-02,
 -4.43880181e-02,-1.07853836e-01, 7.90225584e-02, 6.32235151e-01,
 -1.74795233e-02,-1.02550587e-03, 7.74578678e-01]

qacc:
[ 6.77351594e-01, 2.75072539e+00,-1.65500933e+01, 3.07880291e+01,
 -4.32962664e-02, 1.85790611e+00,-8.38332215e+00, 2.10298834e+01,
  7.26371386e-02,-3.73102977e+00, 1.41307930e+01,-2.21535847e+01,
  2.83413291e-01,-4.47424220e-01, 1.04316272e+01,-2.16205265e+01,
 -2.52245787e+01,-1.02372391e+01,-4.22454025e-01, 4.62025686e+02,
 -1.09627449e+02, 3.06784224e+02]

qfrc_actuator:
[ 3.68435467e-03, 7.37092638e-02, 2.04580764e-02, 1.90162040e-03,
 -6.46521017e-05, 3.50799937e-02, 1.09228146e-02, 1.69373618e-03,
 -3.01057688e-03, 3.48531940e-02, 1.08970507e-02, 1.77025788e-03,
  0.00000000e+00, 2.49258337e-03, 0.00000000e+00,-1.94820228e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.26016245, -0.26004571, -0.00779282, -0.26004571,  0.26040553,
       -0.00811163, -0.00779282, -0.00811163,  0.53084682,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000709027524142692
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30467166,  0.08781285, -0.9484008 , -0.02685784,  0.99613699,
        0.08360474,  0.95207869,  0.        ,  0.30585317])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0723663 , -0.04281671,  0.22456447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  1.99152724, -8.40360614,  1.99152724, 42.35187831,
        7.99006577, -8.40360614,  7.99006577, 10.52988808,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.018525061023004254
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.87116012, -0.43558006,  0.22660551, -0.42155194,  0.90014999,
        0.10965377, -0.25174194,  0.        , -0.9677944 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06845437, -0.09418904,  0.06163216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.03906053e-04, 3.84720006e-02, 9.54765962e-03, 4.48351996e-05,
 -1.24606542e-05, 1.77595993e-05, 1.18087176e-05, 6.19133680e-05,
  2.09021212e-05, 4.11609989e-05, 5.94147059e-05,-4.05264790e-05,
  3.01934649e-03, 4.47036677e-03, 9.03178501e-03, 1.44207536e-03,
  8.04891113e-04, 2.78434137e-04,-4.90508361e+00, 6.47472058e-03,
  2.00139679e-03, 2.66120355e-04]


--- Step 2500 ---
qpos:
[-1.58245609e-02, 1.29360014e+00,-3.24100514e-02, 9.48419730e-01,
  4.39309414e-03, 1.33135295e+00,-2.97008280e-02, 9.46251137e-01,
  1.67340621e-02, 1.33648544e+00,-2.39101577e-02, 9.54983100e-01,
  1.39290978e+00,-5.66637434e-03, 1.19217734e+00, 6.14763767e-02,
 -4.46382778e-02,-1.07965067e-01, 7.90309047e-02, 6.30832768e-01,
 -1.64348097e-02,-7.23859401e-04, 7.75744411e-01]

qacc:
[ 1.93020896e-01,-3.26296879e+00, 1.10420225e+01,-1.85928815e+01,
  4.27288024e-03, 3.78785458e+00,-1.48878333e+01, 2.63410185e+01,
  2.95171635e-02,-5.55108603e-01, 1.78583632e+00,-2.68410305e+00,
 -4.62704482e-02,-2.71043186e-01, 3.47599760e+00,-5.16111958e+00,
 -1.92783542e+01,-8.26089523e+00,-1.12381593e+00, 3.79243623e+02,
 -1.10515097e+02, 2.39832592e+02]

qfrc_actuator:
[ 3.69472688e-03, 7.36522322e-02, 2.04990023e-02, 1.87393700e-03,
 -5.60376548e-05, 3.50383418e-02, 1.08711161e-02, 1.74828354e-03,
 -3.01441922e-03, 3.48025688e-02, 1.08830112e-02, 1.76223544e-03,
  0.00000000e+00, 2.52004292e-03, 0.00000000e+00,-2.08378665e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007089487841678947
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30465832,  0.08781389, -0.94840499, -0.02685698,  0.9961369 ,
        0.08360611,  0.95208299,  0.        ,  0.30583981])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07236458, -0.04281728,  0.22456489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  1.06310843, -8.57068126,  1.06310843,  5.97813654,
       -0.32972684, -8.57068126, -0.32972684,  8.59546428,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.018255702637658838
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.70892923e-01, -4.35446462e-01,  2.27885707e-01, -4.21263140e-01,
        9.00214629e-01,  1.10231518e-01, -2.53145972e-01,  1.38777878e-17,
       -9.67428094e-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([-0.06871724, -0.09429794,  0.06163506])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.34834424e-04, 3.85731595e-02, 9.67717679e-03,-4.54051720e-05,
  1.26193736e-06,-2.76985656e-05,-4.50758188e-05, 5.68667808e-05,
  8.50079256e-06,-1.74740815e-05,-4.36365510e-07,-6.00366789e-06,
  2.99474326e-03, 4.51730808e-03, 8.68463312e-03, 1.43175909e-03,
  1.18288685e-03, 6.91227795e-04,-4.90541893e+00, 6.70658366e-03,
  2.21651475e-03, 2.04741087e-04]


--- Step 2501 ---
qpos:
[-1.58266531e-02, 1.29361190e+00,-3.24095465e-02, 9.48419296e-01,
  4.39215621e-03, 1.33135775e+00,-2.97025181e-02, 9.46249988e-01,
  1.67343495e-02, 1.33648775e+00,-2.39116981e-02, 9.54983897e-01,
  1.39292203e+00,-5.67117766e-03, 1.19216777e+00, 6.14760997e-02,
 -4.48319114e-02,-1.08074906e-01, 7.90559111e-02, 6.29628701e-01,
 -1.51184758e-02,-9.67536549e-04, 7.76748475e-01]

qacc:
[ 1.45910455e-01,-4.69157448e+00, 1.67151490e+01,-3.30336741e+01,
  8.36206415e-02, 1.42263228e+00,-2.94402817e+00,-6.01538060e+00,
  8.60712150e-03, 5.75546104e+00,-1.88331414e+01, 1.95649092e+01,
 -1.49909245e-01,-2.14604075e-01, 3.72757833e+00,-5.18597322e+00,
  1.41565167e+01, 3.47962451e-01, 4.16502121e+00,-1.24271362e+02,
 -2.75957870e+02,-1.32493872e+02]

qfrc_actuator:
[ 3.68389973e-03, 7.36310389e-02, 2.05232062e-02, 1.78631582e-03,
 -3.26683273e-05, 3.50470463e-02, 1.08230820e-02, 1.70947551e-03,
 -3.01687298e-03, 3.48070007e-02, 1.07856919e-02, 1.77503942e-03,
  0.00000000e+00, 2.53850446e-03, 0.00000000e+00,-2.87457990e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.26016073,  0.25880551,  0.02652003,  0.25880551,  0.26303528,
       -0.02805237,  0.02652003, -0.02805237,  0.5339201 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007090212618652801
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04645476e-01,  8.78147815e-02, -9.48409035e-01, -2.68561259e-02,
        9.96136820e-01,  8.36073223e-02,  9.52087119e-01,  3.46944695e-18,
        3.05826940e-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([ 0.07236315, -0.04281785,  0.22456527])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  0.19022423, -8.63426845,  0.19022423,  8.0748239 ,
       -0.01237145, -8.63426845, -0.01237145,  8.63609108,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004077570401533712
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.31354912e-07, -1.06357666e-14,  1.00000000e+00,  2.46063683e-21,
        1.00000000e+00,  1.06357666e-14, -1.00000000e+00,  0.00000000e+00,
        2.31354912e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05116687, -0.09058979,  0.06164111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.01380911e-04, 3.85925011e-02, 9.68667461e-03,-9.17396866e-05,
  2.41128503e-05,-1.37593356e-05,-5.69172376e-05,-3.96351071e-05,
  2.56556747e-06,-5.50665847e-06,-1.00958700e-04, 1.21374343e-05,
  3.00613931e-03, 4.55615919e-03, 8.52173877e-03, 1.33056563e-03,
  2.57434132e-03, 1.32887157e-03,-4.90631200e+00, 7.04376920e-03,
  2.62484455e-03, 5.16937454e-05]


--- Step 2502 ---
qpos:
[-0.01582869, 1.29362312,-0.03240904, 0.9484181 , 0.0043916 , 1.33136225,
 -0.02970412, 0.94624906, 0.01673464, 1.33649019,-0.02391325, 0.95498442,
  1.39293392,-0.00567612, 1.19215968, 0.06147593,-0.04499673,-0.10818816,
  0.07906968, 0.62860173,-0.0139741 ,-0.00181145, 0.77759971]

qacc:
[ 2.57056311e-02,-2.03285815e+00, 7.31011852e+00,-1.47873843e+01,
  1.60713304e-01,-2.56922327e-01,-9.57318149e-02, 2.82183753e+00,
 -3.01806722e-04,-2.64627410e-01, 1.61627513e+00,-4.61336039e+00,
 -2.63072800e-01, 1.28746057e-01, 1.87182174e+00,-3.33060623e+00,
  7.20420350e+00,-8.54154142e-01,-2.80852740e+00,-2.85985893e+02,
 -1.20937233e+02,-1.21348274e+02]

qfrc_actuator:
[ 3.67803520e-03, 7.36321292e-02, 2.05374867e-02, 1.75267338e-03,
 -6.37536910e-07, 3.50325202e-02, 1.08310019e-02, 1.72259512e-03,
 -3.01847283e-03, 3.48440385e-02, 1.07999922e-02, 1.76447054e-03,
  0.00000000e+00, 2.55177151e-03, 0.00000000e+00,-2.99621765e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007092368553075108
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30463378,  0.08781556, -0.94841272, -0.02685533,  0.99613675,
        0.08360839,  0.95209088,  0.        ,  0.30581522])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07236207, -0.0428184 ,  0.2245656 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -1.0678886 , -8.57008698, -1.0678886 ,  2.5065953 ,
        0.76380902, -8.57008698,  0.76380902,  8.54118806,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00403973355659102
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.37412902e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.37412902e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00990027, -0.08177207,  0.06164423])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.78417812e-04, 3.86569075e-02, 9.69760883e-03,-4.16931463e-05,
  4.62593091e-05,-3.44886252e-05,-2.41212892e-06, 1.01223080e-05,
 -8.40799375e-08, 1.46231486e-05, 2.10704956e-06,-1.34013040e-05,
  3.02504951e-03, 4.59192052e-03, 8.33918590e-03, 1.29075235e-03,
  1.91560181e-03, 9.68381187e-04,-4.90676076e+00, 7.47955968e-03,
  2.45985580e-03,-3.20222432e-05]


--- Step 2503 ---
qpos:
[-0.01583178, 1.29363722,-0.03240715, 0.94841785, 0.00439142, 1.33136635,
 -0.02970501, 0.94624827, 0.01673477, 1.33649177,-0.02391311, 0.95498516,
  1.39294567,-0.00568048, 1.19214531, 0.06147523,-0.0451373 ,-0.10830432,
  0.07906778, 0.62772431,-0.01297288,-0.00316242, 0.7783212 ]

qacc:
[-4.53246503e-01, 1.70322647e+00,-2.91619756e+00, 1.16898112e+01,
  1.61685001e-01,-2.22250803e+00, 6.32671227e+00,-3.61703564e+00,
 -6.51454107e-02,-5.34774199e+00, 1.56429658e+01,-1.05760045e+01,
 -2.11157739e-01, 5.85911915e-01,-7.63911397e+00, 1.32845783e+01,
  6.06032028e+00,-7.26908808e-01,-3.91907283e+00,-2.41211982e+02,
 -1.02668533e+02,-1.02334318e+02]

qfrc_actuator:
[ 3.67529321e-03, 7.36463823e-02, 2.05636017e-02, 1.82218586e-03,
  1.85768446e-05, 3.50221872e-02, 1.08718489e-02, 1.73070658e-03,
 -3.03729965e-03, 3.47764437e-02, 1.08802110e-02, 1.77583456e-03,
  0.00000000e+00, 2.54403896e-03, 0.00000000e+00,-5.83824494e-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: -0.000709505108053312
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04622603e-01,  8.78163099e-02, -9.48416241e-01, -2.68545806e-02,
        9.96136685e-01,  8.36094240e-02,  9.52094481e-01, -3.46944695e-18,
        3.05804020e-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([ 0.07236113, -0.04281893,  0.22456591])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -1.08041557, -8.56851674, -1.08041557,  4.14763116,
        0.5659902 , -8.56851674,  0.5659902 ,  8.56499719,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003970305380874152
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.39815822e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.39815822e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01004107, -0.0816615 ,  0.0616495 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.72661508e-04, 3.86987473e-02, 9.72350112e-03, 6.58936745e-05,
  4.65103085e-05,-2.96080253e-05, 3.41199483e-05, 7.24407583e-06,
 -1.88746863e-05,-5.95080002e-05, 8.29217435e-05, 1.15490137e-05,
  3.04321451e-03, 4.59121088e-03, 8.26522036e-03, 1.52651951e-03,
  1.32698781e-03, 1.09751466e-03,-4.90663985e+00, 7.51767285e-03,
  2.20575034e-03, 1.50607304e-04]


--- Step 2504 ---
qpos:
[-0.01583575, 1.29365331,-0.03240467, 0.94841959, 0.00439142, 1.33137084,
 -0.02970662, 0.94624897, 0.01673457, 1.33649315,-0.02391306, 0.9549871 ,
  1.39295757,-0.00568416, 1.19212582, 0.06147384,-0.04525738,-0.10842298,
  0.07904656, 0.62697327,-0.01209176,-0.00494444, 0.77893123]

qacc:
[-3.74125536e-01, 4.35089271e+00,-1.51193534e+01, 3.48424450e+01,
  7.29796143e-02, 5.02782434e+00,-1.88227192e+01, 3.33138916e+01,
 -1.39308792e-01, 2.06548181e+00,-9.46458822e+00, 2.21700449e+01,
 -1.20969504e-01, 6.34234602e-01,-5.45103863e+00, 8.11195391e+00,
  5.12402534e+00,-6.22558053e-01,-4.82950357e+00,-2.04797973e+02,
 -8.76297256e+01,-8.67757196e+01]

qfrc_actuator:
[ 3.65777104e-03, 7.36475589e-02, 2.05421881e-02, 1.91668103e-03,
  1.21949873e-05, 3.50678475e-02, 1.08430244e-02, 1.80681630e-03,
 -3.06630849e-03, 3.47712786e-02, 1.08740097e-02, 1.83548823e-03,
  0.00000000e+00, 2.54079926e-03, 0.00000000e+00, 3.37049977e-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: -0.0007096089387807446
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30460736,  0.08781743, -0.94842103, -0.02685358,  0.99613659,
        0.08361092,  0.95209939,  0.        ,  0.30578875])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07235959, -0.0428194 ,  0.22456634])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -1.09598132, -8.56653966, -1.09598132, 44.02494132,
       -4.52752473, -8.56653966, -4.52752473,  9.21560365,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003860008355102293
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43810961e-14,  1.43810961e-14,  1.00000000e+00, -2.06815926e-28,
        1.00000000e+00, -1.43810961e-14, -1.00000000e+00,  0.00000000e+00,
        1.43810961e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01007585, -0.08151186,  0.06165758])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.08272427e-04, 3.85553351e-02, 9.63337120e-03, 1.12996112e-04,
  2.10623282e-05, 3.61449673e-05,-3.05259416e-05, 7.63929618e-05,
 -4.01537944e-05,-2.15466012e-05,-8.06212038e-06, 6.05888356e-05,
  3.05048446e-03, 4.55919937e-03, 8.57954953e-03, 1.64541850e-03,
  1.19603920e-03, 1.51297493e-03,-4.90664192e+00, 7.49876690e-03,
  2.04867790e-03, 3.72977925e-04]


--- Step 2505 ---
qpos:
[-0.01583973, 1.29366932,-0.03240272, 0.94842443, 0.00439133, 1.3313757 ,
 -0.02970863, 0.94625125, 0.01673389, 1.33649505,-0.02391444, 0.95498802,
  1.39296999,-0.00568738, 1.192106  , 0.06147168,-0.04534723,-0.10850718,
  0.07904685, 0.62627433,-0.01117702,-0.00610454, 0.77949873]

qacc:
[-4.22962672e-03, 6.62064577e+00,-2.80364963e+01, 6.01048318e+01,
 -3.22670141e-02, 4.24855548e+00,-1.65248991e+01, 3.24291250e+01,
 -2.03473704e-01, 2.78902906e+00,-6.21981833e+00,-6.68582541e+00,
  6.83156125e-02, 3.78540155e-01, 1.81006688e+00,-7.01195289e+00,
  7.55750607e+00, 8.61252464e+00, 5.37889216e+00, 2.52967569e+02,
  1.82257947e+02,-2.99418742e+01]

qfrc_actuator:
[ 3.63162016e-03, 7.36583963e-02, 2.05102299e-02, 2.06025279e-03,
 -9.48847054e-06, 3.50932079e-02, 1.08268119e-02, 1.88681466e-03,
 -3.10119037e-03, 3.48032509e-02, 1.07993152e-02, 1.78102099e-03,
  0.00000000e+00, 2.52216428e-03, 0.00000000e+00,-5.20890549e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.26030271,  0.25761484, -0.03731082,  0.25761484,  0.27065769,
        0.07149661, -0.03731082,  0.07149661,  0.75395538,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000709537693229758
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30458966,  0.08781885, -0.94842659, -0.02685246,  0.99613646,
        0.08361278,  0.95210508,  0.        ,  0.30577102])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07235755, -0.04281987,  0.22456685])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.59405162,  4.11304715, -7.59405162,  7.58620463,
       -1.93894244,  4.11304715, -1.93894244,  5.05643167,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003931697630843431
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.94186774e-15,  1.58837355e-14,  1.00000000e+00,  1.26146526e-28,
        1.00000000e+00, -1.58837355e-14, -1.00000000e+00,  0.00000000e+00,
       -7.94186774e-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([-0.07380643, -0.13157521,  0.06165206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.25966451e-04, 3.84670652e-02, 9.57116889e-03, 1.57230805e-04,
 -9.25365768e-06, 4.16472321e-05,-1.03806305e-05, 8.19649602e-05,
 -5.85888140e-05, 2.02698227e-05,-7.80445352e-05,-5.39265652e-05,
  3.04292241e-03, 4.50639750e-03, 8.83603732e-03, 1.59440223e-03,
  1.34642381e-03, 2.09017594e-03,-4.90671472e+00, 7.44637157e-03,
  1.95679019e-03, 6.10456638e-04]


--- Step 2506 ---
qpos:
[-0.01584345, 1.29368484,-0.03240125, 0.94843029, 0.0043911 , 1.33138069,
 -0.02970982, 0.94625305, 0.01673291, 1.33649667,-0.02391589, 0.95498793,
  1.39298321,-0.00569053, 1.19208655, 0.06146931,-0.04541174,-0.1085626 ,
  0.07906106, 0.62561938,-0.01023771,-0.00671107, 0.7800324 ]

qacc:
[ 1.12880452e-01, 2.40120122e+00,-1.07135145e+01, 2.15072717e+01,
 -6.37693643e-02,-2.88716899e+00, 1.06128796e+01,-1.48835624e+01,
 -1.29019427e-01,-1.92135924e+00, 7.85052041e+00,-1.82203081e+01,
  5.51316044e-01,-4.11001116e-01, 1.18181142e+00,-3.42876401e+00,
  6.33547903e+00, 7.19675879e+00, 3.47888774e+00, 2.23586856e+02,
  1.64089344e+02,-2.47220474e+01]

qfrc_actuator:
[ 3.61752795e-03, 7.36585373e-02, 2.04905987e-02, 2.10710118e-03,
 -2.24207794e-05, 3.51062625e-02, 1.08713831e-02, 1.86194122e-03,
 -3.10380818e-03, 3.47681062e-02, 1.07914153e-02, 1.73083213e-03,
  0.00000000e+00, 2.47648146e-03, 0.00000000e+00,-8.44994375e-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: -0.0007094126325842692
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30457253,  0.08782027, -0.94843195, -0.02685139,  0.99613634,
        0.08361461,  0.95211059,  0.        ,  0.30575386])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07235547, -0.04282041,  0.22456736])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.58500847,  4.12970015, -7.58500847, 11.07931926,
        4.48696961,  4.12970015,  4.48696961, 16.8775679 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004014817899721385
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.04912334e-15,  1.72832095e-15,  1.00000000e+00, -1.04548266e-29,
        1.00000000e+00, -1.72832095e-15, -1.00000000e+00,  0.00000000e+00,
        6.04912334e-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([-0.07374525, -0.13157381,  0.06164604])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.12339640e-04, 3.84706784e-02, 9.57844248e-03, 4.94457438e-05,
 -1.83915908e-05, 3.64908021e-05, 5.39362291e-05,-2.20200602e-05,
 -3.72063485e-05,-4.07877520e-05,-1.43876509e-05,-5.31244865e-05,
  3.01644049e-03, 4.43732927e-03, 8.85250552e-03, 1.59984343e-03,
  7.56227556e-04, 1.08472988e-03,-4.90619305e+00, 7.17449454e-03,
  2.11500563e-03, 2.67947468e-04]


--- Step 2507 ---
qpos:
[-0.01584772, 1.29370056,-0.03239923, 0.94843345, 0.00439058, 1.33138591,
 -0.02971076, 0.9462549 , 0.01673203, 1.33649821,-0.02391758, 0.95498862,
  1.39299638,-0.0056939 , 1.19206549, 0.06146766,-0.04545487,-0.10859379,
  0.0790827 , 0.62500156,-0.00928061,-0.00682225, 0.78053852]

qacc:
[-2.37531590e-01,-5.82858510e+00, 2.48468972e+01,-5.29272188e+01,
 -1.25657513e-01,-2.47422286e-01, 1.06317784e+00,-4.28435818e-01,
  4.34686995e-02, 1.88124067e+00,-7.81419178e+00, 1.57214020e+01,
  2.32241823e-01,-4.39457522e-01,-4.60761454e+00, 1.26054473e+01,
  5.34483997e+00, 6.05546694e+00, 1.85756405e+00, 1.98858603e+02,
  1.48279338e+02,-2.06249359e+01]

qfrc_actuator:
[ 3.62815297e-03, 7.35994468e-02, 2.04962705e-02, 1.97247206e-03,
 -4.77497605e-05, 3.51120236e-02, 1.08803508e-02, 1.86434095e-03,
 -3.06929813e-03, 3.47820421e-02, 1.07872928e-02, 1.77236677e-03,
  0.00000000e+00, 2.50356017e-03, 0.00000000e+00, 2.14073602e-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: -0.0007092607913073146
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30455633,  0.08782159, -0.94843704, -0.02685037,  0.99613622,
        0.08361632,  0.9521158 ,  0.        ,  0.30573763])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07235341, -0.04282104,  0.22456783])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.51307349,  4.25916701, -7.51307349, 11.27678277,
        4.65763914,  4.25916701,  4.65763914, 16.85233286,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004035215580802928
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.54762599e-14,  1.37566755e-14,  1.00000000e+00,  2.12901885e-28,
        1.00000000e+00, -1.37566755e-14, -1.00000000e+00,  0.00000000e+00,
       -1.54762599e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07376018, -0.13162329,  0.06164479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.09709521e-04, 3.84358387e-02, 9.60796259e-03,-1.36704214e-04,
 -3.61804274e-05, 3.58016691e-05, 2.15920159e-05, 4.57113442e-06,
  1.25432818e-05,-1.30147161e-05,-1.52777452e-05, 3.86690715e-05,
  2.97707686e-03, 4.46175080e-03, 8.83459648e-03, 1.71705752e-03,
  5.40285649e-04, 5.02456725e-04,-4.90586971e+00, 6.95708644e-03,
  2.23518330e-03, 6.30637964e-05]


--- Step 2508 ---
qpos:
[-0.01585303, 1.29371706,-0.03239611, 0.94843455, 0.00438961, 1.33139088,
 -0.02971165, 0.94625717, 0.01673139, 1.33650028,-0.02391989, 0.95499011,
  1.39300869,-0.00569723, 1.19204216, 0.06146672,-0.04547984,-0.10860445,
  0.07910624, 0.62441503,-0.0083108 ,-0.00648781, 0.78102158]

qacc:
[-4.41640480e-01,-5.45517578e+00, 2.32653544e+01,-4.45351613e+01,
 -1.87210886e-01, 2.36706058e-01,-2.01820904e+00, 6.69955792e+00,
  9.83559301e-02, 3.77234696e+00,-1.30806173e+01, 2.02659242e+01,
 -5.27866459e-01, 4.14587439e-01,-5.44011656e+00, 1.42383911e+01,
  4.53907129e+00, 5.13367382e+00, 4.75827399e-01, 1.77951925e+02,
  1.34505007e+02,-1.73925695e+01]

qfrc_actuator:
[ 3.65432467e-03, 7.35043344e-02, 2.05162904e-02, 1.87430127e-03,
 -8.03105904e-05, 3.50599949e-02, 1.08682122e-02, 1.88275921e-03,
 -3.04830226e-03, 3.48430925e-02, 1.07678880e-02, 1.81430248e-03,
  0.00000000e+00, 2.57453502e-03, 0.00000000e+00, 1.38429915e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007090548072291765
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04539422e-01,  8.78230920e-02, -9.48442326e-01, -2.68493371e-02,
        9.96136087e-01,  8.36182311e-02,  9.52121239e-01,  3.46944695e-18,
        3.05720700e-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([ 0.07235124, -0.04282161,  0.22456833])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.42887232,  4.40438792, -7.42887232, 11.57724044,
        4.96037104,  4.40438792,  4.96037104, 17.00301158,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00400462652945921
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.46543871e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.46543871e-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([-0.07383536, -0.13171347,  0.06164734])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.63741436e-04, 3.83310719e-02, 9.60058690e-03,-9.95904220e-05,
 -5.39094094e-05,-2.78996329e-05,-2.54971498e-06, 2.02390083e-05,
  2.84015004e-05, 5.20077988e-05,-2.25503178e-05, 4.20038646e-05,
  2.97965711e-03, 4.54311571e-03, 8.91570312e-03, 1.79770501e-03,
  5.87393018e-04, 2.35078559e-04,-4.90569015e+00, 6.78042718e-03,
  2.32732806e-03,-3.97537322e-05]


--- Step 2509 ---
qpos:
[-0.01585905, 1.2937343 ,-0.03239235, 0.94843483, 0.00438822, 1.33139516,
 -0.02971241, 0.94625898, 0.01673084, 1.33650274,-0.02392094, 0.95499062,
  1.39302053,-0.00570035, 1.19201593, 0.0614661 ,-0.04551563,-0.10861174,
  0.0791231 , 0.6238353 ,-0.00803406,-0.00610722, 0.78149068]

qacc:
[-3.01128032e-01,-2.13726240e+00, 9.81137991e+00,-1.83605805e+01,
 -1.75972419e-01,-2.02096320e+00, 6.42837312e+00,-1.03698483e+01,
  4.08602402e-02,-4.58979358e+00, 1.75519685e+01,-2.67282837e+01,
 -3.48584930e-01, 4.29328087e-01,-5.22005812e+00, 1.21109935e+01,
 -2.70502430e+00, 8.43154969e-01,-1.67232983e+00,-1.98379631e+02,
  2.85143010e+02,-4.57152433e+00]

qfrc_actuator:
[ 3.67277349e-03, 7.34401951e-02, 2.05086401e-02, 1.83395399e-03,
 -9.91939454e-05, 3.49914360e-02, 1.08612543e-02, 1.85715018e-03,
 -3.05333850e-03, 3.48963305e-02, 1.08463114e-02, 1.76737598e-03,
  0.00000000e+00, 2.58293047e-03, 0.00000000e+00, 2.44103182e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007088052779471998
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04520709e-01,  8.78249287e-02, -9.48448164e-01, -2.68482532e-02,
        9.96135925e-01,  8.36205082e-02,  9.52127255e-01, -3.46944695e-18,
        3.05701964e-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([ 0.0723489 , -0.04282209,  0.22456887])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.63590327,  0.0891718 , -8.63590327,  8.63965766,
        0.31901208,  0.0891718 ,  0.31901208, 39.53130449,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004064395829116378
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.36579097e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.36579097e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00051076, -0.12742534,  0.06164335])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.33987647e-04, 3.82274918e-02, 9.53779650e-03,-3.65934569e-05,
 -5.06960221e-05,-8.39160666e-05,-1.21124697e-05,-2.60417964e-05,
  1.17344446e-05, 7.88296360e-05, 8.72486617e-05,-4.50659319e-05,
  3.02229966e-03, 4.55006846e-03, 9.02952497e-03, 1.86829443e-03,
  8.18705276e-04, 2.01919896e-04,-4.90561649e+00, 6.63462546e-03,
  2.39849784e-03,-6.67558312e-05]


--- Step 2510 ---
qpos:
[-0.01586448, 1.29375037,-0.03238919, 0.94843451, 0.00438679, 1.33139877,
 -0.02971299, 0.94626151, 0.01673047, 1.33650574,-0.02392108, 0.95499057,
  1.39303234,-0.00570359, 1.19199066, 0.06146579,-0.04556171,-0.10861535,
  0.07912966, 0.62325815,-0.00836374,-0.00569024, 0.78195074]

qacc:
[ 2.48379816e-01,-9.12386041e-01, 2.32700571e+00,-8.12788147e+00,
 -1.70668494e-02,-1.61199209e-01,-1.98605250e+00, 1.03770800e+01,
  7.57887549e-02,-2.72993429e+00, 1.08910387e+01,-1.62547901e+01,
  3.10842076e-02,-1.34413658e-01, 4.86082837e-01, 3.23425854e-01,
 -2.57127660e+00, 9.18209736e-01,-2.57190601e+00,-1.74950129e+02,
  2.48353370e+02,-1.83017543e+00]

qfrc_actuator:
[ 3.72217850e-03, 7.34298732e-02, 2.04844072e-02, 1.79236854e-03,
 -7.42151590e-05, 3.49667530e-02, 1.08750600e-02, 1.89458744e-03,
 -3.03844524e-03, 3.49270546e-02, 1.08930270e-02, 1.73960255e-03,
  0.00000000e+00, 2.57132909e-03, 0.00000000e+00, 1.83292202e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007084561387628516
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30450067,  0.087827  , -0.94845441, -0.02684712,  0.99613574,
        0.08362304,  0.95213369,  0.        ,  0.30568191])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07234632, -0.0428225 ,  0.22456946])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.72902366,  3.85343614,  7.72902366,  8.94026696,
       -0.60955364,  3.85343614, -0.60955364,  9.85897492,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004090910352691116
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.71387767e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.71387767e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00057883, -0.12735057,  0.06164169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01869961e-03, 3.81798655e-02, 9.48144385e-03,-3.75126538e-05,
 -4.93955359e-06,-7.42795683e-05,-4.74718119e-06, 3.39695128e-05,
  2.18252994e-05, 9.00050077e-05, 7.07062408e-05,-2.39310400e-05,
  3.04592740e-03, 4.52752462e-03, 9.17457462e-03, 1.79143784e-03,
  4.47824073e-04, 3.07417960e-04,-4.90510787e+00, 6.37375261e-03,
  2.30922124e-03, 8.17595435e-05]


--- Step 2511 ---
qpos:
[-0.01586937, 1.29376541,-0.03238685, 0.94843336, 0.00438576, 1.33140202,
 -0.02971317, 0.94626304, 0.01673027, 1.33650948,-0.02392245, 0.95499166,
  1.39304417,-0.00570696, 1.1919658 , 0.06146571,-0.04561751,-0.10861514,
  0.07912276, 0.62268016,-0.00922684,-0.00524452, 0.78240448]

qacc:
[ 2.33200186e-01,-5.90649714e-01, 2.00320136e+00,-1.07951800e+01,
  1.67419102e-01,-3.24684516e+00, 1.20413122e+01,-2.16869536e+01,
  7.55749236e-02, 6.26991354e+00,-2.15925175e+01, 3.14638253e+01,
  9.48798031e-02,-1.86607937e-01,-1.32693655e-01, 1.33556080e+00,
 -2.43049906e+00, 9.55486816e-01,-3.36574169e+00,-1.55013871e+02,
  2.17528681e+02,-4.98297856e-03]

qfrc_actuator:
[ 3.73589303e-03, 7.34712138e-02, 2.04689690e-02, 1.75014419e-03,
 -2.31279806e-05, 3.49686490e-02, 1.09012145e-02, 1.84460230e-03,
 -3.02946800e-03, 3.49262094e-02, 1.08140454e-02, 1.79430680e-03,
  0.00000000e+00, 2.56574631e-03, 0.00000000e+00, 1.82257598e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000708083439480707
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30448234,  0.08782886, -0.94846012, -0.02684608,  0.99613558,
        0.08362534,  0.95213959,  0.        ,  0.30566355])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07234386, -0.04282291,  0.22457001])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.61141829,  4.08081958,  7.61141829,  9.22344265,
       -1.09500159,  4.08081958, -1.09500159, 10.6787267 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0040598848251059555
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.36730852e-14,  1.36730852e-14,  1.00000000e+00,  1.86953260e-28,
        1.00000000e+00, -1.36730852e-14, -1.00000000e+00,  0.00000000e+00,
       -1.36730852e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00053559, -0.12733464,  0.06164401])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00327752e-03, 3.82797349e-02, 9.49629591e-03,-5.01285970e-05,
  4.81695574e-05,-3.91232604e-05, 1.20839605e-05,-5.15556144e-05,
  2.18676828e-05, 6.20063071e-05,-5.40724795e-05, 5.88868603e-05,
  3.04778283e-03, 4.52860300e-03, 9.12770420e-03, 1.77547901e-03,
  2.39182271e-04, 3.03085449e-04,-4.90482515e+00, 6.15758923e-03,
  2.23481676e-03, 1.00426865e-04]


--- Step 2512 ---
qpos:
[-0.01587457, 1.29378127,-0.03238419, 0.94843184, 0.00438507, 1.33140488,
 -0.02971323, 0.94626226, 0.01673009, 1.33651257,-0.02392384, 0.95499208,
  1.39305598,-0.00571015, 1.19193864, 0.06146581,-0.04568246,-0.10861108,
  0.07909961, 0.6220986 ,-0.01056172,-0.00477609, 0.78285309]

qacc:
[-1.31328899e-01,-4.23079470e-01, 3.46216395e+00,-7.90048069e+00,
  1.44237746e-01,-4.78703469e+00, 1.97484872e+01,-4.37518509e+01,
  1.88246589e-03,-1.95899917e+00, 6.72746798e+00,-1.32088068e+01,
 -3.92784280e-04, 1.08800355e-01,-3.92652958e+00, 8.80886956e+00,
 -2.28718186e+00, 9.64284843e-01,-4.06314773e+00,-1.38034618e+02,
  1.91651533e+02, 1.14029357e+00]

qfrc_actuator:
[ 3.71024314e-03, 7.35261296e-02, 2.04947630e-02, 1.74352536e-03,
 -1.00528495e-05, 3.49332012e-02, 1.08989877e-02, 1.72582846e-03,
 -3.04186487e-03, 3.48172546e-02, 1.07856985e-02, 1.75499408e-03,
  0.00000000e+00, 2.56381403e-03, 0.00000000e+00, 2.88035847e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007076613761096869
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04465762e-01,  8.78305466e-02, -9.48465284e-01, -2.68451392e-02,
        9.96135430e-01,  8.36274083e-02,  9.52144914e-01,  3.46944695e-18,
        3.05646956e-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([ 0.07234147, -0.04282332,  0.22457052])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.47743025,  4.32143653,  7.47743025,  9.64496719,
       -1.74519807,  4.32143653, -1.74519807, 11.6560995 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003982557954051773
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.39385671e-14,  1.39385671e-14,  1.00000000e+00, -1.94283653e-28,
        1.00000000e+00, -1.39385671e-14, -1.00000000e+00,  0.00000000e+00,
        1.39385671e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00040405, -0.12736493,  0.06164949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.50266815e-04, 3.83862496e-02, 9.56276690e-03,-1.47963196e-05,
  4.14984804e-05,-5.62906134e-05,-1.00153482e-05,-1.20782846e-04,
  5.17742787e-07,-8.35027246e-05,-2.06605962e-05,-3.76821845e-05,
  3.04654477e-03, 4.53265644e-03, 9.10743402e-03, 1.86916942e-03,
  1.46744103e-04, 2.22737761e-04,-4.90469770e+00, 5.97405974e-03,
  2.17079362e-03, 3.22185302e-05]


--- Step 2513 ---
qpos:
[-0.01588054, 1.2937988 ,-0.03238082, 0.94843152, 0.0043845 , 1.33140713,
 -0.02971329, 0.94626112, 0.01672999, 1.33651412,-0.02392366, 0.95499134,
  1.39306751,-0.00571281, 1.1919079 , 0.06146579,-0.04575598,-0.10860321,
  0.07905777, 0.62151128,-0.01231638,-0.0042897 , 0.78329665]

qacc:
[-3.33204635e-01, 2.35856342e+00,-7.53320353e+00, 1.95235972e+01,
  5.09642406e-02,-1.42991963e+00, 4.43330384e+00,-7.58539411e+00,
  3.75083259e-02,-8.26094470e+00, 2.68527455e+01,-3.57753951e+01,
 -4.10664331e-01, 7.57745075e-01,-4.86131772e+00, 9.39753451e+00,
 -2.14458957e+00, 9.52160835e-01,-4.67320931e+00,-1.23578389e+02,
  1.69912387e+02, 1.78498352e+00]

qfrc_actuator:
[ 3.71486867e-03, 7.34812298e-02, 2.04912309e-02, 1.81140365e-03,
 -1.98882326e-05, 3.48932715e-02, 1.08976096e-02, 1.70952795e-03,
 -3.03147777e-03, 3.47155262e-02, 1.08580200e-02, 1.69613809e-03,
  0.00000000e+00, 2.59932802e-03, 0.00000000e+00, 4.04612548e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007071705685765192
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04448098e-01,  8.78323348e-02, -9.48470789e-01, -2.68441325e-02,
        9.96135272e-01,  8.36296095e-02,  9.52150591e-01,  3.46944695e-18,
        3.05629271e-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([ 0.07233889, -0.04282371,  0.22457107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.32455007,  4.57577788,  7.32455007, 10.29056575,
       -2.64791834,  4.57577788, -2.64791834, 12.8749458 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038684706735679503
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.43496373e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.43496373e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00020258, -0.12743147,  0.06165747])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.70279919e-04, 3.82999958e-02, 9.54324905e-03, 7.20569892e-05,
  1.46510795e-05,-7.66668152e-05,-1.70689389e-05,-2.10815274e-05,
  1.06916529e-05,-1.53075006e-04, 5.25623386e-05,-6.28087441e-05,
  3.04732459e-03, 4.55931131e-03, 9.22278505e-03, 1.97697820e-03,
  1.37753938e-04, 9.02831165e-05,-4.90467648e+00, 5.81527091e-03,
  2.11420420e-03,-9.28563354e-05]


--- Step 2514 ---
qpos:
[-0.01588695, 1.29381807,-0.03237673, 0.9484327 , 0.00438425, 1.33140907,
 -0.02971322, 0.9462601 , 0.01672999, 1.33651537,-0.02392397, 0.95499127,
  1.39307896,-0.005715  , 1.19187334, 0.06146563,-0.04581279,-0.10856974,
  0.07902361, 0.62098707,-0.01402702,-0.00329429, 0.78368837]

qacc:
[-1.82051354e-01, 2.86887093e+00,-9.64974533e+00, 2.45742775e+01,
  1.33432850e-01,-5.36007301e-01, 9.87231790e-01, 8.05830464e-01,
  4.34097400e-02, 2.06434067e+00,-8.58535823e+00, 1.54666364e+01,
 -1.76534191e-01, 4.98720924e-01,-5.22585294e+00, 1.01145781e+01,
  4.17836799e+00, 6.39743820e+00, 1.91923604e+00, 2.13314052e+02,
  1.41389194e+02,-3.77894255e+01]

qfrc_actuator:
[ 3.75600862e-03, 7.34640307e-02, 2.04873438e-02, 1.88703364e-03,
  9.87195136e-06, 3.49042815e-02, 1.09145518e-02, 1.71817006e-03,
 -3.02525804e-03, 3.47435528e-02, 1.08471441e-02, 1.73283420e-03,
  0.00000000e+00, 2.60363226e-03, 0.00000000e+00, 5.10151842e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007065902734944493
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30442817,  0.08783439, -0.94847699, -0.02684301,  0.99613509,
        0.08363213,  0.95215699,  0.        ,  0.30560932])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07233597, -0.04282407,  0.22457169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.60502204,  0.73510038,  8.60502204,  8.8248735 ,
       -2.20668036,  0.73510038, -2.20668036, 34.46757497,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038603918652321267
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79745843e-15,  2.15695012e-14,  1.00000000e+00, -3.87702817e-29,
        1.00000000e+00, -2.15695012e-14, -1.00000000e+00,  0.00000000e+00,
        1.79745843e-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([-0.07408347, -0.13225665,  0.06165743])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05047394e-03, 3.81992669e-02, 9.50415743e-03, 8.70197804e-05,
  3.84030494e-05,-3.53853929e-05,-6.14043182e-07, 5.35547850e-06,
  1.25277863e-05,-4.82300698e-05,-3.66374471e-05, 3.22378064e-05,
  3.06212965e-03, 4.53732491e-03, 9.40240847e-03, 2.08912879e-03,
  1.88843427e-04,-7.74436966e-05,-4.90472748e+00, 5.67595083e-03,
  2.06309255e-03,-2.53981836e-04]


--- Step 2515 ---
qpos:
[-0.01589204, 1.29383594,-0.03237328, 0.94843445, 0.00438432, 1.33141136,
 -0.02971323, 0.94625846, 0.01672994, 1.33651682,-0.02392526, 0.95499197,
  1.39309065,-0.00571751, 1.1918422 , 0.06146579,-0.04595179,-0.10857375,
  0.07900032, 0.62006889,-0.01485024,-0.00181613, 0.78440471]

qacc:
[ 5.56714532e-01, 8.64799852e-01,-6.20711270e+00, 1.27901587e+01,
  1.40379270e-01,-3.87718628e-01, 3.12830952e+00,-1.02403872e+01,
 -2.33786481e-02, 4.25805319e+00,-1.51062282e+01, 2.17998468e+01,
  2.36142976e-01,-4.22031611e-01, 4.05307634e+00,-6.88331580e+00,
 -2.05466970e+01,-9.36827250e+00, 2.72122405e+00, 4.62470840e+02,
 -2.00760802e+02, 2.57093558e+02]

qfrc_actuator:
[ 3.81901522e-03, 7.34982109e-02, 2.04829347e-02, 1.89553617e-03,
  2.76414531e-05, 3.49635616e-02, 1.09246150e-02, 1.68818012e-03,
 -3.03934140e-03, 3.47778070e-02, 1.08055223e-02, 1.77222371e-03,
  0.00000000e+00, 2.58905856e-03, 0.00000000e+00, 3.42834361e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007059124492513648
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30440588,  0.0878366 , -0.94848394, -0.02684172,  0.9961349 ,
        0.08363486,  0.95216416,  0.        ,  0.30558701])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0723327 , -0.04282441,  0.22457238])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.015888608268676455
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.66272524e-01, -4.33136262e-01,  2.48927486e-01, -4.16290024e-01,
        9.01328452e-01,  1.19622897e-01, -2.76178440e-01,  1.38777878e-17,
       -9.61106378e-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([-0.0708113 , -0.09548578,  0.06164995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13480705e-03, 3.81459365e-02, 9.46316149e-03, 2.07393103e-05,
  4.04296724e-05, 3.97333282e-05, 3.22658939e-06,-3.09434441e-05,
 -6.68803456e-06, 1.37582450e-06,-5.42622345e-05, 3.76399478e-05,
  3.06540721e-03, 4.49937176e-03, 9.59421761e-03, 1.92860762e-03,
 -1.74676456e-04, 5.38486955e-04,-4.90489963e+00, 5.65521239e-03,
  2.14148136e-03,-2.27660529e-05]


--- Step 2516 ---
qpos:
[-1.58950710e-02, 1.29385037e+00,-3.23714566e-02, 9.48435488e-01,
  4.38438721e-03, 1.33141446e+00,-2.97148012e-02, 9.46256851e-01,
  1.67300744e-02, 1.33651779e+00,-2.39259506e-02, 9.54992762e-01,
  1.39310263e+00,-5.72081677e-03, 1.19181892e+00, 6.14665678e-02,
 -4.60759281e-02,-1.08586709e-01, 7.89784765e-02, 6.19296205e-01,
 -1.57963993e-02,-1.09304903e-03, 7.84997764e-01]

qacc:
[ 8.83016930e-01,-1.35056345e+00, 3.95405237e-01,-6.35754544e+00,
 -4.52416120e-03, 5.30952665e+00,-1.61352801e+01, 1.39165223e+01,
  8.04784255e-02,-2.07124914e+00, 5.80356323e+00,-3.60676273e+00,
  4.06724721e-01,-9.30779455e-01, 9.74634450e+00,-1.72826241e+01,
  3.71621183e+00,-2.23681662e+00, 3.58142645e-01,-3.33291532e+02,
 -1.84834300e+02,-1.00784575e+02]

qfrc_actuator:
[ 3.84032217e-03, 7.34769113e-02, 2.04615482e-02, 1.84634257e-03,
  2.56878128e-06, 3.49979946e-02, 1.08419424e-02, 1.68897479e-03,
 -3.01223235e-03, 3.47444009e-02, 1.08349175e-02, 1.77736565e-03,
  0.00000000e+00, 2.56375067e-03, 0.00000000e+00, 1.00163324e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25914516,  0.25818934, -0.02223684,  0.25818934,  0.26361973,
        0.05195374, -0.02223684,  0.05195374,  0.86237409,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000705338444105981
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04385558e-01,  8.78383867e-02, -9.48490300e-01, -2.68404818e-02,
        9.96134739e-01,  8.36371372e-02,  9.52170689e-01,  3.46944695e-18,
        3.05566653e-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([ 0.07232974, -0.04282479,  0.22457301])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([8.63636364, 0.65160212, 8.6117473 , 0.65160212, 3.7154373 ,
       0.37233861, 8.6117473 , 0.37233861, 8.60819088, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.004033182052234699
  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([-0.0116757 , -0.08140484,  0.06164385])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09081596e-03, 3.81948644e-02, 9.47422954e-03,-5.66640496e-05,
 -1.21376069e-06, 5.60979171e-05,-7.54472589e-05, 1.36337119e-06,
  2.31611451e-05,-4.21346483e-05, 2.45994063e-05, 4.47233934e-06,
  3.05388815e-03, 4.48968703e-03, 9.42389189e-03, 1.66992633e-03,
  6.07325238e-04, 1.85469781e-03,-4.90455798e+00, 5.31034138e-03,
  2.37780417e-03, 5.00737181e-04]


--- Step 2517 ---
qpos:
[-1.58966306e-02, 1.29386197e+00,-3.23708688e-02, 9.48434823e-01,
  4.38446907e-03, 1.33141739e+00,-2.97165104e-02, 9.46256312e-01,
  1.67306011e-02, 1.33651816e+00,-2.39258733e-02, 9.54992926e-01,
  1.39311469e+00,-5.72490979e-03, 1.19180251e+00, 6.14680080e-02,
 -4.61897256e-02,-1.08608241e-01, 7.89537598e-02, 6.18642417e-01,
 -1.68384043e-02,-1.02764726e-03, 7.85491548e-01]

qacc:
[ 6.25629697e-01,-3.26937732e+00, 9.67984493e+00,-2.63429802e+01,
  6.83643650e-03, 2.00446157e+00,-8.97262117e+00, 2.02586329e+01,
  1.65040077e-01,-3.96319761e+00, 1.32462954e+01,-1.84077909e+01,
  2.74702501e-01,-8.17564140e-01, 8.08659000e+00,-1.36244265e+01,
  2.58427795e+00,-2.14374346e+00,-7.17103123e-01,-2.86931540e+02,
 -1.65182971e+02,-8.25460262e+01]

qfrc_actuator:
[ 3.81756923e-03, 7.34781783e-02, 2.04667110e-02, 1.76357606e-03,
  5.25754326e-06, 3.49636825e-02, 1.08294060e-02, 1.74333015e-03,
 -2.97838311e-03, 3.47065006e-02, 1.08702259e-02, 1.74456820e-03,
  0.00000000e+00, 2.55037439e-03, 0.00000000e+00,-4.61135427e-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: -0.0007049839594212501
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04370065e-01,  8.78394906e-02, -9.48495170e-01, -2.68394555e-02,
        9.96134641e-01,  8.36386258e-02,  9.52175670e-01,  3.46944695e-18,
        3.05551129e-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([ 0.07232753, -0.04282526,  0.22457349])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([8.63636364, 0.35314361, 8.62914054, 0.35314361, 8.14020973,
       0.02030487, 8.62914054, 0.02030487, 8.63553267, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.004108079552794047
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.35126768e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.35126768e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01195848, -0.08148555,  0.06163807])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.64508246e-04, 3.83680689e-02, 9.56038690e-03,-1.04113011e-04,
  1.97467783e-06,-1.80167879e-05,-1.01125445e-05, 5.38582105e-05,
  4.75223469e-05,-5.62676256e-05, 3.00070439e-05,-3.32207053e-05,
  3.03921591e-03, 4.51669722e-03, 9.03082542e-03, 1.49332168e-03,
  2.46697227e-04, 5.92044594e-04,-4.90452430e+00, 5.70259249e-03,
  2.16992394e-03, 1.81188521e-04]


--- Step 2518 ---
qpos:
[-1.58965451e-02, 1.29386981e+00,-3.23722883e-02, 9.48434332e-01,
  4.38457341e-03, 1.33141938e+00,-2.97167586e-02, 9.46254345e-01,
  1.67313750e-02, 1.33651864e+00,-2.39257177e-02, 9.54994741e-01,
  1.39312646e+00,-5.72965977e-03, 1.19179598e+00, 6.14695602e-02,
 -4.62682525e-02,-1.08633555e-01, 7.89524547e-02, 6.18064168e-01,
 -1.72247029e-02,-1.09726263e-03, 7.85938159e-01]

qacc:
[ 7.01421561e-01, 7.66306383e-01,-8.82143068e+00, 1.20062955e+01,
  9.84012638e-03,-7.64011501e+00, 2.63330825e+01,-3.87768001e+01,
  1.04609706e-01, 2.76710871e+00,-1.21887592e+01, 2.95417646e+01,
 -2.91353451e-01,-1.40597054e-01, 1.42611139e+01,-2.86515442e+01,
  8.81761814e+00,-9.45296711e-01, 5.85288636e+00, 1.50408274e+02,
 -2.98853688e+02,-4.57331522e+01]

qfrc_actuator:
[ 3.80366104e-03, 7.34759895e-02, 2.04525635e-02, 1.76846303e-03,
  6.82833262e-06, 3.48887543e-02, 1.08936626e-02, 1.66900166e-03,
 -2.97627052e-03, 3.47549823e-02, 1.08909173e-02, 1.83172010e-03,
  0.00000000e+00, 2.57996014e-03, 0.00000000e+00,-3.47887743e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007048389799335433
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04358444e-01,  8.78401030e-02, -9.48498842e-01, -2.68386194e-02,
        9.96134587e-01,  8.36395373e-02,  9.52179408e-01,  3.46944695e-18,
        3.05539481e-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([ 0.07232597, -0.04282576,  0.22457385])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   3.67101255,   7.81731691,   3.67101255,
        69.53197819, -28.59658467,   7.81731691, -28.59658467,
        22.06532171,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004183225494881232
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.63496999e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.63496999e-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([-0.07095592, -0.09592377,  0.06163228])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.77234929e-04, 3.85068613e-02, 9.60809582e-03,-1.39617423e-05,
  2.73521954e-06,-8.52761649e-05, 6.11588604e-05,-7.39144774e-05,
  3.01678721e-05, 2.22415421e-05, 1.21406095e-05, 8.55900459e-05,
  3.03542491e-03, 4.58544822e-03, 8.68808880e-03, 1.15824269e-03,
  4.21492330e-04,-8.21429919e-06,-4.90464267e+00, 5.97556722e-03,
  2.04251552e-03, 3.75346484e-05]


--- Step 2519 ---
qpos:
[-1.58960141e-02, 1.29387664e+00,-3.23744119e-02, 9.48434623e-01,
  4.38455272e-03, 1.33142105e+00,-2.97169145e-02, 9.46249790e-01,
  1.67321560e-02, 1.33651955e+00,-2.39260387e-02, 9.54997584e-01,
  1.39313765e+00,-5.73455361e-03, 1.19179360e+00, 6.14707668e-02,
 -4.64220067e-02,-1.08693095e-01, 7.89535122e-02, 6.17133670e-01,
 -1.68664481e-02,-7.22250196e-04, 7.86677212e-01]

qacc:
[ 1.89880259e-01, 1.90380998e+00,-9.40953934e+00, 1.78256632e+01,
 -5.28838424e-02,-5.07197989e+00, 2.13671899e+01,-4.83134227e+01,
  2.87282509e-03, 3.63512695e+00,-1.32289031e+01, 2.30470336e+01,
 -6.03370851e-01, 4.84234130e-01, 7.22371707e+00,-1.62529295e+01,
 -1.88067887e+01,-8.55669054e+00, 5.90652289e-01, 4.01942727e+02,
 -1.57894124e+02, 2.32218008e+02]

qfrc_actuator:
[ 3.79429485e-03, 7.34205406e-02, 2.04458471e-02, 1.82474479e-03,
 -1.00370524e-05, 3.48790845e-02, 1.08959341e-02, 1.53728552e-03,
 -2.99321343e-03, 3.47838215e-02, 1.08677177e-02, 1.88229424e-03,
  0.00000000e+00, 2.61775838e-03, 0.00000000e+00,-4.05371917e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25904873, -0.25244516, -0.05811788, -0.25244516,  0.27284025,
       -0.05990585, -0.05811788, -0.05990585,  0.51926024,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007049897505667542
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04352329e-01,  8.78401506e-02, -9.48500800e-01, -2.68380948e-02,
        9.96134583e-01,  8.36397556e-02,  9.52181378e-01, -3.46944695e-18,
        3.05533343e-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([ 0.07232531, -0.04282633,  0.22457404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  2.01490293, -8.39803209,  2.01490293, 34.02592345,
        6.0916055 , -8.39803209,  6.0916055 , 10.09789577,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.015313482870911624
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.85994046, -0.42997023,  0.27500546, -0.40953828,  0.90284307,
        0.13096868, -0.30459941,  0.        , -0.95248055])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07100904, -0.09600681,  0.06163026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.85607674e-04, 3.86395567e-02, 9.70173413e-03, 3.36122922e-05,
 -1.52542634e-05,-4.71132102e-05,-9.61831150e-06,-1.34196297e-04,
  8.68601637e-07, 4.60464017e-05,-1.49702114e-05, 5.35836175e-05,
  3.04981819e-03, 4.65619496e-03, 8.19432131e-03, 1.09517653e-03,
  3.26176999e-04, 1.25127855e-04,-4.90485514e+00, 6.27598908e-03,
  2.11130617e-03, 1.86633581e-04]


--- Step 2520 ---
qpos:
[-1.58971584e-02, 1.29388742e+00,-3.23747165e-02, 9.48435001e-01,
  4.38452151e-03, 1.33142251e+00,-2.97169189e-02, 9.46245753e-01,
  1.67328553e-02, 1.33652076e+00,-2.39264565e-02, 9.54997896e-01,
  1.39314803e+00,-5.73881630e-03, 1.19178344e+00, 6.14714697e-02,
 -4.65288331e-02,-1.08750595e-01, 7.89668079e-02, 6.16333687e-01,
 -1.60318878e-02,-5.46261710e-04, 7.87321705e-01]

qacc:
[-7.14348937e-01, 4.24294257e-01, 4.69505482e+00,-5.53642867e+00,
 -4.43017555e-03, 1.91569075e-01,-2.03269313e+00, 7.90464826e+00,
 -3.45662685e-02,-3.70498023e+00, 1.76522032e+01,-4.46612836e+01,
 -6.89941488e-01, 1.01451871e+00,-9.91932823e+00, 1.81091673e+01,
  1.17319282e+01, 5.09984103e-01, 3.05957765e+00, 6.97548129e+01,
 -2.47917026e+02,-8.23650268e+01]

qfrc_actuator:
[ 3.80594812e-03, 7.33673920e-02, 2.04608419e-02, 1.85792797e-03,
 -2.32035807e-06, 3.48905457e-02, 1.09150565e-02, 1.56814630e-03,
 -3.00369582e-03, 3.47827447e-02, 1.08542123e-02, 1.75111084e-03,
  0.00000000e+00, 2.66023382e-03, 0.00000000e+00,-6.73323868e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25913359,  0.2584018 , -0.01946087,  0.2584018 ,  0.26986121,
        0.14244151, -0.01946087,  0.14244151,  2.1504748 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007052965947470999
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04347848e-01,  8.78400435e-02, -9.48502248e-01, -2.68376667e-02,
        9.96134593e-01,  8.36397805e-02,  9.52182822e-01,  3.46944695e-18,
        3.05528842e-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([ 0.072325  , -0.0428269 ,  0.22457419])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  4.45647678, -7.39774233,  4.45647678, 18.6164482 ,
        6.01210656, -7.39774233,  6.01210656, 12.25811904,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0041808092269002145
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.63880462e-15,  2.65552185e-14,  1.00000000e+00,  1.76294907e-28,
        1.00000000e+00, -2.65552185e-14, -1.00000000e+00,  0.00000000e+00,
       -6.63880462e-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([-0.07124544, -0.09611221,  0.06163243])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.74983582e-04, 3.86368347e-02, 9.75193021e-03, 2.76946356e-05,
 -1.28600401e-06,-2.05227028e-05, 4.87480274e-06, 2.60486103e-05,
 -9.96798267e-06, 2.30492490e-05,-4.64299257e-06,-1.29005199e-04,
  3.07901158e-03, 4.70596560e-03, 7.98645872e-03, 1.45049870e-03,
  9.67573149e-04, 6.67450724e-04,-4.90522269e+00, 6.41537197e-03,
  2.33853376e-03, 2.09972052e-04]


--- Step 2521 ---
qpos:
[-1.58999088e-02, 1.29390267e+00,-3.23726712e-02, 9.48436380e-01,
  4.38452219e-03, 1.33142379e+00,-2.97164955e-02, 9.46243480e-01,
  1.67333075e-02, 1.33652260e+00,-2.39271875e-02, 9.54996272e-01,
  1.39315819e+00,-5.74232175e-03, 1.19176455e+00, 6.14716924e-02,
 -4.66209456e-02,-1.08815766e-01, 7.89733090e-02, 6.15670904e-01,
 -1.53126933e-02,-9.67738859e-04, 7.87853999e-01]

qacc:
[-6.84811856e-01, 1.23987103e+00, 9.95355679e-01, 7.92720922e+00,
  1.35549248e-02, 1.61634217e+00,-9.18162531e+00, 2.85076090e+01,
 -1.04676924e-01,-1.67071671e+00, 1.03330260e+01,-3.16598529e+01,
 -2.66090981e-01, 7.44218054e-01,-1.14019216e+01, 2.12210576e+01,
  3.67848151e+00,-1.91785047e+00,-1.69869090e+00,-2.69681681e+02,
 -1.37767259e+02,-9.33444237e+01]

qfrc_actuator:
[ 3.81440297e-03, 7.33465761e-02, 2.04866218e-02, 1.91314029e-03,
  2.32845928e-06, 3.48969693e-02, 1.09441935e-02, 1.65897696e-03,
 -3.02796860e-03, 3.48346912e-02, 1.08463343e-02, 1.65604189e-03,
  0.00000000e+00, 2.65154019e-03, 0.00000000e+00, 1.71017536e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007054322488398018
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30433787,  0.08784051, -0.94850541, -0.02683693,  0.99613455,
        0.08364051,  0.95218603,  0.        ,  0.30551883])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07232395, -0.04282733,  0.2245745 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.51000707,  4.26457157, -7.51000707, 12.8756166 ,
        7.46542043,  4.26457157,  7.46542043, 21.78313802,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004176499298723713
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.3291311e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.3291311e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01272494, -0.08149894,  0.06163294])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.67195760e-04, 3.84185846e-02, 9.68673879e-03, 7.86072814e-05,
  3.88911039e-06,-3.21011144e-06, 2.64341557e-05, 9.09589746e-05,
 -3.01559914e-05, 5.99558825e-05,-7.67912453e-06,-9.75227684e-05,
  3.11935698e-03, 4.66578768e-03, 8.37577075e-03, 1.71406513e-03,
  9.23731069e-04, 4.29886639e-04,-4.90565221e+00, 6.71883633e-03,
  2.36064326e-03, 9.81062098e-05]


--- Step 2522 ---
qpos:
[-0.01590229, 1.29391748,-0.03237013, 0.94843826, 0.00438442, 1.33142511,
 -0.02971606, 0.94624197, 0.01673335, 1.33652496,-0.02392807, 0.95499421,
  1.39316864,-0.00574595, 1.19174841, 0.06147211,-0.04670266,-0.10888831,
  0.0789697 , 0.61511896,-0.01468269,-0.00191443, 0.78829526]

qacc:
[ 1.55468293e-01,-1.07632689e+00, 1.77757531e+00, 4.54708640e+00,
 -4.40859146e-02, 1.31599173e+00,-5.78126251e+00, 1.38018829e+01,
 -1.74032334e-01, 3.44946304e-01, 5.82126119e-01,-5.85858856e+00,
  1.87568119e-01,-2.21479618e-01, 3.43720747e+00,-6.18080216e+00,
  2.60058868e+00,-1.84214289e+00,-2.52869133e+00,-2.33547626e+02,
 -1.25793446e+02,-7.56612800e+01]

qfrc_actuator:
[ 3.80378705e-03, 7.33075505e-02, 2.04998616e-02, 1.90961025e-03,
 -1.26542897e-05, 3.49004261e-02, 1.09434970e-02, 1.69557400e-03,
 -3.06031752e-03, 3.48647503e-02, 1.08420878e-02, 1.63631702e-03,
  0.00000000e+00, 2.62951923e-03, 0.00000000e+00,-2.30733679e-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: -0.0007053834827956233
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04321381e-01,  8.78415420e-02, -9.48510601e-01, -2.68357942e-02,
        9.96134461e-01,  8.36419551e-02,  9.52191334e-01, -3.46944695e-18,
        3.05502313e-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([ 0.07232206, -0.04282768,  0.224575  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.60422813,  0.74433542, -8.60422813,  8.64321623,
        0.07921333,  0.74433542,  0.07921333,  9.55203892,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004145029626128671
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.33922206e-14,  1.33922206e-14,  1.00000000e+00,  1.79351573e-28,
        1.00000000e+00, -1.33922206e-14, -1.00000000e+00,  0.00000000e+00,
       -1.33922206e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0128274 , -0.08144111,  0.06163531])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.36873008e-04, 3.81558197e-02, 9.58245753e-03, 2.50472647e-05,
 -1.26882790e-05, 9.56539635e-06, 4.34286743e-06, 3.93849281e-05,
 -5.01492770e-05, 5.88100331e-05, 3.73310172e-06,-2.04434211e-05,
  3.13065487e-03, 4.60595820e-03, 8.81219333e-03, 1.54407182e-03,
  5.19005650e-04, 4.04663840e-04,-4.90561133e+00, 6.80555525e-03,
  2.20195847e-03, 1.66662939e-04]


--- Step 2523 ---
qpos:
[-0.01590367, 1.293929  ,-0.0323693 , 0.94843977, 0.00438404, 1.33142615,
 -0.02971548, 0.94624127, 0.01673314, 1.33652736,-0.02392835, 0.95499435,
  1.39317895,-0.00574994, 1.19173853, 0.06147266,-0.04677727,-0.10896787,
  0.07895302, 0.6146562 ,-0.01412152,-0.00332536, 0.7886617 ]

qacc:
[ 4.30446445e-01,-2.90534042e-01,-3.50844568e+00, 8.69566062e-01,
 -1.18489710e-01, 6.84493139e-01,-4.34590075e+00, 1.34278719e+01,
 -1.07615018e-01, 2.21788423e+00,-1.15969002e+01, 3.53814024e+01,
 -1.88515892e-01,-3.36273873e-02, 8.88072710e+00,-1.75855599e+01,
  1.77422598e+00,-1.75704713e+00,-3.26595824e+00,-2.03564501e+02,
 -1.15015714e+02,-6.15093086e+01]

qfrc_actuator:
[ 3.81590592e-03, 7.32962336e-02, 2.04532310e-02, 1.87093440e-03,
 -3.92928198e-05, 3.48664407e-02, 1.09428933e-02, 1.73543303e-03,
 -3.06174426e-03, 3.48637753e-02, 1.08754892e-02, 1.74983647e-03,
  0.00000000e+00, 2.67109092e-03, 0.00000000e+00,-2.46327750e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007054734706674684
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04304847e-01,  8.78424637e-02, -9.48515821e-01, -2.68346199e-02,
        9.96134379e-01,  8.36432999e-02,  9.52196652e-01,  3.46944695e-18,
        3.05485739e-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([ 0.0723204 , -0.04282809,  0.22457547])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([8.63636364, 1.104629  , 8.56542886, 1.104629  , 7.14251905,
       0.19265166, 8.56542886, 0.19265166, 8.61151857, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.004066988140281884
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.36492041e-14,  2.72984082e-14,  1.00000000e+00,  3.72601546e-28,
        1.00000000e+00, -2.72984082e-14, -1.00000000e+00,  0.00000000e+00,
       -1.36492041e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01283415, -0.0813344 ,  0.06164092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.30762727e-04, 3.81666741e-02, 9.51087423e-03,-3.86562530e-05,
 -3.41256533e-05,-2.66763733e-05, 2.91078914e-06, 4.11872649e-05,
 -3.10309932e-05, 3.16499919e-05, 4.47082713e-05, 1.14894820e-04,
  3.11587002e-03, 4.65380425e-03, 8.67573281e-03, 1.31113509e-03,
  4.94545829e-04, 7.09248028e-04,-4.90569198e+00, 6.84656789e-03,
  2.10548313e-03, 3.03669552e-04]


--- Step 2524 ---
qpos:
[-0.01590555, 1.29394078,-0.03236924, 0.94843976, 0.0043835 , 1.33142698,
 -0.02971518, 0.94624074, 0.01673291, 1.33653012,-0.02392796, 0.95499443,
  1.39318904,-0.00575369, 1.19172474, 0.061473  ,-0.04692388,-0.10907968,
  0.07893461, 0.61385405,-0.01286211,-0.00431242, 0.78930296]

qacc:
[-2.12144633e-01,-2.22189549e-01, 4.26840238e+00,-2.15721142e+01,
 -6.26980553e-02, 6.89868705e-01,-2.91103178e+00, 4.44478600e+00,
 -4.05419177e-03,-1.44376991e+00, 5.39484428e+00,-5.54018507e+00,
 -1.46410935e-01, 2.63690536e-01,-5.15340385e+00, 9.65748312e+00,
 -1.79998171e+01,-8.05957052e+00,-4.33109556e-01, 3.79793875e+02,
 -1.47579009e+02, 2.20124329e+02]

qfrc_actuator:
[ 3.82312213e-03, 7.33223095e-02, 2.04082033e-02, 1.81183631e-03,
 -3.72022276e-05, 3.48457966e-02, 1.09244707e-02, 1.74138174e-03,
 -3.04460999e-03, 3.48977115e-02, 1.09130340e-02, 1.74556225e-03,
  0.00000000e+00, 2.68009039e-03, 0.00000000e+00,-4.32752761e-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: -0.0007056855291934887
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04293083e-01,  8.78430222e-02, -9.48519543e-01, -2.68337544e-02,
        9.96134330e-01,  8.36441640e-02,  9.52200436e-01, -3.46944695e-18,
        3.05473944e-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([ 0.07231934, -0.04282854,  0.2245758 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -3.27549318,  7.99111515, -3.27549318,  3.14770795,
       -2.24975538,  7.99111515, -2.24975538,  7.71420718,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.014476449669196567
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.85902151, -0.42951075,  0.27857237, -0.4085645 ,  0.90306174,
        0.13249352, -0.30847544,  0.        , -0.95123231])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07187358, -0.09634177,  0.06164319])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.87493555e-04, 3.83567819e-02, 9.55187504e-03,-7.95046555e-05,
 -1.80479914e-05,-3.36062299e-05,-2.21041791e-05, 6.19112412e-06,
 -1.18429900e-06, 6.35569643e-05, 5.21661942e-05, 6.49002631e-07,
  3.12292165e-03, 4.68074478e-03, 8.36247630e-03, 1.50783337e-03,
  7.17107287e-04, 1.23319300e-03,-4.90585058e+00, 6.85924209e-03,
  2.04925853e-03, 4.85658986e-04]


--- Step 2525 ---
qpos:
[-0.01590818, 1.29395483,-0.03236863, 0.94843913, 0.00438304, 1.33142764,
 -0.02971578, 0.94624237, 0.01673277, 1.33653355,-0.023928  , 0.95499312,
  1.39319942,-0.00575702, 1.19170426, 0.06147308,-0.04703471,-0.10915514,
  0.07893289, 0.61307746,-0.01160661,-0.00478011, 0.78992307]

qacc:
[-3.26093867e-01, 4.57354432e-01, 3.36872549e+00,-1.14959050e+01,
  2.99185157e-02, 5.95696070e+00,-2.41533436e+01, 4.62644686e+01,
  3.34744934e-02,-3.49148710e-01, 5.01557079e+00,-2.09081499e+01,
  2.79341651e-01, 5.47946291e-03,-9.09227134e+00, 1.74147410e+01,
  8.94654786e+00, 9.08777918e+00, 4.17380787e+00, 2.03887587e+02,
  1.61147925e+02,-1.32302395e+01]

qfrc_actuator:
[ 3.82849973e-03, 7.33330863e-02, 2.03993670e-02, 1.79505385e-03,
 -1.78940724e-05, 3.48332102e-02, 1.08779472e-02, 1.85158999e-03,
 -3.03423453e-03, 3.49167492e-02, 1.08817393e-02, 1.67198702e-03,
  0.00000000e+00, 2.63359010e-03, 0.00000000e+00, 1.67303154e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25923792,  0.25234515, -0.05938204,  0.25234515,  0.27642924,
        0.07305484, -0.05938204,  0.07305484,  0.56968592,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007056740422002397
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04281789e-01,  8.78437256e-02, -9.48523101e-01, -2.68329751e-02,
        9.96134268e-01,  8.36451528e-02,  9.52204067e-01,  3.46944695e-18,
        3.05462626e-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([ 0.07231796, -0.04282893,  0.22457617])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -6.29619095,  5.91140901, -6.29619095, 13.63390725,
        5.32284077,  5.91140901,  5.32284077, 14.30567561,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003985257707808165
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.69876789e-14,  2.95993898e-14,  1.00000000e+00, -7.98818829e-28,
        1.00000000e+00, -2.95993898e-14, -1.00000000e+00,  0.00000000e+00,
        2.69876789e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07457836, -0.13312856,  0.06164638])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.17727331e-04, 3.83544575e-02, 9.58086085e-03,-1.97793931e-05,
  8.65687677e-06,-3.53203806e-05,-5.54305246e-05, 1.08697423e-04,
  9.68005395e-06, 6.43717862e-05,-1.29385382e-05,-7.01460208e-05,
  3.13417866e-03, 4.62246754e-03, 8.55825875e-03, 1.72856760e-03,
  7.96134634e-04, 1.03460256e-03,-4.90656174e+00, 7.38100815e-03,
  2.18956115e-03, 1.55323004e-04]


--- Step 2526 ---
qpos:
[-0.01591082, 1.29397031,-0.03236697, 0.94843938, 0.00438258, 1.33142826,
 -0.02971646, 0.94624561, 0.01673258, 1.33653741,-0.02392927, 0.95499272,
  1.39321036,-0.00576023, 1.19168215, 0.0614731 ,-0.04711596,-0.10920035,
  0.07894079, 0.61232312,-0.01035691,-0.00477896, 0.79052533]

qacc:
[-1.74940728e-04, 5.70991937e-01,-1.40834012e+00, 1.05694012e+01,
 -3.23071483e-03, 2.89918472e+00,-1.27892499e+01, 2.96211208e+01,
 -2.03520796e-02, 5.45571373e+00,-1.89712809e+01, 2.67801848e+01,
  4.42129297e-01,-3.06011755e-01,-2.28915701e+00, 4.42505316e+00,
  7.39260296e+00, 7.56121404e+00, 2.40413982e+00, 1.83482118e+02,
  1.46162621e+02,-1.15211832e+01]

qfrc_actuator:
[ 3.83324040e-03, 7.32970662e-02, 2.04289995e-02, 1.83886634e-03,
 -2.39204041e-05, 3.48609972e-02, 1.08863234e-02, 1.93350606e-03,
 -3.04575208e-03, 3.49086461e-02, 1.08099862e-02, 1.71797242e-03,
  0.00000000e+00, 2.58901925e-03, 0.00000000e+00, 1.69508711e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007054281431904189
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30426781,  0.08784469, -0.94852749, -0.02683204,  0.99613418,
        0.08364647,  0.95220856,  0.        ,  0.30544862])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07231599, -0.04282929,  0.22457663])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -6.0830143 ,  6.13055576, -6.0830143 , 13.5909338 ,
        4.91614828,  6.13055576,  4.91614828, 13.51438799,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0040052871123712475
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.66216792e-15,  2.07892030e-14,  1.00000000e+00, -1.80079567e-28,
        1.00000000e+00, -2.07892030e-14, -1.00000000e+00,  0.00000000e+00,
        8.66216792e-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([-0.07463933, -0.13319816,  0.06164489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.60687558e-04, 3.82049112e-02, 9.58324290e-03, 5.49612961e-05,
 -9.19492521e-07, 6.67411836e-07,-1.64930864e-06, 8.17570604e-05,
 -5.79776243e-06, 2.28636918e-05,-6.27100015e-05, 4.58845470e-05,
  3.11963225e-03, 4.55704277e-03, 8.89301150e-03, 1.74407754e-03,
  7.83136086e-04, 5.39458850e-04,-4.90625858e+00, 7.15259928e-03,
  2.31213343e-03,-2.66071359e-05]


--- Step 2527 ---
qpos:
[-0.01591328, 1.29398662,-0.03236406, 0.94844089, 0.00438208, 1.33142879,
 -0.0297167 , 0.94624909, 0.0167323 , 1.33654115,-0.02393091, 0.95499253,
  1.3932216 ,-0.00576349, 1.19166084, 0.06147324,-0.0472004 ,-0.10924377,
  0.0789423 , 0.6115567 ,-0.00986539,-0.0047533 , 0.79112482]

qacc:
[ 7.84713999e-02,-1.67808194e-01,-7.05136340e-01, 1.46415554e+01,
 -1.37111116e-02,-8.93613106e-01, 2.26267830e+00, 9.21135295e-01,
 -3.55150063e-02, 1.21104855e+00,-4.54627720e+00, 6.44125508e+00,
  2.36752754e-01,-2.27596293e-01, 8.46826932e-01,-1.26443678e+00,
 -7.94558030e-01, 4.47621154e-01,-1.59934208e+00,-2.22506769e+02,
  3.07172120e+02, 5.86139829e+00]

qfrc_actuator:
[ 3.83714061e-03, 7.32684049e-02, 2.04809972e-02, 1.90002734e-03,
 -2.73446630e-05, 3.48596885e-02, 1.09094216e-02, 1.94489747e-03,
 -3.05255776e-03, 3.48842368e-02, 1.07859326e-02, 1.72741842e-03,
  0.00000000e+00, 2.58124419e-03, 0.00000000e+00, 1.35347999e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007051949974660396
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04251482e-01,  8.78456885e-02, -9.48532641e-01, -2.68309066e-02,
        9.96134095e-01,  8.36478776e-02,  9.52213809e-01, -3.46944695e-18,
        3.05432254e-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([ 0.07231383, -0.04282969,  0.22457715])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.62481974,  0.44638696, -8.62481974,  8.69095478,
        1.05477716,  0.44638696,  1.05477716, 29.01613202,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004048021948226857
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.74263094e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.74263094e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00160998, -0.12671178,  0.06164189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.64600190e-04, 3.81046582e-02, 9.58307137e-03, 7.18998136e-05,
 -3.96711648e-06, 1.19026775e-06, 2.54412740e-05, 1.32643530e-05,
 -1.02256689e-05,-2.26787071e-05,-2.53758466e-05, 9.35970153e-06,
  3.09180307e-03, 4.54341758e-03, 8.97538670e-03, 1.71265724e-03,
  9.61681729e-04, 3.28690798e-04,-4.90608186e+00, 6.95621422e-03,
  2.41308610e-03,-1.18018415e-04]


--- Step 2528 ---
qpos:
[-0.01591574, 1.29400287,-0.03236072, 0.9484429 , 0.0043814 , 1.3314292 ,
 -0.02971745, 0.94625239, 0.01673195, 1.33654445,-0.0239324 , 0.95499246,
  1.39323288,-0.00576676, 1.1916403 , 0.0614735 ,-0.04728912,-0.10928479,
  0.07893389, 0.61077792,-0.01003401,-0.00470967, 0.79172437]

qacc:
[-2.96872829e-03,-3.68474514e-01, 7.43577225e-02, 5.79219498e+00,
 -7.62153216e-02, 9.09637392e-01,-2.78977188e+00, 3.80122873e-01,
 -3.44784407e-02,-7.80440855e-01, 1.59736620e+00, 2.56348390e-01,
  4.96405348e-03,-3.67952218e-03, 7.64375743e-01,-1.02488822e+00,
 -1.07306434e+00, 5.98843958e-01,-2.47864909e+00,-1.94807025e+02,
  2.66588530e+02, 6.56323851e+00]

qfrc_actuator:
[ 3.82259986e-03, 7.32619362e-02, 2.04925205e-02, 1.91761387e-03,
 -4.69323082e-05, 3.48232447e-02, 1.08698562e-02, 1.93244186e-03,
 -3.05648105e-03, 3.48504063e-02, 1.07901287e-02, 1.73303397e-03,
  0.00000000e+00, 2.59565955e-03, 0.00000000e+00, 1.14731861e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007050838845500812
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04233157e-01,  8.78466521e-02, -9.48538429e-01, -2.68295872e-02,
        9.96134010e-01,  8.36493129e-02,  9.52219701e-01,  3.46944695e-18,
        3.05413884e-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([ 0.0723117 , -0.04283012,  0.22457768])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([8.63636364, 5.62476415, 6.55353379, 5.62476415, 8.19005016,
       0.38306174, 6.55353379, 0.38306174, 8.30758958, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.004102995172367792
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.35294215e-14,  1.35294215e-14,  1.00000000e+00,  1.83045247e-28,
        1.00000000e+00, -1.35294215e-14, -1.00000000e+00,  0.00000000e+00,
       -1.35294215e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00178168, -0.12661318,  0.06163792])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.40857935e-04, 3.80564082e-02, 9.53150349e-03, 2.66820044e-05,
 -2.19286845e-05,-3.04113031e-05,-3.60454543e-05,-1.13615135e-05,
 -9.95919045e-06,-5.10744180e-05,-2.84525752e-06, 4.42170341e-06,
  3.07642538e-03, 4.55999431e-03, 8.93540403e-03, 1.68667308e-03,
  6.48585663e-04, 4.03092189e-04,-4.90534770e+00, 6.59710047e-03,
  2.29056031e-03, 7.22453893e-05]


--- Step 2529 ---
qpos:
[-0.01591855, 1.29401849,-0.03235764, 0.94844416, 0.00438052, 1.33143013,
 -0.02971949, 0.94625445, 0.01673153, 1.33654733,-0.02393382, 0.95499212,
  1.39324413,-0.00577   , 1.1916199 , 0.06147399,-0.04738287,-0.10932305,
  0.07891242, 0.60998649,-0.01078028,-0.00465313, 0.79232482]

qacc:
[-1.48654432e-01,-1.42159560e+00, 5.17380084e+00,-1.27721218e+01,
 -8.46619316e-02, 2.05682665e+00,-3.35255298e+00,-1.16564693e+01,
 -2.78340486e-02,-1.22718634e+00, 3.91054791e+00,-6.33042544e+00,
 -3.30317359e-02, 5.29131178e-02,-5.03993650e-01, 2.07742386e+00,
 -1.25484181e+00, 6.92613604e-01,-3.26530569e+00,-1.71363002e+02,
  2.32581070e+02, 6.71135545e+00]

qfrc_actuator:
[ 3.77935928e-03, 7.32693453e-02, 2.04800927e-02, 1.87380219e-03,
 -5.83051139e-05, 3.48723013e-02, 1.08112216e-02, 1.87050148e-03,
 -3.05864362e-03, 3.48290584e-02, 1.07931556e-02, 1.71860699e-03,
  0.00000000e+00, 2.60562479e-03, 0.00000000e+00, 1.19938147e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007050213956320238
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04214488e-01,  8.78476220e-02, -9.48544327e-01, -2.68282394e-02,
        9.96133924e-01,  8.36507636e-02,  9.52225704e-01,  3.46944695e-18,
        3.05395169e-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([ 0.07230963, -0.04283057,  0.22457821])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([8.63636364, 5.39667945, 6.742598  , 5.39667945, 8.59612266,
       0.03220831, 6.742598  , 0.03220831, 8.61058457, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.004093542713497808
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.71213250e-14,  2.71213250e-14,  1.00000000e+00,  7.35566271e-28,
        1.00000000e+00, -2.71213250e-14, -1.00000000e+00,  0.00000000e+00,
       -2.71213250e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00181791, -0.12657618,  0.06163847])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.97961341e-04, 3.80668099e-02, 9.49787973e-03,-4.22136174e-05,
 -2.43138787e-05, 2.48466966e-05,-6.90099624e-05,-6.41679104e-05,
 -8.04243222e-06,-5.00377182e-05,-7.14356163e-06,-1.59181921e-05,
  3.07468929e-03, 4.57069113e-03, 8.89737981e-03, 1.68584350e-03,
  5.24501976e-04, 3.48422047e-04,-4.90488373e+00, 6.28667726e-03,
  2.18426433e-03, 1.03291011e-04]


--- Step 2530 ---
qpos:
[-0.01592174, 1.29403345,-0.03235513, 0.94844525, 0.00437961, 1.33143193,
 -0.02972253, 0.94625676, 0.01673106, 1.33655002,-0.02393475, 0.9549926 ,
  1.39325537,-0.00577308, 1.19159945, 0.06147451,-0.04748207,-0.10935833,
  0.07887509, 0.60918217,-0.01203471,-0.0045876 , 0.79292573]

qacc:
[-1.62072392e-01, 3.96195782e-01,-1.99440351e+00, 1.97003115e-01,
 -1.04751950e-02, 4.23532260e+00,-1.29296255e+01, 1.33659777e+01,
 -2.01792699e-02,-1.35838569e-01,-1.53596747e+00, 1.09753936e+01,
 -1.16470198e-01, 2.45566069e-01,-1.27677821e-01, 3.63362642e-01,
 -1.36317609e+00, 7.43141989e-01,-3.96475413e+00,-1.51489982e+02,
  2.04022052e+02, 6.47668862e+00]

qfrc_actuator:
[ 3.75474854e-03, 7.32501687e-02, 2.04538016e-02, 1.86521425e-03,
 -4.69048846e-05, 3.49543009e-02, 1.07776257e-02, 1.88650451e-03,
 -3.05973284e-03, 3.48508463e-02, 1.08309959e-02, 1.76351312e-03,
  0.00000000e+00, 2.61288116e-03, 0.00000000e+00, 1.22720787e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007049261826528319
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04196660e-01,  8.78486873e-02, -9.48549946e-01, -2.68269950e-02,
        9.96133830e-01,  8.36522815e-02,  9.52231434e-01,  3.46944695e-18,
        3.05377300e-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([ 0.0723076 , -0.04283102,  0.22457872])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  5.12463104,  6.95161374,  5.12463104,  9.1666445 ,
       -0.39091553,  6.95161374, -0.39091553,  8.92454102,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00403204437696255
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.37674951e-14,  2.06512427e-14,  1.00000000e+00,  2.84315882e-28,
        1.00000000e+00, -2.06512427e-14, -1.00000000e+00,  0.00000000e+00,
       -1.37674951e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00174654, -0.1265874 ,  0.0616426 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.90775967e-04, 3.80790184e-02, 9.48423746e-03,-1.32362659e-05,
 -2.94608844e-06, 8.03219999e-05,-3.84632789e-05, 1.32385631e-05,
 -5.83751372e-06,-7.76830523e-06, 2.67887186e-05, 4.28456392e-05,
  3.07600924e-03, 4.57646746e-03, 8.89059002e-03, 1.67681458e-03,
  5.30752472e-04, 2.08865235e-04,-4.90460869e+00, 6.01504181e-03,
  2.09032751e-03, 2.90906953e-05]


--- Step 2531 ---
qpos:
[-0.01592496, 1.29404779,-0.03235323, 0.94844554, 0.00437876, 1.33143421,
 -0.02972587, 0.94625854, 0.01673055, 1.33655298,-0.02393458, 0.95499388,
  1.39326674,-0.00577615, 1.19157862, 0.06147515,-0.04756048,-0.10936123,
  0.0788502 , 0.60845318,-0.01324079,-0.00400257, 0.79346921]

qacc:
[-1.08816414e-02,-5.26675698e-01, 2.37795528e+00,-1.09661336e+01,
  1.89471928e-02, 5.46868735e-01, 5.50116748e-02,-6.39723505e+00,
 -1.33627444e-02,-1.25094190e+00, 2.88524265e+00, 6.60052377e+00,
  1.29468621e-01,-1.21568389e-01,-9.37779091e-01, 2.43535454e+00,
  5.19758312e+00, 8.09388321e+00, 3.11071233e+00, 2.21010553e+02,
  1.39583569e+02,-4.43459790e+01]

qfrc_actuator:
[ 3.77699177e-03, 7.32153220e-02, 2.04196146e-02, 1.82421974e-03,
 -3.96888661e-05, 3.49667609e-02, 1.07592868e-02, 1.85954060e-03,
 -3.06016974e-03, 3.49162219e-02, 1.09070437e-02, 1.80752169e-03,
  0.00000000e+00, 2.60061551e-03, 0.00000000e+00, 1.41923338e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000704774611998877
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04180005e-01,  8.78498535e-02, -9.48555179e-01, -2.68258850e-02,
        9.96133728e-01,  8.36538622e-02,  9.52236786e-01,  3.46944695e-18,
        3.05360612e-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([ 0.07230558, -0.04283148,  0.2245792 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.54568463,  1.24821915,  8.54568463,  9.0395307 ,
       -2.76020324,  1.24821915, -2.76020324, 27.53354723,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004048781613753737
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.99837951e-15,  1.37105817e-14,  1.00000000e+00, -8.22412725e-29,
        1.00000000e+00, -1.37105817e-14, -1.00000000e+00,  0.00000000e+00,
        5.99837951e-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([-0.07477112, -0.13362544,  0.0616408 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.32010800e-04, 3.80770296e-02, 9.47872433e-03,-4.58289987e-05,
  5.48046812e-06, 4.97597884e-05,-6.61415657e-06,-2.53739223e-05,
 -3.88237485e-06, 6.75639638e-05, 7.88273639e-05, 4.55625546e-05,
  3.07669877e-03, 4.55612845e-03, 8.89348658e-03, 1.69503798e-03,
  6.26378490e-04, 1.47978527e-05,-4.90446547e+00, 5.77533498e-03,
  2.00612513e-03,-1.12955964e-04]


--- Step 2532 ---
qpos:
[-0.01592785, 1.29406158,-0.03235159, 0.94844566, 0.00437796, 1.33143662,
 -0.02972836, 0.94625857, 0.01672989, 1.33655627,-0.02393316, 0.95499464,
  1.39327822,-0.00577935, 1.19155901, 0.06147592,-0.04769854,-0.10939243,
  0.07883537, 0.60744147,-0.01361752,-0.00307498, 0.79424176]

qacc:
[ 1.37143949e-01,-3.20493222e-01, 5.31796352e-01,-2.12082329e+00,
  2.75109503e-02,-5.10223675e+00, 2.04327266e+01,-3.80319037e+01,
 -6.95186316e-02,-3.84890272e+00, 1.41613560e+01,-1.86320308e+01,
  1.09814122e-01,-1.85125388e-01, 1.38751291e+00,-2.25527780e+00,
 -1.49132534e+01,-7.07385067e+00, 2.51351603e+00, 3.86802732e+02,
 -2.26897918e+02, 1.82468703e+02]

qfrc_actuator:
[ 3.79163954e-03, 7.32423085e-02, 2.04342171e-02, 1.81774160e-03,
 -3.50427917e-05, 3.49730330e-02, 1.08030549e-02, 1.77195274e-03,
 -3.07796473e-03, 3.49363508e-02, 1.09696918e-02, 1.77967285e-03,
  0.00000000e+00, 2.59448580e-03, 0.00000000e+00, 9.98604472e-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: -0.0007045531008211849
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30416452,  0.08785101, -0.94856004, -0.02682488,  0.99613363,
        0.0836554 ,  0.95224176,  0.        ,  0.3053451 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07230356, -0.04283195,  0.22457967])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.013250759893175092
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.50835080e-01, -4.25417540e-01,  3.08382204e-01, -3.99957226e-01,
        9.04997192e-01,  1.44963100e-01, -3.40754874e-01,  1.38777878e-17,
       -9.40152177e-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([-0.07277488, -0.09713624,  0.06163767])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.47920769e-04, 3.81349148e-02, 9.52398513e-03,-1.21380387e-05,
  7.88199483e-06, 3.17332100e-05, 5.20067913e-05,-8.68774010e-05,
 -2.00834410e-05, 7.42167154e-05, 8.61326088e-05,-2.24738500e-05,
  3.07025898e-03, 4.54999992e-03, 8.91308877e-03, 1.64708014e-03,
  1.78517509e-04, 3.58092057e-04,-4.90452074e+00, 5.68903404e-03,
  2.12630347e-03, 3.02879104e-05]


--- Step 2533 ---
qpos:
[-0.01592997, 1.29407327,-0.03235059, 0.94844551, 0.00437738, 1.33143927,
 -0.02973003, 0.9462572 , 0.0167289 , 1.33655928,-0.02393122, 0.95499549,
  1.39328945,-0.00578297, 1.19154541, 0.06147704,-0.04780411,-0.10943216,
  0.0788468 , 0.60655469,-0.01366299,-0.00271244, 0.79491972]

qacc:
[ 3.31918471e-01,-1.47937210e+00, 2.03236792e+00,-3.48959481e+00,
  8.85799918e-02,-4.30179271e+00, 1.72840196e+01,-3.13893247e+01,
 -1.38364613e-01,-1.58334916e+00, 4.50561052e+00,-2.56251956e+00,
 -2.01674997e-01,-8.64457377e-02, 7.81942760e+00,-1.44213171e+01,
  8.12325714e+00,-2.13084690e+00, 6.56598186e+00,-1.23076524e+02,
 -3.02332306e+02,-8.27029423e+01]

qfrc_actuator:
[ 3.78364049e-03, 7.32710648e-02, 2.04602295e-02, 1.79615935e-03,
 -1.42237069e-05, 3.49935040e-02, 1.08475552e-02, 1.70268213e-03,
 -3.10602910e-03, 3.48581421e-02, 1.09704564e-02, 1.78073583e-03,
  0.00000000e+00, 2.62766802e-03, 0.00000000e+00,-1.03292337e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25887594, -0.25860945, -0.01174345, -0.25860945,  0.25953336,
       -0.0144774 , -0.01174345, -0.0144774 ,  0.57769147,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007043653432040678
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30414981,  0.08785207, -0.94856466, -0.0268239 ,  0.99613353,
        0.08365682,  0.95224649,  0.        ,  0.30533036])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07230166, -0.04283243,  0.22458012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  2.81011687, -8.16639578,  2.81011687, 25.30214317,
        5.73481736, -8.16639578,  5.73481736, 10.60975649,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004125553203107722
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.72772214e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.72772214e-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([-0.04848269, -0.09051499,  0.06163455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.23829493e-04, 3.81909287e-02, 9.56282234e-03,-2.50455962e-05,
  2.54716060e-05, 4.55760658e-05, 5.40763843e-05,-6.88110241e-05,
 -3.99170653e-05,-2.10363192e-05, 2.43852871e-05, 5.26690412e-06,
  3.06519787e-03, 4.58946193e-03, 8.85246502e-03, 1.43730881e-03,
  8.12539864e-04, 1.20112579e-03,-4.90462558e+00, 5.72854490e-03,
  2.36020978e-03, 3.01600966e-04]


--- Step 2534 ---
qpos:
[-0.0159316 , 1.2940828 ,-0.03235066, 0.9484441 , 0.00437702, 1.33144137,
 -0.02973028, 0.94625643, 0.01672787, 1.33656142,-0.02392958, 0.95499817,
  1.39330017,-0.00578693, 1.19153645, 0.06147845,-0.04789714,-0.10948021,
  0.07885176, 0.60579899,-0.01380794,-0.00294354, 0.79549247]

qacc:
[ 2.06052745e-01,-2.11014289e+00, 6.03955653e+00,-1.84865243e+01,
  9.62219000e-02,-3.52580873e+00, 9.40152291e+00,-8.46857360e-01,
 -1.49202185e-02, 2.79424556e+00,-1.41727271e+01, 3.39026668e+01,
 -3.92670702e-01, 1.16292720e-01, 6.01576237e+00,-1.10316427e+01,
  3.13467095e+00,-2.08104950e+00,-1.61693547e+00,-2.65364745e+02,
 -1.39600781e+02,-8.79271850e+01]

qfrc_actuator:
[ 3.77922069e-03, 7.32493987e-02, 2.04403169e-02, 1.73016905e-03,
 -1.62347511e-06, 3.49335736e-02, 1.09099359e-02, 1.73352031e-03,
 -3.08676896e-03, 3.47569268e-02, 1.09343294e-02, 1.86973529e-03,
  0.00000000e+00, 2.66702558e-03, 0.00000000e+00,-2.08094189e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007043853379134768
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30413772,  0.08785285, -0.94856846, -0.02682308,  0.99613346,
        0.08365791,  0.95225037,  0.        ,  0.30531824])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0723003 , -0.04283294,  0.22458046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.62587285,  0.42555185, -8.62587285,  8.62434698,
       -0.24357588,  0.42555185, -0.24357588,  3.6991166 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004146146844241597
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.3388612e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.3388612e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0147053 , -0.08124097,  0.06163323])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.80486263e-04, 3.82742663e-02, 9.57494735e-03,-7.78420427e-05,
  2.76327750e-05,-2.62256411e-05, 7.54255211e-05, 3.21920967e-05,
 -4.30577206e-06,-1.07953108e-04,-3.73139562e-05, 8.92205582e-05,
  3.07739391e-03, 4.64966606e-03, 8.55202026e-03, 1.31483527e-03,
  6.77683341e-04, 5.96237524e-04,-4.90490118e+00, 6.20979242e-03,
  2.26451518e-03, 1.86150559e-04]


--- Step 2535 ---
qpos:
[-0.01593303, 1.29409217,-0.03235109, 0.94844411, 0.00437686, 1.33144296,
 -0.0297297 , 0.9462571 , 0.01672721, 1.33656325,-0.0239289 , 0.95500292,
  1.39331056,-0.00579075, 1.19152871, 0.06147933,-0.04796922,-0.10953763,
  0.07887451, 0.60512455,-0.01363412,-0.0036281 , 0.7960058 ]

qacc:
[ 8.94861371e-02, 3.18296846e+00,-1.35257825e+01, 2.82253765e+01,
  8.30596186e-02,-4.38897319e-01,-2.34422727e+00, 1.90483731e+01,
  1.55772780e-01, 5.75090924e+00,-2.33908312e+01, 4.42859574e+01,
 -4.48121931e-01, 5.49645841e-01, 3.43265764e+00,-9.32518858e+00,
  5.23658143e+00,-2.34387136e+00, 4.44708637e+00,-8.33333851e+01,
 -2.63610813e+02,-5.39177595e+01]

qfrc_actuator:
[ 3.79468485e-03, 7.31983797e-02, 2.04290368e-02, 1.81616468e-03,
  5.94415554e-06, 3.48971038e-02, 1.09466114e-02, 1.80522871e-03,
 -3.03927512e-03, 3.47668764e-02, 1.08944190e-02, 1.97422335e-03,
  0.00000000e+00, 2.67467698e-03, 0.00000000e+00,-2.18451866e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007045226564584145
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3041287 ,  0.08785345, -0.9485713 , -0.02682247,  0.99613341,
        0.08365874,  0.95225327,  0.        ,  0.3053092 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07229939, -0.04283345,  0.22458073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   3.43059767,   7.92576662,   3.43059767,
        35.19153514, -11.49417007,   7.92576662, -11.49417007,
        13.61151303,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004120598053493171
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.02074373e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.02074373e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04875783, -0.09060777,  0.06163517])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.71784233e-04, 3.83312576e-02, 9.61700060e-03, 7.12919318e-05,
  2.38724809e-05,-3.52759289e-05, 4.10668376e-05, 7.38803988e-05,
  4.49487793e-05,-5.44041146e-05,-6.26231368e-05, 1.02283278e-04,
  3.10283920e-03, 4.67455683e-03, 8.32016999e-03, 1.29029079e-03,
  5.73180566e-04, 3.20098748e-04,-4.90496655e+00, 6.39752802e-03,
  2.11370963e-03, 1.64028011e-04]


--- Step 2536 ---
qpos:
[-0.0159342 , 1.29410227,-0.0323514 , 0.94844573, 0.00437685, 1.33144448,
 -0.02972932, 0.9462576 , 0.01672685, 1.33656543,-0.02392949, 0.95500642,
  1.39332096,-0.0057944 , 1.19152033, 0.06147958,-0.04801383,-0.10959588,
  0.07890568, 0.60451524,-0.01294692,-0.0044183 , 0.7964761 ]

qacc:
[ 1.04303216e-01, 3.39506894e+00,-1.32301106e+01, 2.96662821e+01,
  6.44929578e-02, 1.53992598e-01,-2.52939918e-01,-1.70080792e+00,
  1.29279539e-01, 1.76016102e+00,-2.69517891e+00,-1.21990493e+01,
 -1.20467132e-01, 2.57830089e-01, 9.85629909e-01,-4.79144922e+00,
  6.86901315e+00,-2.05829090e-01, 2.10455440e+00, 1.13650289e+02,
 -2.35879204e+02,-4.05914509e+01]

qfrc_actuator:
[ 3.82215922e-03, 7.31818616e-02, 2.04226548e-02, 1.90241180e-03,
  1.04324211e-05, 3.48926540e-02, 1.09323883e-02, 1.79386329e-03,
 -3.02848834e-03, 3.48077988e-02, 1.08352682e-02, 1.90950851e-03,
  0.00000000e+00, 2.66296047e-03, 0.00000000e+00,-2.06946005e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007047023277964685
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04120167e-01,  8.78539879e-02, -9.48573983e-01, -2.68218800e-02,
        9.96133363e-01,  8.36594881e-02,  9.52256011e-01, -3.46944695e-18,
        3.05300654e-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([ 0.07229856, -0.04283395,  0.22458098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  2.72314763,  8.19580648,  2.72314763, 17.68445477,
       -3.00632866,  8.19580648, -3.00632866,  9.63524969,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00408323667332347
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.79744473e-15,  1.35948895e-14,  1.00000000e+00,  9.24105098e-29,
        1.00000000e+00, -1.35948895e-14, -1.00000000e+00,  0.00000000e+00,
       -6.79744473e-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([-0.0732923 , -0.09753998,  0.06163827])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.88747724e-04, 3.83222543e-02, 9.62853921e-03, 8.65824209e-05,
  1.85737707e-05,-1.37266951e-05,-1.42869201e-05,-9.50189379e-06,
  3.73229642e-05, 1.63301458e-06,-7.38956914e-05,-6.57684677e-05,
  3.11908170e-03, 4.65600051e-03, 8.25957154e-03, 1.32840812e-03,
  6.31667762e-04, 4.99380597e-04,-4.90531274e+00, 6.66715770e-03,
  2.08146658e-03, 2.35547821e-04]


--- Step 2537 ---
qpos:
[-0.01593613, 1.2941148 ,-0.03235036, 0.94844712, 0.0043768 , 1.33144572,
 -0.02972871, 0.94625727, 0.01672688, 1.3365676 ,-0.02393125, 0.95500742,
  1.39333151,-0.00579779, 1.19150691, 0.06147962,-0.04803516,-0.10965578,
  0.07894002, 0.60395566,-0.01180073,-0.00529178, 0.79691298]

qacc:
[-3.20041271e-01,-8.68737902e-01, 7.16931859e+00,-1.04606931e+01,
 -1.44621706e-02,-2.40781673e+00, 9.12528329e+00,-1.73876822e+01,
  1.60226812e-01,-1.18698762e+00, 8.88772957e+00,-3.65447958e+01,
  1.87348513e-01,-1.86093511e-02,-6.84124899e+00, 1.30979875e+01,
  5.81926903e+00,-4.12335775e-01, 7.92120601e-01, 1.05817034e+02,
 -2.07637210e+02,-3.14611038e+01]

qfrc_actuator:
[ 3.80346302e-03, 7.31497263e-02, 2.04366388e-02, 1.89928511e-03,
 -4.71439743e-06, 3.48716598e-02, 1.09415714e-02, 1.75143949e-03,
 -3.00430530e-03, 3.47780180e-02, 1.07652765e-02, 1.78125985e-03,
  0.00000000e+00, 2.63953941e-03, 0.00000000e+00,-2.22330031e-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: -0.0007048796654254876
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04110846e-01,  8.78544563e-02, -9.48576928e-01, -2.68212019e-02,
        9.96133322e-01,  8.36601973e-02,  9.52259007e-01,  3.46944695e-18,
        3.05291309e-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([ 0.07229764, -0.04283446,  0.22458126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -6.25260505,  5.95749166, -6.25260505, 11.28730209,
        2.78225671,  5.95749166,  2.78225671, 11.55644365,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004017560133991252
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.90856507e-15,  1.38171301e-14,  1.00000000e+00,  9.54565427e-29,
        1.00000000e+00, -1.38171301e-14, -1.00000000e+00,  0.00000000e+00,
       -6.90856507e-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([-0.07344381, -0.097566  ,  0.06164357])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.57802161e-04, 3.82539635e-02, 9.63699762e-03, 2.81250899e-06,
 -4.18689626e-06,-3.16757012e-05, 4.59355788e-06,-4.34712376e-05,
  4.62197558e-05,-4.52660203e-05,-7.99916555e-05,-1.31885957e-04,
  3.11905054e-03, 4.62430904e-03, 8.29157431e-03, 1.54487111e-03,
  4.75353662e-04, 6.25659967e-04,-4.90568672e+00, 6.86513617e-03,
  2.14322725e-03, 2.19166600e-04]


--- Step 2538 ---
qpos:
[-0.01593818, 1.29412769,-0.03234829, 0.94844935, 0.00437652, 1.33144738,
 -0.02972917, 0.94625713, 0.01672739, 1.33656898,-0.02393364, 0.95500796,
  1.39334213,-0.00580117, 1.191495  , 0.06147969,-0.04804262,-0.10969432,
  0.07897997, 0.60344104,-0.01064354,-0.00564849, 0.79731657]

qacc:
[-4.91134127e-02,-8.61383412e-01, 1.65472714e+00, 8.11860626e+00,
 -1.01871776e-01, 3.75058338e+00,-1.19778076e+01, 1.23481419e+01,
  2.05760956e-01,-1.20721076e-01, 9.97107235e-02,-4.99404310e+00,
 -1.87315267e-02, 4.56584392e-02, 2.12243008e+00,-4.19949599e+00,
  3.46518535e+00, 5.33849774e+00, 1.40396065e+00, 2.09406508e+02,
  1.51989904e+02,-2.49459319e+01]

qfrc_actuator:
[ 3.77571470e-03, 7.31062226e-02, 2.04793044e-02, 1.93250163e-03,
 -3.15165961e-05, 3.49119880e-02, 1.08934406e-02, 1.76212271e-03,
 -2.97227972e-03, 3.47060347e-02, 1.07246829e-02, 1.75866915e-03,
  0.00000000e+00, 2.64443321e-03, 0.00000000e+00,-1.24334037e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007049424502432074
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30409791,  0.0878552 , -0.94858101, -0.02682029,  0.99613326,
        0.08366127,  0.95226316,  0.        ,  0.30527835])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07229625, -0.04283493,  0.22458164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -2.10635866,  8.37556148, -2.10635866, 42.28265351,
        8.46166007,  8.37556148,  8.46166007, 10.76437512,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004035597709921339
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.06330593e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.06330593e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07502939, -0.13428976,  0.06164282])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.67579474e-04, 3.80888177e-02, 9.61180542e-03, 4.78693045e-05,
 -2.92738778e-05, 2.23913265e-05,-5.50790981e-05, 8.86155609e-06,
  5.93137178e-05,-1.16554417e-04,-6.23820425e-05,-2.93400377e-05,
  3.11155038e-03, 4.61587288e-03, 8.54355884e-03, 1.45283579e-03,
  3.64215028e-04, 7.02414881e-04,-4.90606724e+00, 7.01274359e-03,
  2.19602956e-03, 1.34627188e-04]


--- Step 2539 ---
qpos:
[-0.01593997, 1.29414055,-0.0323455 , 0.94845271, 0.00437596, 1.33144954,
 -0.02973032, 0.94625675, 0.01672819, 1.33656954,-0.02393592, 0.95500749,
  1.39335277,-0.00580463, 1.19148497, 0.06147967,-0.04803794,-0.10971454,
  0.0790204 , 0.60296406,-0.0094804 ,-0.00554278, 0.79769276]

qacc:
[ 1.09289045e-01,-7.55918403e-02,-2.10711394e+00, 1.48842511e+01,
 -1.15099820e-01, 2.09848802e+00,-5.53902104e+00, 1.63838891e+00,
  1.24949140e-01,-3.10151176e+00, 1.08363761e+01,-2.04350290e+01,
 -4.02035346e-02, 1.20359929e-02, 3.09811012e+00,-6.78077080e+00,
  3.03890008e+00, 4.58040369e+00, 1.19711031e-01, 1.86267615e+02,
  1.37399112e+02,-2.08280426e+01]

qfrc_actuator:
[ 3.79545808e-03, 7.31102526e-02, 2.05212118e-02, 1.98653820e-03,
 -4.73399684e-05, 3.49530290e-02, 1.08653868e-02, 1.75072053e-03,
 -2.97131266e-03, 3.46805130e-02, 1.07371684e-02, 1.70967601e-03,
  0.00000000e+00, 2.64872501e-03, 0.00000000e+00,-1.85643336e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007051300708769102
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30408365,  0.08785598, -0.9485855 , -0.02681927,  0.99613319,
        0.08366242,  0.95226774,  0.        ,  0.30526405])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07229495, -0.04283543,  0.22458202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.6122763 , -0.64457253, -8.6122763 ,  8.73617549,
       -1.33360823, -0.64457253, -1.33360823, 26.45499857,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004007528908610107
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.38517157e-14,  1.38517157e-14,  1.00000000e+00, -1.91870029e-28,
        1.00000000e+00, -1.38517157e-14, -1.00000000e+00,  0.00000000e+00,
        1.38517157e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07507435, -0.13437173,  0.06164549])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.93087772e-04, 3.80746513e-02, 9.60225722e-03, 5.97269248e-05,
 -3.30969816e-05, 4.29091616e-05,-2.96824048e-05,-1.21375207e-05,
  3.59825042e-05,-1.03030962e-04,-1.82225728e-05,-5.49556698e-05,
  3.10796546e-03, 4.62028064e-03, 8.46878735e-03, 1.39001027e-03,
  3.85186716e-04, 2.45024429e-04,-4.90582688e+00, 6.84088618e-03,
  2.28116908e-03,-3.18992325e-05]


--- Step 2540 ---
qpos:
[-0.01594267, 1.29415565,-0.03234147, 0.94845507, 0.00437531, 1.33145119,
 -0.02973084, 0.94625625, 0.01672917, 1.33656979,-0.02393739, 0.95500567,
  1.39336363,-0.00580781, 1.19146834, 0.06147956,-0.04804856,-0.10973032,
  0.07905478, 0.60249426,-0.00898852,-0.00540952, 0.79805426]

qacc:
[-3.89536061e-01,-2.06843571e+00, 1.23298178e+01,-2.35401840e+01,
 -3.76572228e-02,-2.53979836e+00, 7.69128536e+00,-7.62327946e+00,
  7.41429743e-02,-4.92891081e+00, 1.82918314e+01,-3.12794912e+01,
  3.23042265e-01,-1.59811385e-01,-9.53114555e+00, 1.91346136e+01,
 -3.82698599e+00, 1.11165542e+00,-1.51270723e+00,-1.91393049e+02,
  2.76130270e+02,-5.30670612e+00]

qfrc_actuator:
[ 3.79011320e-03, 7.31252977e-02, 2.05270518e-02, 1.94593124e-03,
 -3.86960538e-05, 3.48877212e-02, 1.08849299e-02, 1.74418036e-03,
 -2.97123133e-03, 3.47187224e-02, 1.07987624e-02, 1.64556269e-03,
  0.00000000e+00, 2.61722109e-03, 0.00000000e+00, 7.94382924e-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: -0.0007054320999527325
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04068736e-01,  8.78567047e-02, -9.48590219e-01, -2.68181798e-02,
        9.96133123e-01,  8.36635273e-02,  9.52272539e-01,  3.46944695e-18,
        3.05249097e-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([ 0.07229378, -0.04283596,  0.22458239])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.58839547, -0.9089775 , -8.58839547,  9.15304634,
       -4.88183194, -0.9089775 , -4.88183194, 54.76193135,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0040386829225327395
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.37448649e-14,  1.37448649e-14,  1.00000000e+00,  1.88921312e-28,
        1.00000000e+00, -1.37448649e-14, -1.00000000e+00,  0.00000000e+00,
       -1.37448649e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00208751, -0.12613281,  0.06164384])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.74928454e-04, 3.80911169e-02, 9.57186478e-03,-3.71641047e-05,
 -1.08849350e-05,-4.77564662e-05, 2.42004562e-05,-6.40391692e-06,
  2.13221490e-05,-2.39532245e-05, 3.77953071e-05,-6.89816634e-05,
  3.10692472e-03, 4.59241144e-03, 8.37461988e-03, 1.66025100e-03,
  6.01442299e-04, 6.78990373e-05,-4.90570911e+00, 6.70389419e-03,
  2.34355035e-03,-1.11005366e-04]


--- Step 2541 ---
qpos:
[-0.01594615, 1.29417147,-0.03233773, 0.94845611, 0.00437466, 1.33145211,
 -0.02973097, 0.94625571, 0.0167301 , 1.33656989,-0.02393822, 0.95500308,
  1.39337483,-0.00581067, 1.19144611, 0.06147938,-0.04807307,-0.10974166,
  0.07907938, 0.60202745,-0.00908566,-0.00525597, 0.7984064 ]

qacc:
[-3.32667572e-01,-5.62146061e-01, 5.67233119e+00,-2.06934883e+01,
 -3.07979292e-03,-2.09632605e+00, 5.78114643e+00,-5.06405447e+00,
 -1.93451626e-02,-3.24326420e+00, 1.18964038e+01,-1.90300839e+01,
  3.39791480e-01,-1.18126789e-01,-8.07466642e+00, 1.61529493e+01,
 -3.47098733e+00, 1.10731112e+00,-2.44660385e+00,-1.69354398e+02,
  2.41191258e+02,-2.32536240e+00]

qfrc_actuator:
[ 3.77078273e-03, 7.31624420e-02, 2.04749460e-02, 1.86795721e-03,
 -3.31980165e-05, 3.48304364e-02, 1.08964943e-02, 1.74052079e-03,
 -2.98943186e-03, 3.47239903e-02, 1.08358266e-02, 1.60863688e-03,
  0.00000000e+00, 2.59942198e-03, 0.00000000e+00, 2.03068985e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007055181660778273
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3040505 ,  0.08785774, -0.94859597, -0.02681689,  0.99613303,
        0.08366503,  0.9522784 ,  0.        ,  0.30523082])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07229203, -0.04283644,  0.22458287])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.35987919,  2.16776308,  8.35987919,  8.90914293,
       -1.05196086,  2.16776308, -1.05196086, 12.69320259,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004064411939007931
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.36578556e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.36578556e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0021315 , -0.12607367,  0.0616425 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.01273638e-04, 3.80159243e-02, 9.45799379e-03,-6.55754944e-05,
 -9.26901180e-07,-7.91729841e-05, 4.78857403e-06,-4.53010431e-06,
 -5.61243001e-06,-2.64216662e-06, 3.46620416e-05,-3.81396884e-05,
  3.09597651e-03, 4.56065195e-03, 8.70470246e-03, 1.78774952e-03,
  3.12387415e-04, 1.57151442e-04,-4.90522189e+00, 6.49537375e-03,
  2.27369031e-03, 5.60846961e-05]


--- Step 2542 ---
qpos:
[-0.01594818, 1.29418379,-0.03233581, 0.94845668, 0.00437403, 1.33145279,
 -0.02973082, 0.94625475, 0.01673106, 1.33656953,-0.02393733, 0.95500074,
  1.39338619,-0.00581408, 1.19143024, 0.06147947,-0.04811019,-0.10974867,
  0.07909092, 0.60156022,-0.00970243,-0.00508774, 0.79875233]

qacc:
[ 6.20416587e-01,-4.65052860e-01,-3.03665375e+00,-7.16153021e-01,
  1.05440877e-02,-1.77396974e+00, 6.27281904e+00,-1.01739810e+01,
  1.12951122e-02,-4.86690859e+00, 1.46313621e+01,-9.60769987e+00,
  1.83459270e-01,-5.26033585e-01, 8.58300886e+00,-1.63836530e+01,
 -3.15561855e+00, 1.08605007e+00,-3.26436637e+00,-1.50574855e+02,
  2.11886213e+02,-2.68838360e-01]

qfrc_actuator:
[ 3.83205593e-03, 7.31424705e-02, 2.04423530e-02, 1.82155120e-03,
 -2.96334835e-05, 3.48493889e-02, 1.09209986e-02, 1.72081437e-03,
 -2.98294545e-03, 3.47094371e-02, 1.09290187e-02, 1.62347933e-03,
  0.00000000e+00, 2.60744712e-03, 0.00000000e+00,-9.54394769e-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: -0.0007053199704470346
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04031851e-01,  8.78590180e-02, -9.48601827e-01, -2.68156381e-02,
        9.96132919e-01,  8.36667712e-02,  9.52284388e-01,  3.46944695e-18,
        3.05212130e-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([ 0.07228981, -0.04283688,  0.22458339])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.30421195,  2.37209627,  8.30421195,  9.06909005,
       -1.51488448,  2.37209627, -1.51488448, 13.93965675,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004034054596289929
  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([-0.00206728, -0.12606479,  0.06164508])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00153949e-03, 3.79602510e-02, 9.43944532e-03,-4.57157917e-05,
  3.01471330e-06,-2.40488920e-05, 9.43179379e-06,-2.20448135e-05,
  3.17305428e-06,-1.03782213e-05, 9.54965576e-05, 1.48859176e-05,
  3.07902759e-03, 4.55274759e-03, 8.98570236e-03, 1.49318668e-03,
  1.72111301e-04, 1.51511503e-04,-4.90494879e+00, 6.32542916e-03,
  2.21627220e-03, 9.83917335e-05]


--- Step 2543 ---
qpos:
[-0.01594827, 1.29419253,-0.03233484, 0.94845631, 0.00437344, 1.3314532 ,
 -0.02973011, 0.94625389, 0.01673207, 1.33656924,-0.0239355 , 0.95499962,
  1.39339736,-0.00581845, 1.1914238 , 0.06148013,-0.04815882,-0.10975146,
  0.07908654, 0.60108985,-0.01078023,-0.00490915, 0.79909366]

qacc:
[ 8.24786829e-01,-3.76146794e+00, 8.49563840e+00,-1.59353656e+01,
  1.45337554e-02,-1.71245258e+00, 4.92964181e+00,-2.88775435e+00,
  1.87039297e-02,-3.15552818e-01,-1.31797956e+00, 1.52038929e+01,
  4.88911278e-02,-7.37962682e-01, 1.21704650e+01,-2.23790374e+01,
 -2.87523806e+00, 1.05235023e+00,-3.97791345e+00,-1.34557158e+02,
  1.87255330e+02, 1.09544387e+00]

qfrc_actuator:
[ 3.88651023e-03, 7.30211355e-02, 2.04586324e-02, 1.77601605e-03,
 -2.72583090e-05, 3.48428777e-02, 1.09532310e-02, 1.72738059e-03,
 -2.97945311e-03, 3.47366421e-02, 1.09835406e-02, 1.68643605e-03,
  0.00000000e+00, 2.61395193e-03, 0.00000000e+00,-3.45751014e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000705238454986816
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04018274e-01,  8.78597938e-02, -9.48606107e-01, -2.68146792e-02,
        9.96132851e-01,  8.36678932e-02,  9.52288749e-01, -3.46944695e-18,
        3.05198522e-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([ 0.07228821, -0.04283739,  0.22458378])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.24975452,  2.55505913,  8.24975452,  9.29368118,
       -2.12234163,  2.55505913, -2.12234163, 15.48896333,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003958551281371847
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.40230977e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.40230977e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00191747, -0.12609531,  0.06165074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.83226601e-04, 3.80133004e-02, 9.54712357e-03,-6.73531589e-05,
  4.15334869e-06,-1.86366698e-05, 2.79541403e-05, 5.60982137e-06,
  5.36523257e-06, 4.05555708e-05, 6.37793312e-05, 6.57870214e-05,
  3.07090233e-03, 4.58662235e-03, 8.66733240e-03, 1.22953523e-03,
  1.38068717e-04, 7.96219465e-05,-4.90482353e+00, 6.18267295e-03,
  2.16720508e-03, 5.57912318e-05]


--- Step 2544 ---
qpos:
[-0.01594805, 1.29420094,-0.03233375, 0.94845504, 0.00437288, 1.33145353,
 -0.02972935, 0.94625279, 0.01673282, 1.33656984,-0.02393439, 0.95499789,
  1.39340813,-0.00582309, 1.19141811, 0.06148081,-0.04821795,-0.10975021,
  0.07906378, 0.60061416,-0.01226952,-0.00472352, 0.79943091]

qacc:
[ 1.34960281e-01,-2.23914140e+00, 8.60567586e+00,-1.75691161e+01,
  1.42341224e-02,-6.67469466e-01, 2.58049675e+00,-5.11148321e+00,
 -1.06574473e-01, 2.10645397e+00,-4.22939015e+00,-3.85743228e+00,
 -1.69326184e-01,-7.83134370e-02, 1.05409689e+00,-2.06139683e+00,
 -2.62514284e+00, 1.01001339e+00,-4.59839342e+00,-1.20899795e+02,
  1.66536425e+02, 1.94485155e+00]

qfrc_actuator:
[ 3.88255430e-03, 7.29824982e-02, 2.04685761e-02, 1.74940588e-03,
 -2.56159752e-05, 3.48389770e-02, 1.09541944e-02, 1.71384768e-03,
 -3.01329078e-03, 3.47885426e-02, 1.09439509e-02, 1.65291379e-03,
  0.00000000e+00, 2.62018634e-03, 0.00000000e+00,-2.65761293e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007054661443639046
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04009023e-01,  8.78599324e-02, -9.48609059e-01, -2.68139059e-02,
        9.96132839e-01,  8.36682865e-02,  9.52291724e-01,  3.46944695e-18,
        3.05189239e-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([ 0.07228747, -0.04283793,  0.224584  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.205306  ,  2.69438867,  8.205306  ,  9.59828046,
       -2.92935537,  2.69438867, -2.92935537, 17.55722108,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038471849045620538
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.88580625e-14,  1.44290313e-14,  1.00000000e+00, -4.16393886e-28,
        1.00000000e+00, -1.44290313e-14, -1.00000000e+00,  0.00000000e+00,
        2.88580625e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00170009, -0.12615667,  0.06165883])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.82558893e-04, 3.81540129e-02, 9.60420957e-03,-4.71329480e-05,
  4.09247922e-06,-8.57949768e-06, 6.60655895e-07,-1.31421397e-05,
 -3.06688761e-05, 8.87315505e-05,-2.24997818e-05,-2.89229550e-05,
  3.08064127e-03, 4.64142291e-03, 8.19626841e-03, 1.28092043e-03,
  1.80030809e-04,-3.81595902e-05,-4.90479990e+00, 6.05976419e-03,
  2.12384086e-03,-4.36523252e-05]


--- Step 2545 ---
qpos:
[-0.01594773, 1.29420918,-0.03233335, 0.94845418, 0.00437235, 1.3314539 ,
 -0.02972925, 0.94625293, 0.0167334 , 1.33657093,-0.02393282, 0.95499644,
  1.39341869,-0.00582761, 1.19141135, 0.06148093,-0.04826336,-0.10972539,
  0.07904751, 0.60019566,-0.01373785,-0.0040203 , 0.79972513]

qacc:
[ 4.06890645e-02, 2.29803057e+00,-8.56877828e+00, 1.21616207e+01,
  1.23967594e-02, 4.00412864e+00,-1.55696260e+01, 2.80210698e+01,
 -7.21586517e-02,-1.56476466e-01, 7.15846219e-01, 2.27720968e+00,
 -2.30976460e-01, 3.00617696e-01, 1.36216663e-01,-2.73865824e+00,
  3.43070021e+00, 5.89240564e+00, 1.62488725e+00, 2.13434623e+02,
  1.47454735e+02,-3.26538795e+01]

qfrc_actuator:
[ 3.87990156e-03, 7.30271617e-02, 2.04385409e-02, 1.76998675e-03,
 -2.44264628e-05, 3.48365465e-02, 1.09189299e-02, 1.77733306e-03,
 -3.01599092e-03, 3.48189016e-02, 1.09734515e-02, 1.66935860e-03,
  0.00000000e+00, 2.62594078e-03, 0.00000000e+00,-2.53556928e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007057200543424888
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30399999,  0.08785997, -0.94861195, -0.02681312,  0.99613284,
        0.08366858,  0.95229463,  0.        ,  0.30518017])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07228681, -0.04283843,  0.22458423])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.57104161,  1.06019929,  8.57104161,  9.11901621,
       -3.90194118,  1.06019929, -3.90194118, 40.1810935 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003865228655953845
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.18083666e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.18083666e-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([-0.07524872, -0.13486031,  0.06165717])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.64080514e-04, 3.82151117e-02, 9.56883904e-03, 1.80889298e-05,
  3.60421976e-06,-7.44579233e-06,-3.72550748e-05, 6.29425381e-05,
 -2.08031723e-05, 7.41673220e-05, 4.34218404e-05, 1.77425522e-05,
  3.10032164e-03, 4.66046636e-03, 8.15881786e-03, 1.29213552e-03,
  2.76482884e-04,-1.87418346e-04,-4.90484568e+00, 5.95190565e-03,
  2.08445835e-03,-1.80290225e-04]


--- Step 2546 ---
qpos:
[-0.01594816, 1.29421913,-0.03233232, 0.94845402, 0.00437184, 1.33145457,
 -0.02972971, 0.94625381, 0.01673401, 1.33657236,-0.0239306 , 0.95499659,
  1.39342875,-0.00583172, 1.19140047, 0.06148051,-0.04836634,-0.10972982,
  0.07904056, 0.59949456,-0.01439008,-0.00296742, 0.80024396]

qacc:
[-3.20110531e-01, 1.74576292e+00,-4.45218986e+00, 1.09797383e+01,
  1.04160117e-02, 3.12722206e+00,-1.12368144e+01, 1.80258349e+01,
  1.29302256e-02, 1.42839855e+00,-7.32494602e+00, 2.44899446e+01,
 -4.97363387e-01, 7.24247827e-01,-4.44954760e+00, 6.80566551e+00,
 -1.43936623e+01,-7.31243677e+00, 2.33068059e+00, 3.83235662e+02,
 -2.23505846e+02, 1.81165872e+02]

qfrc_actuator:
[ 3.89587750e-03, 7.29974983e-02, 2.04385162e-02, 1.81794470e-03,
 -2.35180658e-05, 3.48704191e-02, 1.08981337e-02, 1.81461176e-03,
 -2.99998885e-03, 3.48363916e-02, 1.10079941e-02, 1.75064904e-03,
  0.00000000e+00, 2.66663297e-03, 0.00000000e+00,-1.21674606e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007058788970492821
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03991747e-01,  8.78599742e-02, -9.48614591e-01, -2.68123950e-02,
        9.96132835e-01,  8.36688147e-02,  9.52297282e-01,  3.46944695e-18,
        3.05171897e-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([ 0.07228605, -0.04283891,  0.22458445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.011926381792034452
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.44645350e-01, -4.22322675e-01,  3.28964725e-01, -3.93529296e-01,
        9.06445563e-01,  1.53268181e-01, -3.62917243e-01, -2.77555756e-17,
       -9.31821375e-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([-0.07395626, -0.09794007,  0.06165265])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.75265279e-04, 3.81933285e-02, 9.60261113e-03, 4.59584120e-05,
  3.03481787e-06, 2.43533170e-05,-2.46462219e-05, 3.74250235e-05,
  3.72326881e-06, 6.74981166e-05, 5.44758499e-05, 8.51731532e-05,
  3.11097997e-03, 4.69518655e-03, 8.21249803e-03, 1.45221316e-03,
 -1.12691060e-04, 2.47822090e-04,-4.90495490e+00, 5.92436086e-03,
  2.14821127e-03,-9.49263638e-06]


--- Step 2547 ---
qpos:
[-0.01595003, 1.29423201,-0.03232964, 0.94845427, 0.00437121, 1.33145579,
 -0.02973026, 0.94625439, 0.01673458, 1.33657411,-0.02392847, 0.95499774,
  1.39343834,-0.00583522, 1.19138303, 0.06147981,-0.04843223,-0.10973529,
  0.07904949, 0.59887789,-0.01448312,-0.00204432, 0.80070677]

qacc:
[-6.12085281e-01, 1.06281738e-01, 3.47189803e+00,-1.32858768e-01,
 -5.29613678e-02, 4.61581367e-01,-1.19212056e-02,-3.80547227e+00,
 -2.16269829e-02, 2.42803106e+00,-9.44281699e+00, 1.96661151e+01,
 -4.43058090e-01, 7.95725077e-01,-8.76781637e+00, 1.66603842e+01,
  9.27215464e+00,-2.58569020e-01, 3.96842372e+00, 1.16212341e+02,
 -2.62120561e+02,-5.23346225e+01]

qfrc_actuator:
[ 3.88833347e-03, 7.29569517e-02, 2.04554667e-02, 1.84635712e-03,
 -4.05381001e-05, 3.49258068e-02, 1.09039244e-02, 1.80068378e-03,
 -3.00840345e-03, 3.48283573e-02, 1.09919336e-02, 1.79841072e-03,
  0.00000000e+00, 2.69244777e-03, 0.00000000e+00, 8.22050582e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25930307, -0.25383662,  0.05296273, -0.25383662,  0.27300206,
        0.06565572,  0.05296273,  0.06565572,  0.57397387,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007059098154766248
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30398129,  0.08786023, -0.94861792, -0.02681155,  0.99613281,
        0.08366935,  0.95230064,  0.        ,  0.30516141])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07228491, -0.0428393 ,  0.22458476])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -5.26529787,  6.84568588, -5.26529787, 35.15263036,
       20.3947486 ,  6.84568588, 20.3947486 , 24.3228015 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003958089849478638
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.40247325e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.40247325e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0740398 , -0.09804949,  0.06164997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.05247522e-04, 3.80678497e-02, 9.58826785e-03, 3.89994158e-05,
 -1.52283985e-05, 6.51584755e-05, 8.84707717e-06,-1.30501237e-05,
 -6.21340750e-06, 4.24426766e-05, 5.80059619e-06, 5.33430999e-05,
  3.13645769e-03, 4.70070113e-03, 8.41869388e-03, 1.68256996e-03,
  2.71664418e-04, 1.00458599e-03,-4.90473905e+00, 5.79453539e-03,
  2.28628783e-03, 3.36619749e-04]


--- Step 2548 ---
qpos:
[-0.01595264, 1.29424518,-0.032327  , 0.94845519, 0.00437028, 1.33145743,
 -0.02973069, 0.94625411, 0.01673521, 1.33657606,-0.02392641, 0.95499844,
  1.39344782,-0.00583828, 1.19136367, 0.06147888,-0.04849398,-0.1097524 ,
  0.07905694, 0.59836796,-0.01463945,-0.00176185, 0.80108574]

qacc:
[-3.17919311e-01, 1.59174083e+00,-6.08456620e+00, 1.27595366e+01,
 -1.27205676e-01,-1.25354932e+00, 6.52605590e+00,-1.59076276e+01,
  3.06570258e-02,-3.61462668e-01, 2.41800287e+00,-7.53552915e+00,
 -3.14364594e-01, 6.46431505e-01,-2.11033431e+00, 3.33957658e+00,
  1.03743215e+00,-2.91147390e+00,-3.70778384e-01,-2.74741269e+02,
 -1.65772934e+02,-7.24169106e+01]

qfrc_actuator:
[ 3.84991010e-03, 7.29612165e-02, 2.04280732e-02, 1.86306019e-03,
 -6.81753849e-05, 3.49404651e-02, 1.09076725e-02, 1.75676958e-03,
 -2.99589360e-03, 3.48226399e-02, 1.09815021e-02, 1.77273894e-03,
  0.00000000e+00, 2.70897952e-03, 0.00000000e+00, 6.29709449e-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: -0.0007057733824051768
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30396646,  0.08786097, -0.9486226 , -0.02681047,  0.99613275,
        0.08367048,  0.95230541,  0.        ,  0.30514654])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07228315, -0.04283962,  0.22458519])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.28974822,  2.4221584 , -8.28974822, 10.94354888,
        7.89625682,  2.4221584 ,  7.89625682, 35.6610128 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004008167585367928
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.38495085e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.38495085e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01561998, -0.08072718,  0.06164643])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.38598436e-04, 3.79252757e-02, 9.47852968e-03, 3.53897054e-05,
 -3.66211758e-05, 5.20321327e-05, 1.71143303e-05,-4.20022369e-05,
  8.84381606e-06, 2.04540533e-05, 7.46963977e-08,-2.29959475e-05,
  3.15924408e-03, 4.68723335e-03, 8.74724258e-03, 1.67813715e-03,
  4.91235305e-04, 7.74692382e-04,-4.90497289e+00, 6.09703480e-03,
  2.32124172e-03, 3.17059911e-04]


--- Step 2549 ---
qpos:
[-0.01595521, 1.29425608,-0.03232588, 0.94845557, 0.00436918, 1.33145955,
 -0.02973107, 0.94625296, 0.01673595, 1.33657762,-0.02392368, 0.95499953,
  1.39345704,-0.00584127, 1.19134703, 0.06147803,-0.04855371,-0.1097802 ,
  0.07905881, 0.59794556,-0.01484304,-0.00204251, 0.80139667]

qacc:
[ 1.90122030e-02, 2.67557387e-01,-3.38892139e+00,-1.74462290e+00,
 -6.90974223e-02,-9.62391059e-01, 5.67988637e+00,-1.52996232e+01,
  4.32540783e-02,-1.64303878e+00, 3.93716989e+00, 1.36292223e+00,
 -3.87271476e-01, 4.44076229e-01, 3.78942649e+00,-7.35033391e+00,
  5.01769695e-01,-2.67103041e+00,-1.39338362e+00,-2.39119585e+02,
 -1.48971509e+02,-5.95007741e+01]

qfrc_actuator:
[ 3.84610118e-03, 7.29583310e-02, 2.03750902e-02, 1.81906028e-03,
 -6.64524304e-05, 3.49661010e-02, 1.09100164e-02, 1.71329855e-03,
 -2.98868469e-03, 3.47828064e-02, 1.10099618e-02, 1.79283971e-03,
  0.00000000e+00, 2.75535435e-03, 0.00000000e+00,-7.23283037e-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: -0.0007055375447479126
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30395138,  0.08786194, -0.94862734, -0.02680944,  0.99613266,
        0.08367183,  0.95231025,  0.        ,  0.30513143])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07228122, -0.04283993,  0.22458564])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  0.81849263,  8.59749072,  0.81849263,  8.81790716,
       -0.01728319,  8.59749072, -0.01728319,  8.63800902,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0040275708650682335
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.44569674e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.44569674e-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([-0.01574505, -0.08073666,  0.06164513])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.72058749e-04, 3.79076366e-02, 9.42697305e-03,-4.17621210e-05,
 -1.98851929e-05, 5.64924192e-05, 1.32334598e-05,-4.23825112e-05,
  1.24323198e-05,-2.92032553e-05, 3.17866438e-05, 2.01803058e-05,
  3.16512189e-03, 4.71100582e-03, 8.84326410e-03, 1.55428490e-03,
  1.91180242e-04, 2.16014423e-04,-4.90491720e+00, 6.27383265e-03,
  2.20182394e-03, 1.92951641e-04]


--- Step 2550 ---
qpos:
[-0.01595764, 1.29426511,-0.032326  , 0.94845435, 0.00436815, 1.33146226,
 -0.02973181, 0.94625234, 0.01673648, 1.33657837,-0.02392125, 0.95500128,
  1.39346608,-0.00584436, 1.19133267, 0.06147746,-0.04861304,-0.10981781,
  0.07905151, 0.59759477,-0.01508165,-0.00282093, 0.80165147]

qacc:
[ 5.68331452e-02,-1.89418448e+00, 6.49323429e+00,-2.30948640e+01,
  2.62344334e-02, 2.63744689e+00,-8.78422694e+00, 1.34576944e+01,
 -8.38962399e-02, 9.13312734e-01,-5.58218350e+00, 1.29957439e+01,
 -1.77596721e-01, 1.08869247e-01, 2.51145142e+00,-3.87940598e+00,
  1.03056327e-01,-2.45315121e+00,-2.29269308e+00,-2.09441859e+02,
 -1.34294042e+02,-4.91283026e+01]

qfrc_actuator:
[ 3.84481627e-03, 7.29358459e-02, 2.03437773e-02, 1.73956306e-03,
 -4.71304264e-05, 3.49980990e-02, 1.08938013e-02, 1.74145649e-03,
 -3.02022002e-03, 3.46875127e-02, 1.09722883e-02, 1.82198163e-03,
  0.00000000e+00, 2.76658647e-03, 0.00000000e+00,-1.17714260e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007052863806229978
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03939924e-01,  8.78628567e-02, -9.48630930e-01, -2.68087105e-02,
        9.96132581e-01,  8.36730221e-02,  9.52313927e-01,  3.46944695e-18,
        3.05119951e-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([ 0.07227958, -0.04284025,  0.224586  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  0.7916893 ,  8.60000029,  0.7916893 ,  9.20363744,
       -0.05222146,  8.60000029, -0.05222146,  8.64117098,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0039930455322355896
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.3901958e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.3901958e-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([-0.01577509, -0.08068274,  0.06164768])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.68530934e-04, 3.79984483e-02, 9.47243909e-03,-9.49227927e-05,
  7.58993327e-06, 6.45473403e-05,-4.90769178e-06, 2.92571184e-05,
 -2.41954326e-05,-1.04648135e-04,-3.91768860e-05, 2.96836806e-05,
  3.17835150e-03, 4.71916627e-03, 8.70756219e-03, 1.50472430e-03,
  2.38988788e-04, 9.93108665e-05,-4.90498204e+00, 6.38847959e-03,
  2.12876455e-03, 1.80966153e-04]


--- Step 2551 ---
qpos:
[-0.01596027, 1.29427452,-0.03232594, 0.9484526 , 0.0043674 , 1.33146493,
 -0.0297325 , 0.9462521 , 0.01673675, 1.33657857,-0.02392022, 0.95500375,
  1.39347523,-0.00584732, 1.19131733, 0.06147693,-0.04864826,-0.10986116,
  0.07905858, 0.59727345,-0.01474183,-0.00365277, 0.80189386]

qacc:
[-8.36667548e-02,-8.82451532e-01, 4.58790221e+00,-1.03809737e+01,
  1.18792859e-01, 4.62553560e-01,-2.31623990e+00, 6.36436968e+00,
 -1.15679255e-01, 4.28288510e+00,-1.62853439e+01, 2.27325726e+01,
  5.66378126e-02, 4.34805015e-02,-1.53314506e+00, 3.28331825e+00,
  6.02436306e+00,-1.43489076e+00, 3.59275022e+00, 1.51620466e+02,
 -2.47682762e+02,-1.67390991e+01]

qfrc_actuator:
[ 3.84493927e-03, 7.28666170e-02, 2.03435286e-02, 1.72882618e-03,
 -1.74090074e-05, 3.49626122e-02, 1.08845832e-02, 1.75827641e-03,
 -3.03923737e-03, 3.46482680e-02, 1.08956375e-02, 1.85611919e-03,
  0.00000000e+00, 2.73911040e-03, 0.00000000e+00,-3.83743773e-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: -0.0007050300504659393
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30393143,  0.08786369, -0.94863357, -0.02680822,  0.99613251,
        0.08367406,  0.95231665,  0.        ,  0.30511145])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07227819, -0.04284059,  0.2245863 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003991114333668874
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.39086848e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.39086848e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07428926, -0.09829289,  0.06164774])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.61982124e-04, 3.80232289e-02, 9.53372472e-03,-2.50800362e-05,
  3.42024800e-05, 1.16818876e-07, 3.70034708e-06, 1.92921660e-05,
 -3.33056267e-05,-1.03891304e-04,-1.00672334e-04, 3.05883177e-05,
  3.18725835e-03, 4.69637482e-03, 8.59418146e-03, 1.56994491e-03,
  5.15099521e-04, 2.87907602e-04,-4.90512756e+00, 6.46112523e-03,
  2.08621799e-03, 2.46795681e-04]


--- Step 2552 ---
qpos:
[-0.01596245, 1.29428384,-0.03232573, 0.9484518 , 0.00436696, 1.33146673,
 -0.0297326 , 0.94625211, 0.01673676, 1.33657901,-0.02392084, 0.95500725,
  1.3934848 ,-0.00585028, 1.19130369, 0.06147626,-0.04873975,-0.1099321 ,
  0.07906291, 0.59668176,-0.01375214,-0.00414184, 0.80234943]

qacc:
[ 1.95902416e-01, 1.11702177e+00,-5.75223525e+00, 1.61605539e+01,
  1.32672481e-01,-2.32278449e+00, 5.66180352e+00,-1.42321910e+00,
 -1.07884699e-01, 6.55588964e+00,-2.30521881e+01, 3.16298216e+01,
  2.31402786e-01,-1.61610624e-01, 2.91689556e+00,-6.60932465e+00,
 -1.40653514e+01,-6.89943408e+00,-6.86985472e-01, 3.29903591e+02,
 -1.60259561e+02, 1.73410170e+02]

qfrc_actuator:
[ 3.84618328e-03, 7.28565848e-02, 2.03609982e-02, 1.77666401e-03,
  5.56342502e-07, 3.48692542e-02, 1.08970480e-02, 1.76824031e-03,
 -3.05059005e-03, 3.47137369e-02, 1.08323203e-02, 1.91068765e-03,
  0.00000000e+00, 2.70598144e-03, 0.00000000e+00,-1.14847310e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000704746564612637
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03922392e-01,  8.78645991e-02, -9.48636385e-01, -2.68076999e-02,
        9.96132427e-01,  8.36751755e-02,  9.52319551e-01, -3.46944695e-18,
        3.05102398e-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([ 0.07227671, -0.04284093,  0.22458661])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -1.64499372,  8.47825292, -1.64499372, 27.39613609,
        3.6398664 ,  8.47825292,  3.6398664 ,  9.34258902,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.011384702430411764
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.83816392, -0.41908196,  0.34907241, -0.38687152,  0.90794841,
        0.16112143, -0.38446282,  0.        , -0.92314048])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07434876, -0.09831855,  0.06164912])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.73032513e-04, 3.79935641e-02, 9.54210316e-03, 4.94032935e-05,
  3.81481678e-05,-9.20084008e-05, 1.34711755e-05, 1.05257133e-05,
 -3.10200234e-05,-1.07362950e-05,-9.41498007e-05, 4.92617955e-05,
  3.18166260e-03, 4.65704200e-03, 8.64280525e-03, 1.49182496e-03,
  2.69878904e-04, 4.58190710e-04,-4.90531637e+00, 6.57985206e-03,
  2.12766902e-03, 2.88180395e-04]


--- Step 2553 ---
qpos:
[-0.01596423, 1.29429264,-0.03232561, 0.94845198, 0.0043665 , 1.33146818,
 -0.02973296, 0.94625189, 0.01673657, 1.33658022,-0.02392279, 0.95500923,
  1.39349448,-0.00585327, 1.19129278, 0.06147543,-0.04887344,-0.11002553,
  0.07906161, 0.5958769 ,-0.01219629,-0.00436272, 0.80297132]

qacc:
[ 1.63238102e-01, 1.20311629e+00,-6.76201552e+00, 1.74956321e+01,
 -7.73909835e-03,-1.19624383e-01, 3.15870786e-01,-2.70369222e+00,
 -8.68808772e-02, 1.97702646e+00,-2.19515249e+00,-1.59778420e+01,
 -4.69768298e-02, 7.67184834e-02, 4.51148204e+00,-9.90355243e+00,
 -1.05499967e+01,-5.62078414e+00,-1.40574360e+00, 2.75382697e+02,
 -1.48703553e+02, 1.35803722e+02]

qfrc_actuator:
[ 3.82977001e-03, 7.29179003e-02, 2.03890590e-02, 1.82286061e-03,
 -2.41817824e-05, 3.48663081e-02, 1.08864573e-02, 1.75630983e-03,
 -3.05725348e-03, 3.47882011e-02, 1.07778212e-02, 1.83490063e-03,
  0.00000000e+00, 2.72279560e-03, 0.00000000e+00,-2.13632167e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007045517951215774
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03913299e-01,  8.78653647e-02, -9.48639228e-01, -2.68071332e-02,
        9.96132360e-01,  8.36761610e-02,  9.52322469e-01, -3.46944695e-18,
        3.05093290e-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([ 0.07227535, -0.04284133,  0.2245869 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  1.43424617, -8.51643792,  1.43424617,  4.6317238 ,
       -0.67441804, -8.51643792, -0.67441804,  8.52278546,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.01121809067727936
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.83830862, -0.41915431,  0.34863782, -0.38701934,  0.90791501,
        0.16095454, -0.3839983 ,  0.        , -0.9233338 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07455146, -0.09836419,  0.06165379])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.33638617e-04, 3.80592868e-02, 9.56270952e-03, 4.75532578e-05,
 -2.23025888e-06,-5.09021220e-05,-2.67448830e-05,-1.40481461e-05,
 -2.49782830e-05, 5.16015797e-05,-6.58487872e-05,-7.77085295e-05,
  3.16091868e-03, 4.67400496e-03, 8.55860857e-03, 1.40033389e-03,
  4.07270695e-04, 4.07272051e-04,-4.90579527e+00, 6.88058313e-03,
  2.23021358e-03, 9.64960480e-05]


--- Step 2554 ---
qpos:
[-0.01596641, 1.29430276,-0.03232446, 0.94845215, 0.00436592, 1.33146944,
 -0.02973386, 0.94625222, 0.01673622, 1.33658137,-0.02392436, 0.95501131,
  1.39350387,-0.00585614, 1.19128014, 0.06147456,-0.04897431,-0.11008561,
  0.07906861, 0.59508048,-0.01066892,-0.00415655, 0.80358455]

qacc:
[-1.64030070e-01,-1.05164379e+00, 5.56806052e+00,-5.85461994e+00,
 -5.55170770e-02, 2.13006052e+00,-8.37897493e+00, 1.37559664e+01,
 -6.42630730e-02,-9.35082417e-01, 2.76610369e+00,-1.25786757e+00,
 -2.21824886e-01, 2.70324511e-01,-2.42945076e+00, 4.81483747e+00,
  8.20488767e+00, 8.33804551e+00, 2.07536418e+00, 1.63000958e+02,
  1.38736293e+02,-3.29638710e+00]

qfrc_actuator:
[ 3.85591311e-03, 7.29159836e-02, 2.04236506e-02, 1.83216664e-03,
 -3.88307965e-05, 3.48641643e-02, 1.08626553e-02, 1.78488063e-03,
 -3.06105116e-03, 3.47786804e-02, 1.07999534e-02, 1.84279832e-03,
  0.00000000e+00, 2.75184927e-03, 0.00000000e+00,-1.12703503e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000704473583399607
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30390479,  0.08786601, -0.94864189, -0.02680658,  0.9961323 ,
        0.08367701,  0.9523252 ,  0.        ,  0.30508477])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07227422, -0.04284178,  0.22458716])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  6.1414116 , -6.07205405,  6.1414116 ,  9.8560391 ,
        1.23360711, -6.07205405,  1.23360711,  9.88406152,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003828445605233384
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.89993156e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.89993156e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07566046, -0.1355066 ,  0.06165983])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.40632223e-04, 3.80837432e-02, 9.60163084e-03, 8.00747012e-06,
 -1.59668318e-05,-3.59620604e-05,-3.72117590e-05, 2.59361307e-05,
 -1.85423817e-05, 3.84781843e-06, 2.24562523e-05, 5.69332205e-06,
  3.15540343e-03, 4.70448522e-03, 8.42214996e-03, 1.50910615e-03,
  1.01184019e-03, 4.39729097e-04,-4.90655713e+00, 7.23444652e-03,
  2.41415510e-03,-1.77227190e-04]


--- Step 2555 ---
qpos:
[-0.01596872, 1.29431428,-0.03232192, 0.94845136, 0.00436518, 1.33147033,
 -0.02973468, 0.94625219, 0.01673577, 1.33658278,-0.02392576, 0.95501311,
  1.39351322,-0.00585907, 1.19126543, 0.06147395,-0.049074  ,-0.11014394,
  0.07906963, 0.5942551 ,-0.00994416,-0.00395435, 0.80420541]

qacc:
[-5.89391435e-02,-3.51595843e+00, 1.56434193e+01,-2.54582373e+01,
 -6.21044922e-02,-1.32871574e+00, 4.49624539e+00,-7.91743387e+00,
 -4.50809032e-02,-6.07794043e-01, 2.97214313e+00,-6.02718921e+00,
  1.32651111e-01,-2.25565137e-01,-3.86342342e+00, 9.05084253e+00,
  2.92494602e-01, 4.35971046e-01,-1.49516924e+00,-2.40541280e+02,
  3.21206505e+02, 1.55500975e+01]

qfrc_actuator:
[ 3.89045197e-03, 7.28922369e-02, 2.04610841e-02, 1.78443753e-03,
 -4.73064241e-05, 3.48447355e-02, 1.08668060e-02, 1.76605465e-03,
 -3.06310029e-03, 3.48080472e-02, 1.08136326e-02, 1.82889448e-03,
  0.00000000e+00, 2.73484549e-03, 0.00000000e+00,-3.40238707e-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: -0.0007043983837346883
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03894049e-01,  8.78667933e-02, -9.48645262e-01, -2.68058744e-02,
        9.96132234e-01,  8.36780644e-02,  9.52328647e-01,  3.46944695e-18,
        3.05074004e-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([ 0.0722729 , -0.04284219,  0.22458747])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.63616778, -0.05816336, -8.63616778,  8.63726061,
       -0.13318425, -0.05816336, -0.13318425, 28.41172562,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0039034970993086643
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.11043839e-15,  1.42208768e-14,  1.00000000e+00,  1.01116668e-28,
        1.00000000e+00, -1.42208768e-14, -1.00000000e+00,  0.00000000e+00,
       -7.11043839e-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([-0.00241626, -0.12577024,  0.06165439])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.94407432e-04, 3.79936099e-02, 9.58782251e-03,-3.88016908e-05,
 -1.78989977e-05,-4.58285622e-05,-6.35490281e-06,-2.03918607e-05,
 -1.29962064e-05, 3.60448400e-05, 1.71526083e-05,-1.29978634e-05,
  3.16961079e-03, 4.68119068e-03, 8.50901199e-03, 1.58971543e-03,
  1.32942395e-03, 3.37561685e-04,-4.90641736e+00, 7.05020089e-03,
  2.50805570e-03,-2.41901435e-04]


--- Step 2556 ---
qpos:
[-0.01597118, 1.2943268 ,-0.03231832, 0.94844902, 0.00436432, 1.33147118,
 -0.02973527, 0.9462512 , 0.0167351 , 1.33658416,-0.02392649, 0.95501265,
  1.39352287,-0.0058621 , 1.19124845, 0.06147373,-0.04917467,-0.11019995,
  0.07906122, 0.59340395,-0.00991696,-0.00375805, 0.80483494]

qacc:
[-6.10407023e-02,-4.22505219e+00, 1.85246888e+01,-3.45688955e+01,
 -5.29708850e-02,-2.28877106e+00, 9.35283580e+00,-1.91263545e+01,
 -9.14565507e-02,-5.73488652e+00, 2.31851299e+01,-4.60419207e+01,
  4.51076650e-01,-5.31953872e-01,-4.53357099e+00, 1.09095027e+01,
 -2.42658654e-01, 5.82684859e-01,-2.35743098e+00,-2.09749998e+02,
  2.78642875e+02, 1.42911350e+01]

qfrc_actuator:
[ 3.87667804e-03, 7.28725373e-02, 2.04816998e-02, 1.70343110e-03,
 -5.20098372e-05, 3.48684514e-02, 1.08873293e-02, 1.71948782e-03,
 -3.08183757e-03, 3.47894392e-02, 1.08400496e-02, 1.71348935e-03,
  0.00000000e+00, 2.69035116e-03, 0.00000000e+00, 4.87718061e-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: -0.0007043252792402616
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03880647e-01,  8.78676526e-02, -9.48649476e-01, -2.68049564e-02,
        9.96132158e-01,  8.36792608e-02,  9.52332950e-01, -3.46944695e-18,
        3.05060573e-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([ 0.07227139, -0.04284257,  0.22458784])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([8.63636364, 4.04548892, 7.63025532, 4.04548892, 7.33226344,
       0.69142154, 7.63025532, 0.69142154, 8.2697785 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.003991434517348312
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.95378453e-15,  1.39075691e-14,  1.00000000e+00,  9.67102387e-29,
        1.00000000e+00, -1.39075691e-14, -1.00000000e+00,  0.00000000e+00,
       -6.95378453e-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([-0.0026846 , -0.12565976,  0.06164797])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.87552959e-04, 3.79036518e-02, 9.53916449e-03,-7.20603887e-05,
 -1.52672055e-05,-3.49461940e-06, 1.02406812e-05,-4.86002040e-05,
 -2.64084673e-05, 4.28273868e-06, 3.50277788e-05,-1.14135138e-04,
  3.17208096e-03, 4.64013676e-03, 8.61263134e-03, 1.65934170e-03,
  8.48997154e-04, 4.99170164e-04,-4.90555237e+00, 6.66201786e-03,
  2.37197202e-03, 3.32118691e-05]


--- Step 2557 ---
qpos:
[-0.01597333, 1.29433888,-0.03231475, 0.94844626, 0.00436337, 1.33147222,
 -0.02973636, 0.94625072, 0.01673436, 1.336585  ,-0.02392609, 0.95501118,
  1.39353307,-0.00586522, 1.1912319 , 0.06147363,-0.04927784,-0.11025326,
  0.07904027, 0.59252947,-0.01049911,-0.00356899, 0.80547244]

qacc:
[ 1.26807567e-01,-1.19352385e+00, 4.03472157e+00,-8.03351907e+00,
 -3.97350193e-02, 2.42966351e+00,-8.65177308e+00, 1.31937296e+01,
 -2.98763594e-02,-5.50224786e+00, 1.91133912e+01,-2.78886759e+01,
  4.82592804e-01,-4.96296632e-01, 2.43960017e-01,-1.33078300e-03,
 -6.25277154e-01, 6.71865805e-01,-3.13513738e+00,-1.83808358e+02,
  2.42978539e+02, 1.28576271e+01]

qfrc_actuator:
[ 3.85172942e-03, 7.28551125e-02, 2.04742286e-02, 1.67444432e-03,
 -5.44127835e-05, 3.48823673e-02, 1.08642417e-02, 1.74577268e-03,
 -3.07493002e-03, 3.47422349e-02, 1.08912936e-02, 1.66353329e-03,
  0.00000000e+00, 2.64717029e-03, 0.00000000e+00, 9.54755264e-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: -0.000704212374046758
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30386527,  0.08786858, -0.94865432, -0.02680388,  0.99613208,
        0.08368058,  0.95233789,  0.        ,  0.30504516])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07226967, -0.04284294,  0.22458826])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([8.63636364, 3.77562701, 7.76733014, 3.77562701, 7.68663286,
       0.4616553 , 7.76733014, 0.4616553 , 8.41195728, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0040099185321998895
  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([-0.00279824, -0.12560841,  0.06164649])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.69769085e-04, 3.78363477e-02, 9.47793308e-03,-2.36144890e-05,
 -1.14121115e-05, 1.25211037e-05,-2.40317592e-05, 2.53515871e-05,
 -8.68272641e-06,-4.13878513e-05, 5.27202366e-05,-5.14602432e-05,
  3.15673064e-03, 4.60179722e-03, 8.72645990e-03, 1.60119383e-03,
  6.09133838e-04, 5.04357542e-04,-4.90497950e+00, 6.31502261e-03,
  2.25064178e-03, 1.19439113e-04]


--- Step 2558 ---
qpos:
[-0.01597578, 1.29435092,-0.03231172, 0.94844455, 0.0043625 , 1.3314736 ,
 -0.02973812, 0.94625124, 0.01673376, 1.33658568,-0.02392519, 0.95500947,
  1.3935435 ,-0.005868  , 1.191214  , 0.06147309,-0.04938457,-0.1103037 ,
  0.079004  , 0.59163364,-0.01161634,-0.00338805, 0.80611613]

qacc:
[-1.22524064e-01, 3.21902601e+00,-1.26747094e+01, 2.30890157e+01,
  3.46285662e-02, 4.00684787e+00,-1.45865980e+01, 2.40765013e+01,
  5.94405162e-02,-1.97971372e+00, 6.69593789e+00,-8.51703262e+00,
 -9.34592537e-03, 3.00301310e-01,-7.00038091e-01,-4.42861345e-01,
 -8.90301886e-01, 7.18066424e-01,-3.83176471e+00,-1.61902463e+02,
  2.13021678e+02, 1.13428375e+01]

qfrc_actuator:
[ 3.81969255e-03, 7.28933560e-02, 2.04505887e-02, 1.72941507e-03,
 -3.76643500e-05, 3.49079400e-02, 1.08333642e-02, 1.79694208e-03,
 -3.05269429e-03, 3.47494102e-02, 1.09212046e-02, 1.65250668e-03,
  0.00000000e+00, 2.65807426e-03, 0.00000000e+00, 3.92409933e-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: -0.0007040953978815802
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30385036,  0.08786941, -0.94865901, -0.02680283,  0.996132  ,
        0.08368179,  0.95234267,  0.        ,  0.30503022])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.072268  , -0.04284335,  0.22458865])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([8.63636364, 3.45210527, 7.91642256, 3.45210527, 8.17324592,
       0.20195121, 7.91642256, 0.20195121, 8.548299  , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.003972041111691707
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.98773624e-15,  1.39754725e-14,  1.00000000e+00,  9.76569155e-29,
        1.00000000e+00, -1.39754725e-14, -1.00000000e+00,  0.00000000e+00,
       -6.98773624e-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([-0.00278916, -0.12560318,  0.06164892])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.22856124e-04, 3.78969001e-02, 9.45619995e-03, 5.22135565e-05,
  1.00145353e-05, 2.85522787e-05,-3.04204164e-05, 5.14281826e-05,
  1.71088025e-05,-6.94965255e-06, 2.63105408e-05,-1.19083465e-05,
  3.12938671e-03, 4.61757375e-03, 8.70515989e-03, 1.62498992e-03,
  5.35120552e-04, 4.06293990e-04,-4.90461435e+00, 6.00389699e-03,
  2.14139279e-03, 8.00445033e-05]


--- Step 2559 ---
qpos:
[-0.0159785 , 1.29436301,-0.03230877, 0.94844383, 0.00436176, 1.33147456,
 -0.0297391 , 0.94625236, 0.01673321, 1.33658603,-0.02392383, 0.95500731,
  1.39355406,-0.00587056, 1.191196  , 0.06147235,-0.04948221,-0.11036058,
  0.0789615 , 0.59083894,-0.01278563,-0.00381754, 0.80667918]

qacc:
[-1.18803129e-01, 1.92751934e+00,-8.24241901e+00, 1.85250210e+01,
  5.66150564e-02,-1.64819116e+00, 3.48665890e+00, 4.18969427e+00,
  2.03912882e-02,-2.45204450e+00, 8.37119712e+00,-1.22034981e+01,
 -5.58436654e-02, 2.55285484e-01, 4.94675260e-01,-1.92787211e+00,
  2.27367058e+00,-1.60714375e+00,-1.55538727e+00,-2.60979818e+02,
 -1.58955179e+02,-6.80653670e+01]

qfrc_actuator:
[ 3.80162089e-03, 7.28937434e-02, 2.04532741e-02, 1.78020594e-03,
 -2.73159398e-05, 3.48692673e-02, 1.08692104e-02, 1.82683264e-03,
 -3.05694972e-03, 3.47180333e-02, 1.09384912e-02, 1.62896944e-03,
  0.00000000e+00, 2.66552450e-03, 0.00000000e+00, 2.20215210e-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: -0.0007038779367383383
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03835991e-01,  8.78703201e-02, -9.48663532e-01, -2.68018374e-02,
        9.96131922e-01,  8.36830609e-02,  9.52347285e-01,  3.46944695e-18,
        3.05015816e-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([ 0.07226621, -0.04284379,  0.22458905])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  3.33181917, -7.96779504,  3.33181917, 27.20975449,
        7.76666309, -7.96779504,  7.76666309, 11.88407732,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003985764066143704
  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([-0.01714085, -0.08059657,  0.06164736])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.19130869e-04, 3.78983007e-02, 9.48608180e-03, 5.07004912e-05,
  1.62589026e-05,-2.72922715e-05, 3.94773853e-05, 3.10486932e-05,
  5.84608871e-06,-3.04422697e-05, 1.85667820e-05,-2.32506980e-05,
  3.11803908e-03, 4.60799061e-03, 8.77318456e-03, 1.62925011e-03,
  5.74993091e-04, 2.41393689e-04,-4.90439689e+00, 5.72459677e-03,
  2.04232017e-03,-4.11647704e-05]


--- Step 2560 ---
qpos:
[-0.01598142, 1.29437547,-0.03230567, 0.94844575, 0.004361  , 1.33147461,
 -0.02973908, 0.9462542 , 0.01673266, 1.33658585,-0.02392185, 0.95500455,
  1.39356457,-0.00587276, 1.19117825, 0.06147109,-0.04957376,-0.11042391,
  0.07890937, 0.59012655,-0.01399307,-0.00478288, 0.8071753 ]

qacc:
[-7.99789257e-02, 4.58916371e+00,-1.97906813e+01, 4.75026413e+01,
 -5.79550068e-03,-2.65348950e+00, 5.70841264e+00, 4.07432136e+00,
  3.93982695e-03,-3.39415605e+00, 1.14533188e+01,-1.65390757e+01,
 -3.22138221e-01, 6.13693743e-01, 1.98705089e+00,-6.33312485e+00,
  1.52229020e+00,-1.61501449e+00,-2.40896863e+00,-2.27006498e+02,
 -1.42323764e+02,-5.63292082e+01]

qfrc_actuator:
[ 3.80978727e-03, 7.28536116e-02, 2.04537483e-02, 1.91689340e-03,
 -3.86442402e-05, 3.47926702e-02, 1.09083886e-02, 1.86171196e-03,
 -3.05931105e-03, 3.46815140e-02, 1.09657944e-02, 1.59822649e-03,
  0.00000000e+00, 2.68863496e-03, 0.00000000e+00,-5.63960683e-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: -0.0007036489160055781
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30382165,  0.08787131, -0.94866803, -0.02680088,  0.99613183,
        0.08368441,  0.95235189,  0.        ,  0.30500145])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07226439, -0.04284426,  0.22458944])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -0.84476002,  8.59494953, -0.84476002,  7.95428163,
       -0.06703886,  8.59494953, -0.06703886,  8.62977468,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003961089560920054
  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([-0.01723299, -0.0805824 ,  0.06164853])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.41216478e-04, 3.78560937e-02, 9.49018343e-03, 1.38082651e-04,
 -1.73506887e-06,-8.30462755e-05, 3.92430888e-05, 3.59395491e-05,
  1.08980760e-06,-5.04235360e-05, 2.27828832e-05,-3.16434598e-05,
  3.11139713e-03, 4.61988669e-03, 8.77855169e-03, 1.61218303e-03,
  1.07337823e-03,-1.66687518e-05,-4.90462761e+00, 5.98915010e-03,
  1.91878147e-03,-9.21199628e-05]


--- Step 2561 ---
qpos:
[-0.01598455, 1.29438828,-0.03230298, 0.94845002, 0.00436019, 1.33147441,
 -0.02973904, 0.9462561 , 0.01673212, 1.33658563,-0.02392002, 0.95500179,
  1.39357493,-0.00587454, 1.19115905, 0.06146915,-0.04970236,-0.11050684,
  0.07887494, 0.58923693,-0.01431008,-0.00553241, 0.80781462]

qacc:
[-9.33459317e-02, 5.56276624e+00,-2.23939298e+01, 4.63016529e+01,
 -2.60701132e-02,-2.72093203e-01, 4.02310067e-01, 3.83026288e-01,
 -1.96755155e-03, 3.30764614e-01,-1.15234405e+00, 9.94762455e-01,
 -3.80818716e-01, 7.04560399e-01,-9.99973910e-02,-2.71532071e+00,
 -9.26419558e+00,-4.89926834e+00, 4.42676108e+00, 3.48934877e+02,
 -2.97116223e+02, 1.13160586e+02]

qfrc_actuator:
[ 3.83371676e-03, 7.28598316e-02, 2.04171991e-02, 2.03205567e-03,
 -4.51317868e-05, 3.48005015e-02, 1.09135345e-02, 1.86371024e-03,
 -3.06051612e-03, 3.46954896e-02, 1.09632599e-02, 1.59899876e-03,
  0.00000000e+00, 2.72092586e-03, 0.00000000e+00, 1.40884562e-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: -0.0007034468765563379
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03806815e-01,  8.78723722e-02, -9.48672686e-01, -2.67998945e-02,
        9.96131741e-01,  8.36858378e-02,  9.52356648e-01,  3.46944695e-18,
        3.04986582e-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([ 0.07226257, -0.04284475,  0.22458985])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -4.13860094,  7.58015562, -4.13860094,  4.17159885,
       -2.43766496,  7.58015562, -2.43766496,  7.30545132,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0100191459474506
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.81645356, -0.40822678,  0.40835583, -0.36510605,  0.91288055,
        0.18261073, -0.44732668,  0.        , -0.89437064])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07529791, -0.09936577,  0.06163828])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.74507961e-04, 3.78436650e-02, 9.44622114e-03, 1.21040973e-04,
 -7.51462044e-06,-2.93521693e-05,-5.57477654e-06, 1.49452380e-06,
 -5.62915285e-07,-1.04015192e-05,-1.07242968e-05,-7.92962696e-07,
  3.11375233e-03, 4.63467435e-03, 8.76600131e-03, 1.65811561e-03,
  1.78202132e-03, 1.06704026e-04,-4.90492277e+00, 6.18460872e-03,
  1.83669914e-03,-4.49381530e-05]


--- Step 2562 ---
qpos:
[-0.01598735, 1.29440037,-0.03230105, 0.94845333, 0.00435931, 1.33147443,
 -0.02973877, 0.94625589, 0.01673156, 1.3365851 ,-0.0239187 , 0.95499875,
  1.39358542,-0.00587646, 1.19113944, 0.06146733,-0.04979205,-0.11058683,
  0.07886124, 0.58845385,-0.01398937,-0.00643479, 0.80838416]

qacc:
[ 1.37891084e-01,-5.41332233e-01, 2.60391857e+00,-1.28847583e+01,
 -2.76178915e-02,-3.95254667e+00, 1.75669700e+01,-3.98656889e+01,
 -2.92213827e-03, 5.12767849e-01,-1.59647396e+00,-1.58364679e+00,
  2.25862336e-01,-3.33554995e-01,-9.49938480e-01, 2.42360282e+00,
  9.72974499e+00, 7.32964093e-01, 5.18008395e+00, 1.26715981e+02,
 -3.01818163e+02,-6.64480507e+01]

qfrc_actuator:
[ 3.86721024e-03, 7.28582349e-02, 2.03766920e-02, 1.97377066e-03,
 -4.86617938e-05, 3.48409281e-02, 1.09343507e-02, 1.75760402e-03,
 -3.06101745e-03, 3.46507370e-02, 1.09255909e-02, 1.58281699e-03,
  0.00000000e+00, 2.70524686e-03, 0.00000000e+00, 9.34963348e-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: -0.0007031599236911601
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03792045e-01,  8.78734947e-02, -9.48677312e-01, -2.67989366e-02,
        9.96131642e-01,  8.36873232e-02,  9.52361386e-01,  3.46944695e-18,
        3.04971785e-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([ 0.07226059, -0.04284524,  0.22459026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  3.64922013, -7.82751361,  3.64922013,  7.84491693,
       -0.36897582, -7.82751361, -0.36897582,  8.46434554,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0041590016478388475
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.33472299e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.33472299e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07533841, -0.09952522,  0.06163288])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01892098e-03, 3.78247163e-02, 9.42644696e-03,-5.44772859e-05,
 -7.96545619e-06, 2.31486381e-05, 1.44886364e-05,-1.07112588e-04,
 -8.33624009e-07,-5.26270433e-05,-4.09479241e-05,-1.68237447e-05,
  3.12146697e-03, 4.59748305e-03, 8.83947678e-03, 1.68701696e-03,
  1.13897638e-03, 5.79105442e-04,-4.90505137e+00, 6.51231616e-03,
  1.94728256e-03, 2.02578486e-04]


--- Step 2563 ---
qpos:
[-0.01598986, 1.29441186,-0.03229945, 0.94845451, 0.00435838, 1.33147483,
 -0.02973866, 0.94625441, 0.01673086, 1.33658392,-0.02391835, 0.95499767,
  1.39359626,-0.00587871, 1.19111995, 0.061466  ,-0.04985979,-0.11063415,
  0.07886374, 0.587727  ,-0.01366293,-0.00676351, 0.80891566]

qacc:
[ 1.25462448e-01,-3.50579870e+00, 1.48247007e+01,-3.71178452e+01,
 -2.23593905e-02,-1.26733827e+00, 7.31852601e+00,-2.12288878e+01,
 -6.36597890e-02, 5.14193808e+00,-2.17501599e+01, 4.18350398e+01,
  5.32273072e-01,-7.73576243e-01,-1.35295853e+00, 4.89077232e+00,
  5.48411209e+00, 8.17087660e+00, 4.05087166e+00, 2.33826994e+02,
  1.66914610e+02,-2.99246096e+01]

qfrc_actuator:
[ 3.85272954e-03, 7.28528613e-02, 2.03698134e-02, 1.86703869e-03,
 -5.03889030e-05, 3.48650475e-02, 1.09288439e-02, 1.69529585e-03,
 -3.07884515e-03, 3.45887703e-02, 1.08672622e-02, 1.68100290e-03,
  0.00000000e+00, 2.66118572e-03, 0.00000000e+00, 2.49203723e-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: -0.0007027957617893946
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30377866,  0.0878745 , -0.9486815 , -0.02679807,  0.99613155,
        0.08368866,  0.95236568,  0.        ,  0.30495838])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07225862, -0.04284573,  0.22459066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -3.64407378,  7.8299108 , -3.64407378, 32.1785065 ,
       10.95661338,  7.8299108 , 10.95661338, 13.73561809,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004228686360031278
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.31272803e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.31272803e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07548411, -0.13602031,  0.06162768])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.88255083e-04, 3.78545476e-02, 9.45689501e-03,-1.13367131e-04,
 -6.42633513e-06, 3.65446817e-05,-2.47095902e-06,-6.36745865e-05,
 -1.83213752e-05,-9.95666794e-05,-7.37571528e-05, 9.50338525e-05,
  3.11505739e-03, 4.56051725e-03, 8.85984380e-03, 1.69703140e-03,
  8.40116075e-04, 8.21359828e-04,-4.90554769e+00, 6.85345372e-03,
  2.04249441e-03, 2.90187010e-04]


--- Step 2564 ---
qpos:
[-0.01599161, 1.29442039,-0.03229903, 0.94845362, 0.00435712, 1.33147562,
 -0.02973928, 0.9462536 , 0.01672998, 1.33658245,-0.02391856, 0.95499703,
  1.39360694,-0.0058816 , 1.19110712, 0.06146539,-0.04990904,-0.11065403,
  0.07887552, 0.58704662,-0.01333725,-0.00658065, 0.8094165 ]

qacc:
[ 3.28425062e-01,-4.23754974e+00, 1.33655623e+01,-3.36534586e+01,
 -1.38835287e-01, 3.68071615e+00,-1.27613972e+01, 1.86333724e+01,
 -7.34066515e-02, 1.88463673e+00,-7.49339440e+00, 1.17472229e+01,
 -2.08329531e-03,-4.49897445e-01, 7.62832601e+00,-1.24050150e+01,
  4.62684772e+00, 6.85639757e+00, 2.32055701e+00, 2.06905341e+02,
  1.51009038e+02,-2.43059625e+01]

qfrc_actuator:
[ 3.82711692e-03, 7.28276579e-02, 2.03652548e-02, 1.75054896e-03,
 -8.65260178e-05, 3.48791366e-02, 1.08900775e-02, 1.73027251e-03,
 -3.08917009e-03, 3.46057164e-02, 1.08504635e-02, 1.70366564e-03,
  0.00000000e+00, 2.68911095e-03, 0.00000000e+00,-1.96283794e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007024053669457755
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03766189e-01,  8.78754108e-02, -9.48685414e-01, -2.67972445e-02,
        9.96131473e-01,  8.36898770e-02,  9.52369681e-01, -3.46944695e-18,
        3.04945880e-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([ 0.07225669, -0.04284622,  0.22459104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.28967857,  2.42239675, -8.28967857,  9.47802571,
        2.88024993,  2.42239675,  2.88024993, 18.49286059,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004249484276131352
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.26575813e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.26575813e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07548457, -0.13607563,  0.06162624])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.47925769e-04, 3.78598806e-02, 9.46949830e-03,-1.23257753e-04,
 -3.99277438e-05, 3.19063874e-05,-3.37693337e-05, 3.45213690e-05,
 -2.11461212e-05,-4.96965951e-05,-4.18453833e-05, 1.97637850e-05,
  3.09750595e-03, 4.60534077e-03, 8.85432884e-03, 1.45133801e-03,
  5.18540988e-04, 4.17263281e-04,-4.90528765e+00, 6.64233993e-03,
  2.17466557e-03, 1.61878839e-04]


--- Step 2565 ---
qpos:
[-0.01599396, 1.29442876,-0.03229903, 0.94845174, 0.00435564, 1.33147654,
 -0.02973968, 0.94625215, 0.01672925, 1.33658126,-0.0239186 , 0.95499381,
  1.39361641,-0.00588435, 1.19109383, 0.06146483,-0.04994257,-0.11065075,
  0.07889067, 0.58640456,-0.01301689,-0.00593928, 0.80989196]

qacc:
[-2.62350640e-01,-7.49684444e-01, 4.22362635e+00,-1.49911880e+01,
 -9.30155719e-02,-1.53769979e+00, 6.53638291e+00,-1.31490349e+01,
  5.99853059e-02,-4.53037189e+00, 2.04205064e+01,-4.75833856e+01,
 -1.01654544e+00, 9.85626832e-01,-7.38779031e-01, 1.74683045e+00,
  3.92740194e+00, 5.79356989e+00, 8.43815298e-01, 1.84167644e+02,
  1.37032405e+02,-1.98856077e+01]

qfrc_actuator:
[ 3.86524210e-03, 7.27931466e-02, 2.03453034e-02, 1.71775722e-03,
 -8.97555209e-05, 3.48870358e-02, 1.09030197e-02, 1.69791792e-03,
 -3.05940493e-03, 3.46699076e-02, 1.08763102e-02, 1.57523386e-03,
  0.00000000e+00, 2.79616201e-03, 0.00000000e+00,-9.84173683e-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: -0.0007022044995029057
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30375766,  0.08787604, -0.94868809, -0.02679668,  0.99613142,
        0.08369072,  0.95237242,  0.        ,  0.30493733])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0722554 , -0.04284674,  0.2245913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.24719964,  2.56329377, -8.24719964,  9.61992522,
        3.1645334 ,  2.56329377,  3.1645334 , 18.81800531,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004215950151911091
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.31669373e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.31669373e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07554605, -0.13617948,  0.06162882])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.47540777e-04, 3.79731716e-02, 9.50823751e-03,-5.26153956e-05,
 -2.67898361e-05, 1.99722922e-05, 1.63506309e-05,-3.15871594e-05,
  1.72779311e-05, 2.91310859e-05, 1.19650093e-05,-1.30671759e-04,
  3.10577463e-03, 4.74400507e-03, 8.52158858e-03, 1.51286896e-03,
  4.69434944e-04, 3.49320394e-04,-4.90517150e+00, 6.47395173e-03,
  2.27372565e-03, 1.32953021e-04]


--- Step 2566 ---
qpos:
[-0.01599714, 1.29443945,-0.03229798, 0.94844953, 0.00435431, 1.33147753,
 -0.02973959, 0.94624998, 0.0167286 , 1.33658071,-0.02391944, 0.95498979,
  1.39362518,-0.00588674, 1.1910758 , 0.06146417,-0.04996268,-0.11062773,
  0.07890417, 0.58579395,-0.01270502,-0.00488489, 0.81034571]

qacc:
[-3.48020919e-01,-3.64701064e-01, 5.54757044e+00,-1.01660127e+01,
  6.42684841e-02,-2.49145037e+00, 9.71568185e+00,-1.69041629e+01,
  3.63202825e-02, 1.60826700e+00,-2.61808254e+00,-7.38844656e+00,
 -5.56019690e-01, 7.07602491e-01,-6.64964755e+00, 1.31768746e+01,
  3.35453940e+00, 4.93228226e+00,-4.14472817e-01, 1.64906342e+02,
  1.24773387e+02,-1.63894111e+01]

qfrc_actuator:
[ 3.90718204e-03, 7.28046867e-02, 2.03690896e-02, 1.71717797e-03,
 -5.54645957e-05, 3.48913254e-02, 1.09285582e-02, 1.66171354e-03,
 -3.05908903e-03, 3.47087213e-02, 1.08384706e-02, 1.53651255e-03,
  0.00000000e+00, 2.80815381e-03, 0.00000000e+00, 8.47710886e-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: -0.0007019646712748961
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30374967,  0.08787685, -0.94869057, -0.02679623,  0.99613135,
        0.08369171,  0.95237498,  0.        ,  0.30492933])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0722541 , -0.04284716,  0.22459156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.19550976,  2.7240405 , -8.19550976,  9.8121032 ,
        3.53731344,  2.7240405 ,  3.53731344, 19.27867487,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0041386886592617925
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.68254782e-14,  1.34127391e-14,  1.00000000e+00, -3.59803141e-28,
        1.00000000e+00, -1.34127391e-14, -1.00000000e+00,  0.00000000e+00,
        2.68254782e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07565573, -0.1363222 ,  0.0616346 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.02023930e-03, 3.79922846e-02, 9.55299642e-03,-3.81613972e-06,
  1.84830143e-05, 1.75787793e-05, 3.03760364e-05,-3.58604675e-05,
  1.05180174e-05, 5.33915658e-05,-3.46172864e-05,-4.05554697e-05,
  3.16611099e-03, 4.74929355e-03, 8.54499218e-03, 1.69405456e-03,
  6.08724813e-04, 5.25580879e-04,-4.90515982e+00, 6.33703805e-03,
  2.34864118e-03, 1.76540514e-04]


--- Step 2567 ---
qpos:
[-0.01599959, 1.29445058,-0.03229637, 0.94844958, 0.00435325, 1.33147838,
 -0.0297397 , 0.94624848, 0.01672785, 1.33658004,-0.02392135, 0.95498612,
  1.39363418,-0.0058891 , 1.19105991, 0.06146322,-0.04997126,-0.11058779,
  0.07891173, 0.58520899,-0.01240377,-0.00345642, 0.81078026]

qacc:
[ 3.07306888e-01, 2.90402606e+00,-1.34244330e+01, 3.76376985e+01,
  1.10843069e-01, 1.53553928e+00,-6.59472834e+00, 1.35942560e+01,
 -3.87949271e-02, 3.31758472e+00,-1.17061330e+01, 1.41455438e+01,
  2.82671552e-02, 5.30701966e-02, 4.02037394e+00,-9.46642686e+00,
  2.88355083e+00, 4.23255877e+00,-1.48476987e+00, 1.48569745e+02,
  1.14056447e+02,-1.36089599e+01]

qfrc_actuator:
[ 3.91635266e-03, 7.27881951e-02, 2.04000658e-02, 1.82443531e-03,
 -3.44499690e-05, 3.48579644e-02, 1.09080439e-02, 1.69455552e-03,
 -3.07644391e-03, 3.46430836e-02, 1.07633226e-02, 1.55087502e-03,
  0.00000000e+00, 2.76283141e-03, 0.00000000e+00,-5.35254322e-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: -0.0007016203536347326
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03738471e-01,  8.78779401e-02, -9.48694054e-01, -2.67955765e-02,
        9.96131250e-01,  8.36930668e-02,  9.52378569e-01, -3.46944695e-18,
        3.04918123e-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([ 0.07225236, -0.04284747,  0.22459192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.13047891,  2.91240271, -8.13047891, 10.06903631,
        3.99955503,  2.91240271,  3.99955503, 19.80181742,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004026699105599496
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.75715417e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.75715417e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0758033 , -0.13649583,  0.06164288])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.07021571e-03, 3.78600537e-02, 9.53155249e-03, 1.20372117e-04,
  3.19222012e-05,-1.87816449e-05,-1.46762419e-05, 3.34255490e-05,
 -1.11427979e-05,-4.40758891e-05,-6.98458839e-05, 1.39802622e-05,
  3.20116734e-03, 4.68602281e-03, 8.78231996e-03, 1.56095584e-03,
  8.77201693e-04, 8.78073276e-04,-4.90522532e+00, 6.22353684e-03,
  2.40570578e-03, 2.72845916e-04]


--- Step 2568 ---
qpos:
[-0.01600206, 1.29446293,-0.03229423, 0.9484519 , 0.00435244, 1.33147883,
 -0.02973993, 0.94624775, 0.01672712, 1.3365782 ,-0.02392397, 0.95498202,
  1.3936434 ,-0.00589112, 1.19104251, 0.06146173,-0.04998424,-0.11056839,
  0.07892527, 0.58473385,-0.01215241,-0.00271283, 0.81112964]

qacc:
[-7.67207254e-03, 4.04908385e+00,-1.58686015e+01, 3.90564625e+01,
  1.10164409e-01, 1.10144279e+00,-5.81906082e+00, 1.42349880e+01,
  3.89471974e-03,-3.15434911e-01, 3.39284815e-02,-4.11295408e+00,
 -6.91288546e-03, 2.97241878e-01,-5.89412959e-01,-1.16265008e+00,
 -1.09943241e+00,-5.13766194e+00, 1.49593062e+00,-2.91706409e+02,
 -1.79460978e+02,-7.36062106e+01]

qfrc_actuator:
[ 3.90465110e-03, 7.27203283e-02, 2.03821565e-02, 1.94066214e-03,
 -2.15719283e-05, 3.48199319e-02, 1.08959040e-02, 1.73220986e-03,
 -3.06875306e-03, 3.45152864e-02, 1.07018899e-02, 1.52525497e-03,
  0.00000000e+00, 2.75431894e-03, 0.00000000e+00, 6.06776965e-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: -0.0007014299804268022
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30372632,  0.08787883, -0.94869786, -0.02679478,  0.99613117,
        0.08369425,  0.95238247,  0.        ,  0.30490595])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07225075, -0.04284785,  0.22459229])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  6.6172555 ,  5.54965824,  6.6172555 , 15.86315792,
       -8.61702508,  5.54965824, -8.61702508, 18.91106059,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0040646405899358445
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.82854363e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.82854363e-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([-0.01831451, -0.08051784,  0.06164018])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.02246472e-03, 3.77701556e-02, 9.48509509e-03, 1.23037648e-04,
  3.17146090e-05,-5.02961783e-05,-1.65059036e-05, 3.74355116e-05,
  1.11056662e-06,-1.65396221e-04,-7.75712888e-05,-2.86529115e-05,
  3.18995082e-03, 4.67615604e-03, 8.67556456e-03, 1.63483223e-03,
  1.23321662e-03, 1.35679230e-03,-4.90534905e+00, 6.12759798e-03,
  2.44939262e-03, 4.07345624e-04]


--- Step 2569 ---
qpos:
[-0.01600561, 1.294477  ,-0.03229175, 0.94845382, 0.00435171, 1.33147917,
 -0.02974043, 0.94624781, 0.01672629, 1.33657513,-0.02392592, 0.95497896,
  1.39365267,-0.00589264, 1.19101918, 0.06146007,-0.05000198,-0.11056686,
  0.0789395 , 0.58434907,-0.01193598,-0.00257115, 0.81141056]

qacc:
[-4.60538434e-01, 6.74182234e-01, 1.29796142e+00,-6.65925722e+00,
  3.07088727e-02, 1.92726001e+00,-8.06301459e+00, 1.61352890e+01,
 -4.21149472e-02,-1.65882205e+00, 1.36513171e+00, 1.15719894e+01,
 -8.36586059e-03, 3.41469641e-01,-8.22651705e+00, 1.60663451e+01,
 -1.19192059e+00,-4.46677666e+00, 1.71994756e-01,-2.53870245e+02,
 -1.61271255e+02,-6.02705099e+01]

qfrc_actuator:
[ 3.88087654e-03, 7.26916795e-02, 2.03347374e-02, 1.91935795e-03,
 -3.14314770e-05, 3.48326836e-02, 1.08887826e-02, 1.77238414e-03,
 -3.08160400e-03, 3.44932955e-02, 1.07552700e-02, 1.58278157e-03,
  0.00000000e+00, 2.76756842e-03, 0.00000000e+00, 2.02517291e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007012274392134837
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03712495e-01,  8.78797375e-02, -9.48702204e-01, -2.67938372e-02,
        9.96131092e-01,  8.36955109e-02,  9.52386902e-01,  3.46944695e-18,
        3.04892095e-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([ 0.07224897, -0.04284825,  0.22459269])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  3.84359913,  7.73392026,  3.84359913, 11.86317003,
       -1.60365634,  7.73392026, -1.60365634,  9.43334782,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004134069877545277
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.35693112e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.35693112e-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([-0.01847473, -0.08056406,  0.06163534])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.99571772e-04, 3.76798701e-02, 9.41162209e-03,-1.09739828e-05,
  8.85337545e-06,-1.71779490e-05,-1.77391344e-05, 3.90502669e-05,
 -1.22016323e-05,-1.29442324e-04, 1.14246591e-05, 4.96773419e-05,
  3.17852682e-03, 4.67239787e-03, 8.75132049e-03, 1.85838273e-03,
  4.82207567e-04, 4.65061666e-04,-4.90512935e+00, 6.30098853e-03,
  2.30903427e-03, 2.05935703e-04]


--- Step 2570 ---
qpos:
[-0.01600954, 1.29449137,-0.03228901, 0.94845526, 0.00435112, 1.33148002,
 -0.0297416 , 0.94624865, 0.01672534, 1.33657239,-0.02392736, 0.95497787,
  1.39366195,-0.00589404, 1.19099473, 0.06145867,-0.05002469,-0.11058096,
  0.07894981, 0.5840385 ,-0.01174325,-0.00296123, 0.8116356 ]

qacc:
[-1.60728044e-01,-1.11536172e+00, 5.11297971e+00,-1.02147442e+01,
  5.99523846e-02, 3.84965304e+00,-1.33634182e+01, 2.04285664e+01,
 -5.04090723e-02, 2.46377184e+00,-1.14741329e+01, 3.23761095e+01,
  5.87769890e-03, 7.51438958e-02,-2.45517639e+00, 6.18571678e+00,
 -1.24187562e+00,-3.90552472e+00,-9.80935838e-01,-2.22290602e+02,
 -1.45326116e+02,-4.95786752e+01]

qfrc_actuator:
[ 3.88643279e-03, 7.26855915e-02, 2.03405970e-02, 1.88828392e-03,
 -1.93448897e-05, 3.48935216e-02, 1.08671193e-02, 1.81374952e-03,
 -3.08892199e-03, 3.46240877e-02, 1.08231734e-02, 1.68890592e-03,
  0.00000000e+00, 2.77582624e-03, 0.00000000e+00, 1.96886491e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007007957062709867
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30369672,  0.087881  , -0.94870714, -0.02679283,  0.99613098,
        0.08369716,  0.95239196,  0.        ,  0.30487629])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07224667, -0.0428486 ,  0.22459318])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  3.79644987,  7.75717379,  3.79644987, 12.43669398,
       -1.85992528,  7.75717379, -1.85992528,  9.54663241,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004139345810226902
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00579573e-14,  2.68212195e-14,  1.00000000e+00,  2.69766680e-28,
        1.00000000e+00, -2.68212195e-14, -1.00000000e+00,  0.00000000e+00,
       -1.00579573e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01853301, -0.08053526,  0.06163518])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05912054e-03, 3.75882506e-02, 9.40054044e-03,-2.27495697e-05,
  1.73102513e-05, 4.90363899e-05,-2.58960504e-05, 4.12363701e-05,
 -1.45282082e-05, 6.29325509e-05, 4.53771034e-05, 1.03768081e-04,
  3.17646357e-03, 4.65563636e-03, 9.04813507e-03, 1.86147298e-03,
  1.60501031e-04, 1.17510887e-04,-4.90506657e+00, 6.40870199e-03,
  2.22122293e-03, 1.38519723e-04]


--- Step 2571 ---
qpos:
[-0.01601346, 1.29450546,-0.0322856 , 0.94845566, 0.00435082, 1.33148136,
 -0.02974276, 0.94624926, 0.01672443, 1.33656982,-0.02392817, 0.95497634,
  1.39367132,-0.00589564, 1.19097206, 0.06145795,-0.05005244,-0.11060879,
  0.07895219, 0.58378871,-0.01156576,-0.00382362, 0.81181423]

qacc:
[ 1.85225326e-03,-3.95591055e+00, 1.45848476e+01,-2.44827530e+01,
  1.22802944e-01, 1.93722927e-01, 6.14076216e-01,-3.56243371e+00,
  1.82432869e-02,-2.26604821e+00, 8.55716437e+00,-1.26302489e+01,
  1.60826782e-01,-3.00156208e-01, 5.53761377e-01, 1.83009468e+00,
 -1.25921146e+00,-3.43442637e+00,-1.98154658e+00,-1.95836828e+02,
 -1.31374170e+02,-4.09672648e+01]

qfrc_actuator:
[ 3.87381133e-03, 7.26405007e-02, 2.03783694e-02, 1.83384784e-03,
  5.81106028e-06, 3.49293741e-02, 1.08727489e-02, 1.80225045e-03,
 -3.07510845e-03, 3.46147029e-02, 1.08464425e-02, 1.66307629e-03,
  0.00000000e+00, 2.76351479e-03, 0.00000000e+00, 1.58401859e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007003290844893179
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03680401e-01,  8.78823797e-02, -9.48712233e-01, -2.67918177e-02,
        9.96130859e-01,  8.36989317e-02,  9.52397193e-01,  3.46944695e-18,
        3.04859948e-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([ 0.07224428, -0.04284896,  0.22459368])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  3.77681837,  7.76675092,  3.77681837, 13.08174448,
       -2.16170136,  7.76675092, -2.16170136,  9.68755653,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004092638714703861
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.78182893e-15,  1.35636579e-14,  1.00000000e+00,  9.19864071e-29,
        1.00000000e+00, -1.35636579e-14, -1.00000000e+00,  0.00000000e+00,
       -6.78182893e-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([-0.01851076, -0.08044673,  0.06163873])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.06534260e-03, 3.75277225e-02, 9.42541086e-03,-5.29737493e-05,
  3.53724379e-05, 5.91467030e-05, 1.34830055e-05,-9.83010264e-06,
  5.23625028e-06, 3.73703151e-05, 4.37550700e-05,-2.02293384e-05,
  3.17569001e-03, 4.63723620e-03, 9.10463321e-03, 1.80982909e-03,
  1.29397791e-04, 1.49764839e-04,-4.90511460e+00, 6.47260745e-03,
  2.16822500e-03, 1.65095408e-04]


--- Step 2572 ---
qpos:
[-0.01601788, 1.29451968,-0.0322818 , 0.94845504, 0.00435081, 1.331483  ,
 -0.02974374, 0.9462487 , 0.01672348, 1.33656697,-0.02392925, 0.9549739 ,
  1.39368044,-0.00589716, 1.19094872, 0.06145767,-0.0500852 ,-0.11064877,
  0.07894318, 0.58358844,-0.01139718,-0.00510788, 0.81195354]

qacc:
[-2.07738012e-01,-2.63064207e+00, 1.08677319e+01,-2.13027327e+01,
  1.24750271e-01,-2.08494120e+00, 9.69277459e+00,-2.21732989e+01,
 -2.09220525e-02,-1.16814812e+00, 5.16676233e+00,-1.46511845e+01,
 -1.94709332e-01, 2.10881498e-01,-2.27083090e+00, 6.57110811e+00,
 -1.25215375e+00,-3.03753364e+00,-2.84714287e+00,-1.73627742e+02,
 -1.19202698e+02,-3.40019517e+01]

qfrc_actuator:
[ 3.86780566e-03, 7.26079785e-02, 2.03815124e-02, 1.78389753e-03,
  2.08511824e-05, 3.49323098e-02, 1.08765832e-02, 1.74199030e-03,
 -3.08423556e-03, 3.45389836e-02, 1.08070830e-02, 1.61295302e-03,
  0.00000000e+00, 2.79239275e-03, 0.00000000e+00, 2.23955561e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006999717082346105
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03663711e-01,  8.78837641e-02, -9.48717447e-01, -2.67907705e-02,
        9.96130736e-01,  8.37007205e-02,  9.52402544e-01, -3.46944695e-18,
        3.04843230e-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([ 0.07224205, -0.04284934,  0.22459417])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  3.80497647,  7.75299496,  3.80497647, 13.78773532,
       -2.52816468,  7.75299496, -2.52816468,  9.87712378,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004004269833873059
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.38629896e-14,  1.38629896e-14,  1.00000000e+00,  1.92182482e-28,
        1.00000000e+00, -1.38629896e-14, -1.00000000e+00,  0.00000000e+00,
       -1.38629896e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01842488, -0.08031072,  0.06164521])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05912898e-03, 3.75091382e-02, 9.39484346e-03,-5.08685125e-05,
  3.59156212e-05, 3.79890657e-05, 1.66471801e-05,-5.83186948e-05,
 -6.03566280e-06,-4.70924356e-05,-2.76794746e-05,-4.82133121e-05,
  3.17108033e-03, 4.67612681e-03, 9.01662968e-03, 1.84163220e-03,
  2.94185804e-04, 4.45536055e-04,-4.90523850e+00, 6.50763816e-03,
  2.13826437e-03, 2.56909604e-04]


--- Step 2573 ---
qpos:
[-0.01602201, 1.29453223,-0.03227865, 0.94845266, 0.00435105, 1.33148468,
 -0.02974455, 0.94624745, 0.01672245, 1.33656474,-0.0239315 , 0.95497189,
  1.39368931,-0.00589892, 1.19092802, 0.061458  ,-0.05010422,-0.11066883,
  0.07894757, 0.58341572,-0.01126757,-0.00573775, 0.81207526]

qacc:
[ 1.19457031e-01,-3.42594217e+00, 1.21291949e+01,-2.98009763e+01,
  1.04385796e-01,-1.62485159e+00, 6.76921015e+00,-1.39079773e+01,
 -3.01787815e-02, 4.68764544e+00,-1.51457189e+01, 1.75957857e+01,
 -1.29617135e-01,-6.36205288e-02, 2.04708426e+00,-1.49968894e+00,
  3.43408207e+00, 4.97965518e+00, 3.35080636e+00, 2.54410702e+02,
  2.06938849e+02,-1.24855636e+01]

qfrc_actuator:
[ 3.88401195e-03, 7.25827037e-02, 2.03638900e-02, 1.68377788e-03,
  2.97013675e-05, 3.49154751e-02, 1.08791678e-02, 1.70676201e-03,
 -3.08929928e-03, 3.46191320e-02, 1.07663149e-02, 1.63764868e-03,
  0.00000000e+00, 2.81028355e-03, 0.00000000e+00, 1.38870148e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25755278,  0.25473561, -0.03798952,  0.25473561,  0.26354142,
        0.04015636, -0.03798952,  0.04015636,  0.52681792,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006996011370935182
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03646526e-01,  8.78853016e-02, -9.48722805e-01, -2.67897266e-02,
        9.96130601e-01,  8.37026689e-02,  9.52408052e-01,  3.46944695e-18,
        3.04826019e-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([ 0.07223978, -0.04284969,  0.22459466])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00398612829125277
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.96304122e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.96304122e-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([-0.07587447, -0.13668484,  0.06164645])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09969839e-03, 3.74774846e-02, 9.35759450e-03,-9.98930933e-05,
  3.00456149e-05, 5.67611834e-06, 1.01968533e-05,-3.49544880e-05,
 -8.63006462e-06, 4.72888849e-05,-5.45203755e-05, 2.13595025e-05,
  3.18417424e-03, 4.69025222e-03, 9.04977231e-03, 1.73481202e-03,
  5.90080847e-04, 9.22659748e-04,-4.90541209e+00, 6.52397415e-03,
  2.12348957e-03, 3.93373966e-04]


--- Step 2574 ---
qpos:
[-0.01602482, 1.29454145,-0.03227735, 0.94844967, 0.00435133, 1.33148597,
 -0.02974513, 0.94624616, 0.01672136, 1.3365632 ,-0.02393414, 0.95497153,
  1.39369853,-0.00590113, 1.1909142 , 0.06145861,-0.05011116,-0.11067152,
  0.07895918, 0.58326731,-0.01117361,-0.00579084, 0.81218277]

qacc:
[ 5.62351114e-01,-4.44500306e-01,-2.55332816e+00,-2.87741713e+00,
  1.75949127e-02,-1.15587437e+00, 3.22062945e+00,-2.91119305e+00,
 -2.68108586e-02, 4.82062737e+00,-1.79354161e+01, 3.40810259e+01,
  2.40115087e-01,-4.73962893e-01, 9.28479428e+00,-1.77549779e+01,
  3.02139793e+00, 4.34495745e+00, 1.80221558e+00, 2.23885671e+02,
  1.82878430e+02,-1.06684257e+01]

qfrc_actuator:
[ 3.85971503e-03, 7.25812718e-02, 2.03346944e-02, 1.64346505e-03,
  1.70152944e-05, 3.48691794e-02, 1.08809319e-02, 1.70429459e-03,
 -3.09188390e-03, 3.46854916e-02, 1.07612036e-02, 1.72402859e-03,
  0.00000000e+00, 2.76860578e-03, 0.00000000e+00,-9.02050845e-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: -0.0006992778025356021
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30363155,  0.08788673, -0.94872747, -0.02678884,  0.99613047,
        0.08370445,  0.95241285,  0.        ,  0.30481102])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07223778, -0.04285004,  0.22459509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004035429764288792
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.87797267e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.87797267e-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([-0.07581595, -0.13663888,  0.06164295])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.06139132e-03, 3.75592829e-02, 9.36091130e-03,-5.22807036e-05,
  5.04421705e-06,-4.22214069e-05, 3.00699916e-06,-2.81006275e-06,
 -7.67933296e-06, 8.25092212e-05,-1.44520645e-06, 8.66741555e-05,
  3.19640552e-03, 4.66041196e-03, 8.91861582e-03, 1.47530007e-03,
  1.52264077e-04, 2.36548466e-04,-4.90512348e+00, 6.45319044e-03,
  2.17080224e-03, 1.88845225e-04]


--- Step 2575 ---
qpos:
[-0.01602748, 1.29455001,-0.03227694, 0.94844765, 0.00435157, 1.33148692,
 -0.0297463 , 0.94624627, 0.01672022, 1.33656185,-0.02393576, 0.95497148,
  1.39370745,-0.00590316, 1.19090188, 0.06145883,-0.0501074 ,-0.11065893,
  0.07897265, 0.58313997,-0.01111228,-0.00533256, 0.81227819]

qacc:
[ 6.58906034e-02, 3.21227283e+00,-1.35371407e+01, 2.34665191e+01,
 -1.66498605e-02, 3.55546816e+00,-1.49908438e+01, 2.94200353e+01,
 -1.93422466e-02,-1.97927170e+00, 6.10588669e+00,-1.75481184e+00,
 -4.59604041e-01, 5.92242184e-01, 3.43803779e+00,-8.71559974e+00,
  2.67359128e+00, 3.81771339e+00, 4.66519043e-01, 1.98235832e+02,
  1.62507367e+02,-9.13001875e+00]

qfrc_actuator:
[ 3.86322301e-03, 7.25787183e-02, 2.03177624e-02, 1.70961115e-03,
  9.26649953e-06, 3.48411189e-02, 1.08465857e-02, 1.77435759e-03,
 -3.09296052e-03, 3.46900019e-02, 1.08126920e-02, 1.73951084e-03,
  0.00000000e+00, 2.81575911e-03, 0.00000000e+00,-8.60433227e-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: -0.0006991096949218456
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30362151,  0.0878877 , -0.94873059, -0.02678826,  0.99613039,
        0.08370566,  0.95241607,  0.        ,  0.30480097])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07223644, -0.04285048,  0.22459538])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0040270278996708125
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.89232265e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.89232265e-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([-0.07582785, -0.1366607 ,  0.06164374])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.98937623e-04, 3.77229192e-02, 9.43623128e-03, 4.48350171e-05,
 -4.77370478e-06,-5.09216986e-05,-4.23457307e-05, 6.88190934e-05,
 -5.60894784e-06, 5.24350044e-05, 6.99773743e-05, 1.98958706e-05,
  3.17879584e-03, 4.72988382e-03, 8.57490542e-03, 1.46537834e-03,
  2.11971535e-05, 1.73619625e-05,-4.90501530e+00, 6.40416466e-03,
  2.19962091e-03, 1.21928498e-04]


--- Step 2576 ---
qpos:
[-0.01603048, 1.29455935,-0.03227673, 0.94844661, 0.00435175, 1.33148734,
 -0.02974691, 0.9462465 , 0.01671935, 1.33656087,-0.02393676, 0.95497162,
  1.3937157 ,-0.00590482, 1.19088797, 0.06145857,-0.05009412,-0.11063283,
  0.07898339, 0.58303049,-0.01108079,-0.00441815, 0.8123627 ]

qacc:
[-1.46930007e-01, 3.21169627e+00,-1.12432841e+01, 2.05861755e+01,
 -2.60531889e-02,-2.05747602e+00, 5.63318844e+00,-3.31156898e+00,
  1.11149519e-01,-8.66330715e-01, 3.02885683e+00,-6.59966394e-01,
 -7.30639795e-01, 9.47087247e-01,-8.52032846e-01,-3.06308755e-01,
  2.37914880e+00, 3.37777174e+00,-6.82930550e-01, 1.76617675e+02,
  1.45223088e+02,-7.81676113e+00]

qfrc_actuator:
[ 3.90180317e-03, 7.26096685e-02, 2.03079790e-02, 1.76727083e-03,
  4.54399559e-06, 3.48240977e-02, 1.08800604e-02, 1.78000444e-03,
 -3.05761888e-03, 3.47108921e-02, 1.08436191e-02, 1.74863017e-03,
  0.00000000e+00, 2.88026705e-03, 0.00000000e+00,-3.01422134e-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: -0.000698961542511492
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03612953e-01,  8.78886020e-02, -9.48733244e-01, -2.67877784e-02,
        9.96130310e-01,  8.37067577e-02,  9.52418810e-01, -3.46944695e-18,
        3.04792405e-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([ 0.07223523, -0.04285093,  0.22459564])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003972006852977661
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.3975593e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.3975593e-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([-0.07589557, -0.13673638,  0.06164795])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.02976958e-03, 3.77871274e-02, 9.47131840e-03, 5.35171921e-05,
 -7.54147406e-06,-5.14116123e-05, 2.07164566e-05, 4.47577121e-06,
  3.20308709e-05, 6.41518186e-05, 4.97048596e-05, 1.31794849e-05,
  3.19397862e-03, 4.78585445e-03, 8.49985175e-03, 1.54086238e-03,
  1.03264129e-04, 1.26132399e-04,-4.90503302e+00, 6.37053226e-03,
  2.21502612e-03, 1.52066082e-04]


--- Step 2577 ---
qpos:
[-0.01603334, 1.29456899,-0.03227674, 0.94844597, 0.00435187, 1.33148753,
 -0.02974688, 0.94624537, 0.01671895, 1.33656069,-0.02393866, 0.95497191,
  1.39372392,-0.00590636, 1.19087411, 0.06145809,-0.05009708,-0.11059992,
  0.07898487, 0.5829007 ,-0.01162048,-0.00351628, 0.81245269]

qacc:
[ 5.98572168e-02, 1.69219752e+00,-5.84880389e+00, 9.45649002e+00,
 -2.52848219e-02,-4.32598123e+00, 1.65175003e+01,-2.97943134e+01,
  2.01188198e-01, 3.75585642e+00,-1.12709030e+01, 1.09963683e+01,
 -1.21699141e-01, 2.23318935e-01, 7.53792190e-01,-2.52478203e+00,
 -4.05840252e+00, 1.70276123e+00,-2.31244879e+00,-1.71702874e+02,
  2.28274486e+02, 1.10386430e+01]

qfrc_actuator:
[ 3.89085336e-03, 7.27127981e-02, 2.03198909e-02, 1.78394058e-03,
  1.67559599e-06, 3.48317975e-02, 1.09178016e-02, 1.71223010e-03,
 -3.01846886e-03, 3.47413488e-02, 1.07911905e-02, 1.75393139e-03,
  0.00000000e+00, 2.86615283e-03, 0.00000000e+00,-6.72238917e-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: -0.0006987606245953092
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30360384,  0.08788962, -0.94873607, -0.02678729,  0.99613022,
        0.08370798,  0.95242173,  0.        ,  0.30478328])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07223386, -0.04285132,  0.22459593])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0039314794940706055
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.82393187e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.82393187e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00316671, -0.12489853,  0.06165104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.03603036e-03, 3.78511399e-02, 9.49281904e-03, 2.11645449e-05,
 -7.32054653e-06,-1.65555207e-05, 3.01755703e-05,-6.86049985e-05,
  5.80625525e-05, 7.60381284e-05,-3.38638306e-05, 8.96059510e-06,
  3.22747742e-03, 4.75303365e-03, 8.57952965e-03, 1.52766208e-03,
  3.32450819e-04, 4.63772610e-04,-4.90513996e+00, 6.34770000e-03,
  2.22066606e-03, 2.50463863e-04]


--- Step 2578 ---
qpos:
[-0.01603635, 1.29458022,-0.032276  , 0.94844468, 0.00435194, 1.33148802,
 -0.02974693, 0.94624412, 0.01671887, 1.33656115,-0.02394086, 0.95497224,
  1.39373251,-0.00590782, 1.19085774, 0.06145765,-0.05011126,-0.11058332,
  0.07898774, 0.58280982,-0.01213675,-0.00323124, 0.81251152]

qacc:
[-6.50143098e-02,-1.07385290e+00, 7.35333505e+00,-1.49123086e+01,
 -2.10683868e-02, 4.22139313e-01,-6.44412006e-01,-1.04853333e+00,
  1.38270462e-01, 1.73171845e+00,-4.72558282e+00, 4.22141121e+00,
  3.68231007e-01,-3.07310686e-01,-3.85568926e+00, 8.05214717e+00,
 -2.80436049e+00,-4.07640146e+00, 3.44744808e-01,-2.43573317e+02,
 -1.89040121e+02,-2.85150441e+01]

qfrc_actuator:
[ 3.88534363e-03, 7.27528845e-02, 2.03449345e-02, 1.75845569e-03,
 -5.74076777e-08, 3.48719814e-02, 1.09222970e-02, 1.70833052e-03,
 -3.01285725e-03, 3.47769616e-02, 1.07787878e-02, 1.75690614e-03,
  0.00000000e+00, 2.82271923e-03, 0.00000000e+00, 3.51238564e-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: -0.0006985736683533771
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30359465,  0.08789059, -0.94873892, -0.02678677,  0.99613013,
        0.08370917,  0.95242467,  0.        ,  0.30477409])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07223248, -0.04285173,  0.22459623])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00400377632291142
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.46617460e-15,  1.38646984e-14,  1.00000000e+00,  4.80574655e-29,
        1.00000000e+00, -1.38646984e-14, -1.00000000e+00,  0.00000000e+00,
       -3.46617460e-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([-0.01853051, -0.08023356,  0.06164575])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.02348436e-03, 3.78759722e-02, 9.52933185e-03,-2.41307705e-05,
 -6.05328913e-06, 3.48668912e-05, 2.67848018e-06,-5.10477196e-06,
  3.98941990e-05, 7.13188163e-05,-1.13669606e-06, 4.44299996e-06,
  3.22883442e-03, 4.70344842e-03, 8.57773356e-03, 1.64137139e-03,
  2.51416619e-05, 5.24336930e-04,-4.90513513e+00, 6.30225939e-03,
  2.20613734e-03, 2.64964662e-04]


--- Step 2579 ---
qpos:
[-0.01603856, 1.2945918 ,-0.03227469, 0.94844355, 0.00435197, 1.33148855,
 -0.0297463 , 0.94624351, 0.01671902, 1.33656192,-0.0239426 , 0.95497467,
  1.39374161,-0.00590957, 1.19084305, 0.06145733,-0.05013552,-0.11058111,
  0.07898729, 0.58275272,-0.01263131,-0.00349043, 0.81254387]

qacc:
[ 3.44900981e-01,-7.67802205e-01, 2.71678389e+00,-6.06115976e-01,
 -1.59284842e-02,-7.08079877e-01, 1.05452485e+00, 6.44555753e+00,
  9.27925412e-02, 2.75559622e+00,-1.27207899e+01, 3.49791567e+01,
  5.24759133e-01,-6.75586060e-01, 2.07479252e+00,-3.74451188e+00,
 -2.52235237e+00,-3.60028909e+00,-8.30682551e-01,-2.14604267e+02,
 -1.67200074e+02,-2.47806879e+01]

qfrc_actuator:
[ 3.91884008e-03, 7.27537398e-02, 2.03769601e-02, 1.76182652e-03,
 -1.09552703e-06, 3.48779588e-02, 1.09605727e-02, 1.74206920e-03,
 -3.00965747e-03, 3.47977601e-02, 1.08079132e-02, 1.86504550e-03,
  0.00000000e+00, 2.77945140e-03, 0.00000000e+00,-4.53390224e-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: -0.0006983597750716344
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03583231e-01,  8.78916371e-02, -9.48742474e-01, -2.67860882e-02,
        9.96130042e-01,  8.37104853e-02,  9.52428332e-01, -3.46944695e-18,
        3.04762650e-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([ 0.07223086, -0.04285214,  0.2245966 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -0.53106656,  8.62002002, -0.53106656, 59.04341824,
        3.10550335,  8.62002002,  3.10550335,  8.82768906,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004020816319060927
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.9029703e-15,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -6.9029703e-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([-0.01856439, -0.08025049,  0.06164455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.06459808e-03, 3.77973731e-02, 9.52338052e-03, 1.18907208e-05,
 -4.60891403e-06, 2.56296029e-05, 4.52470136e-05, 3.47431187e-05,
  2.67558680e-05, 6.01478903e-05, 4.30564730e-05, 1.10320719e-04,
  3.21100944e-03, 4.65673194e-03, 8.70333023e-03, 1.55882098e-03,
 -2.66616141e-05, 4.56039373e-05,-4.90502618e+00, 6.35165951e-03,
  2.18840404e-03, 1.30953150e-04]


--- Step 2580 ---
qpos:
[-0.01604016, 1.29460459,-0.03227234, 0.94844341, 0.00435198, 1.33148937,
 -0.02974562, 0.94624435, 0.01671946, 1.33656283,-0.02394351, 0.95497699,
  1.39375105,-0.00591148, 1.19082834, 0.0614569 ,-0.05016889,-0.1105917 ,
  0.07897943, 0.5827246 ,-0.0131058 ,-0.00423247, 0.81255299]

qacc:
[ 2.59187734e-01, 4.46587122e-01,-1.56637018e+00, 1.20078878e+01,
 -1.16268671e-02, 2.71983223e+00,-1.13808241e+01, 2.65207008e+01,
  1.22485275e-01,-2.26042555e+00, 7.80335194e+00,-8.10601392e+00,
  3.62365343e-01,-4.50287030e-01, 2.90755791e-01,-1.11481002e+00,
 -2.27597250e+00,-3.19673745e+00,-1.85020738e+00,-1.90181612e+02,
 -1.48643042e+02,-2.16251436e+01]

qfrc_actuator:
[ 3.95708721e-03, 7.27316555e-02, 2.04130663e-02, 1.81745485e-03,
 -1.70870772e-06, 3.48990688e-02, 1.09651256e-02, 1.81543328e-03,
 -2.99017524e-03, 3.47919969e-02, 1.08435582e-02, 1.85669019e-03,
  0.00000000e+00, 2.75435996e-03, 0.00000000e+00,-2.25510741e-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: -0.0006982779915334428
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30357094,  0.08789245, -0.94874633, -0.02678525,  0.99612997,
        0.0837116 ,  0.95243227,  0.        ,  0.30475033])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07222936, -0.0428526 ,  0.22459696])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -0.50336832,  8.62168181, -0.50336832, 63.75200482,
        3.21787193,  8.62168181,  3.21787193,  8.82423589,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00398487309875651
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.7860938e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.7860938e-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([-0.01852488, -0.08019969,  0.06164718])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.06239218e-03, 3.77575192e-02, 9.53126470e-03, 5.90564154e-05,
 -3.33219398e-06, 4.51719097e-05, 1.57278749e-05, 7.62652329e-05,
  3.52805466e-05, 3.91767366e-05, 5.55166941e-05,-2.74376026e-06,
  3.18488936e-03, 4.64580249e-03, 8.61972043e-03, 1.57565831e-03,
  1.49779619e-04,-2.62583023e-05,-4.90504139e+00, 6.37944111e-03,
  2.18128483e-03, 1.09589661e-04]


--- Step 2581 ---
qpos:
[-0.01604261, 1.29462017,-0.03226815, 0.94844272, 0.00435211, 1.33149074,
 -0.02974576, 0.9462447 , 0.01672016, 1.33656367,-0.02394293, 0.95497814,
  1.39376026,-0.00591318, 1.19080804, 0.06145657,-0.05018376,-0.11061245,
  0.0789869 , 0.58268422,-0.01298827,-0.00496355, 0.8125797 ]

qacc:
[-3.66071087e-01,-2.23315033e+00, 1.28614373e+01,-1.93183745e+01,
  5.34361458e-02, 2.11069505e+00,-5.03249184e+00,-1.58811814e+00,
  1.11842293e-01,-6.11256836e+00, 2.21964600e+01,-3.26953731e+01,
 -1.26743375e-02, 7.57588517e-02,-8.55202971e+00, 1.79134530e+01,
  4.62597030e+00,-2.54096873e+00, 3.83053558e+00, 1.76898883e+02,
 -2.37475082e+02, 8.93032135e+00]

qfrc_actuator:
[ 3.96255695e-03, 7.26770639e-02, 2.04331647e-02, 1.79703859e-03,
  1.56903715e-05, 3.49112281e-02, 1.09142911e-02, 1.78723269e-03,
 -2.97883368e-03, 3.47880967e-02, 1.09180657e-02, 1.79755655e-03,
  0.00000000e+00, 2.77566589e-03, 0.00000000e+00, 2.04394205e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006982889679504889
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03556513e-01,  8.78931019e-02, -9.48750887e-01, -2.67841806e-02,
        9.96129913e-01,  8.37126336e-02,  9.52436901e-01, -3.46944695e-18,
        3.04735868e-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([ 0.07222781, -0.04285308,  0.22459735])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003953895316919059
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.01980538e-15,  1.40396108e-14,  1.00000000e+00,  9.85553351e-29,
        1.00000000e+00, -1.40396108e-14, -1.00000000e+00,  0.00000000e+00,
       -7.01980538e-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([-0.07631105, -0.09994209,  0.06164935])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.03745887e-03, 3.76426769e-02, 9.49923765e-03,-1.05919241e-05,
  1.54340727e-05, 4.25033645e-05,-3.79776376e-05,-2.46125566e-05,
  3.21726278e-05, 2.85245560e-05, 8.83905058e-05,-5.64092301e-05,
  3.16824336e-03, 4.67493255e-03, 8.62084125e-03, 1.80834851e-03,
  4.80127453e-04, 1.85158588e-04,-4.90514185e+00, 6.39235676e-03,
  2.18162804e-03, 1.66400203e-04]


--- Step 2582 ---
qpos:
[-0.01604539, 1.29463614,-0.03226342, 0.94844207, 0.0043524 , 1.3314922 ,
 -0.02974659, 0.94624372, 0.01672092, 1.33656425,-0.0239402 , 0.95497994,
  1.39376948,-0.00591479, 1.19078694, 0.06145638,-0.05018232,-0.11063037,
  0.07901204, 0.58264101,-0.01253997,-0.00537191, 0.81261513]

qacc:
[-1.37442944e-01,-8.51687650e-01, 3.27811700e+00,-2.52448099e+00,
  6.73671671e-02,-3.03871095e-01, 3.88821836e+00,-1.89757074e+01,
  2.67132736e-02,-5.02813742e+00, 1.46644806e+01,-5.07272747e+00,
 -1.09701060e-02, 7.04956000e-02,-1.62462649e+00, 3.97249024e+00,
  4.07493692e+00, 7.06041551e-01, 4.42079679e+00, 2.27493084e+02,
 -4.04273525e+01, 4.95979662e+00]

qfrc_actuator:
[ 3.93183121e-03, 7.26186404e-02, 2.04246894e-02, 1.78540077e-03,
  2.60012749e-05, 3.48821465e-02, 1.08665889e-02, 1.71720216e-03,
 -2.99021930e-03, 3.47854523e-02, 1.10326545e-02, 1.83332930e-03,
  0.00000000e+00, 2.77125560e-03, 0.00000000e+00, 1.80862536e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006981943977963853
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30353766,  0.08789407, -0.94875683, -0.02678281,  0.99612983,
        0.08371408,  0.95244295,  0.        ,  0.30471697])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07222574, -0.04285348,  0.22459787])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -0.58960082,  8.61621423, -0.58960082, 62.97240274,
        3.71817277,  8.61621423,  3.71817277,  8.8907953 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003950731645840913
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.81017068e-14, -2.23927903e-07,  1.00000000e+00,  6.29275628e-21,
        1.00000000e+00,  2.23927903e-07, -1.00000000e+00,  0.00000000e+00,
        2.81017068e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07615225, -0.11580946,  0.06164973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.04966500e-03, 3.74440261e-02, 9.39864772e-03, 5.60839930e-06,
  1.94202797e-05,-1.37439253e-05,-4.44327559e-05,-7.04377886e-05,
  7.61050655e-06, 2.87166738e-05, 1.28554097e-04, 3.78946961e-05,
  3.17923001e-03, 4.66038032e-03, 8.90079905e-03, 1.78001094e-03,
  1.60776275e-04, 3.01465667e-04,-4.90511681e+00, 6.40996418e-03,
  2.18108286e-03, 2.36199005e-04]


--- Step 2583 ---
qpos:
[-0.01604725, 1.29465042,-0.03225942, 0.94844258, 0.00435269, 1.3314933 ,
 -0.02974736, 0.94624397, 0.01672166, 1.33656495,-0.02393728, 0.95498222,
  1.39377915,-0.00591662, 1.19076995, 0.06145615,-0.0501703 ,-0.11063394,
  0.07903916, 0.58261351,-0.01213245,-0.00525756, 0.81264178]

qacc:
[ 3.90231694e-01, 1.67900498e+00,-1.05166083e+01, 2.35615409e+01,
 -1.07810413e-03, 1.47354289e+00,-7.91298021e+00, 2.14629564e+01,
 -9.29243409e-03, 4.72279406e-01,-2.31668968e+00, 7.48738861e+00,
  2.86720443e-01,-3.53860496e-01, 6.20231137e+00,-1.29132447e+01,
  2.64625326e+00, 3.58818734e+00, 4.91230711e-01, 2.00573248e+02,
  1.68940508e+02,-5.55135923e+00]

qfrc_actuator:
[ 3.93245328e-03, 7.26124801e-02, 2.04173982e-02, 1.83190706e-03,
  1.42233276e-05, 3.48640582e-02, 1.08742213e-02, 1.78289870e-03,
 -2.99739280e-03, 3.47660423e-02, 1.10280196e-02, 1.85368502e-03,
  0.00000000e+00, 2.73369480e-03, 0.00000000e+00, 6.95547963e-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: -0.0006980893304592388
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30351794,  0.08789514, -0.94876304, -0.0267814 ,  0.99612973,
        0.08371566,  0.95244927,  0.        ,  0.3046972 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0722236 , -0.04285388,  0.2245984 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  0.1079457 ,  8.635689  ,  0.1079457 , 34.35333236,
       -0.32146088,  8.635689  , -0.32146088,  8.64038188,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0039555289068090235
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.10507188e-14,  1.40338126e-14,  1.00000000e+00,  2.95421842e-28,
        1.00000000e+00, -1.40338126e-14, -1.00000000e+00,  0.00000000e+00,
       -2.10507188e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07592833, -0.1367965 ,  0.06164978])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.06640156e-03, 3.74188887e-02, 9.36486292e-03, 4.97857066e-05,
 -3.18152392e-07,-3.65019678e-05,-2.17572005e-06, 6.23476668e-05,
 -2.67928669e-06, 2.26951599e-05, 1.66903523e-05, 2.58568641e-05,
  3.17934047e-03, 4.61833545e-03, 8.94114185e-03, 1.59879862e-03,
 -1.35506088e-05, 1.10043211e-04,-4.90509329e+00, 6.41639667e-03,
  2.19194195e-03, 1.55084089e-04]


--- Step 2584 ---
qpos:
[-0.01604891, 1.29466375,-0.03225577, 0.94844252, 0.00435277, 1.33149409,
 -0.02974806, 0.9462457 , 0.01672249, 1.33656621,-0.02393594, 0.95498375,
  1.39378887,-0.00591863, 1.19075459, 0.06145609,-0.05014882,-0.1106247 ,
  0.07906371, 0.58260002,-0.01176113,-0.00467738, 0.81266046]

qacc:
[ 8.58546246e-02,-1.22280055e+00, 3.65413833e+00,-9.10490608e+00,
 -8.72363123e-02, 1.94741145e+00,-9.85586490e+00, 2.57815764e+01,
  3.99199816e-02, 3.71215439e+00,-9.70141151e+00,-6.26379497e-01,
  8.37847984e-02,-2.08606951e-01, 1.86042985e+00,-3.02218411e+00,
  2.36695592e+00, 3.20285759e+00,-6.41525071e-01, 1.78796827e+02,
  1.50496748e+02,-5.09615275e+00]

qfrc_actuator:
[ 3.91526991e-03, 7.26573416e-02, 2.04295999e-02, 1.80565415e-03,
 -1.07098268e-05, 3.48529769e-02, 1.08790662e-02, 1.85697469e-03,
 -2.98422703e-03, 3.47717952e-02, 1.09351925e-02, 1.81143954e-03,
  0.00000000e+00, 2.74752279e-03, 0.00000000e+00,-8.50158515e-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: -0.0006980965413470215
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30350051,  0.08789591, -0.94876854, -0.0267801 ,  0.99612966,
        0.08371688,  0.95245486,  0.        ,  0.30467972])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07222182, -0.04285436,  0.22459886])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003912571048781621
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.54697401e-14, -1.41878960e-14,  1.00000000e+00,  5.03240984e-28,
        1.00000000e+00,  1.41878960e-14, -1.00000000e+00,  0.00000000e+00,
        3.54697401e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07598589, -0.13685518,  0.06165333])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00343882e-03, 3.75478879e-02, 9.41264892e-03,-3.43486616e-05,
 -2.51224219e-05,-2.98349935e-05,-7.14016416e-07, 7.43651015e-05,
  1.15849574e-05, 2.23245406e-05,-8.57422403e-05,-4.04746902e-05,
  3.15662920e-03, 4.64291809e-03, 8.73583917e-03, 1.58589584e-03,
  6.41050874e-05,-1.89792530e-05,-4.90504349e+00, 6.39946377e-03,
  2.19889771e-03, 1.09026937e-04]


--- Step 2585 ---
qpos:
[-0.01605113, 1.29467725,-0.03225217, 0.9484417 , 0.00435261, 1.33149472,
 -0.02974814, 0.94624757, 0.01672359, 1.33656789,-0.02393571, 0.95498371,
  1.39379847,-0.00592053, 1.19073772, 0.0614561 ,-0.05011881,-0.11060395,
  0.0790818 , 0.58259865,-0.01142211,-0.00367935, 0.8126714 ]

qacc:
[-2.33960694e-01,-9.89103867e-01, 5.05218932e+00,-1.34352940e+01,
 -1.03030706e-01,-1.67758235e+00, 4.90972440e+00,-2.50897470e+00,
  1.11193519e-01, 8.44857993e-01, 1.06570496e+00,-1.92319030e+01,
 -7.76589147e-02, 1.32402399e-01,-2.42328256e+00, 5.24417631e+00,
  2.12936649e+00, 2.87785919e+00,-1.61476280e+00, 1.60429974e+02,
  1.34915535e+02,-4.64369557e+00]

qfrc_actuator:
[ 3.88775118e-03, 7.26439811e-02, 2.04179248e-02, 1.77251016e-03,
 -2.55790950e-05, 3.48639478e-02, 1.09177240e-02, 1.86434143e-03,
 -2.95896577e-03, 3.47921609e-02, 1.08799119e-02, 1.73267620e-03,
  0.00000000e+00, 2.75673317e-03, 0.00000000e+00, 7.09022277e-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: -0.0006981345606159317
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30348431,  0.0878966 , -0.94877366, -0.02677888,  0.9961296 ,
        0.083718  ,  0.95246006,  0.        ,  0.30466348])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0722202 , -0.04285486,  0.22459928])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003831449946832377
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.24414412e-15,  2.89765765e-14,  1.00000000e+00, -2.09910496e-28,
        1.00000000e+00, -2.89765765e-14, -1.00000000e+00,  0.00000000e+00,
        7.24414412e-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([-0.07608847, -0.13695895,  0.06165964])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.65844853e-04, 3.75813727e-02, 9.41894870e-03,-3.92552635e-05,
 -2.96954254e-05,-3.44549094e-06, 3.49233803e-05, 8.17918453e-06,
  3.21027460e-05, 1.47597545e-05,-6.18495863e-05,-8.15468614e-05,
  3.15456805e-03, 4.66131631e-03, 8.65451663e-03, 1.65639790e-03,
  2.91415926e-04, 1.18737066e-04,-4.90509266e+00, 6.38984065e-03,
  2.19812310e-03, 1.42440318e-04]


--- Step 2586 ---
qpos:
[-0.01605392, 1.29469159,-0.03224886, 0.94844042, 0.00435238, 1.33149519,
 -0.02974772, 0.94624917, 0.01672496, 1.33656898,-0.02393584, 0.95498346,
  1.39380815,-0.00592212, 1.19071649, 0.06145589,-0.05010194,-0.11059946,
  0.0791013 , 0.58262373,-0.01104579,-0.00329813, 0.81266026]

qacc:
[-2.50737787e-01, 1.15393220e+00,-1.49751895e+00,-4.37487767e+00,
 -2.93671804e-02,-2.00073265e+00, 6.83488364e+00,-8.92040791e+00,
  1.16280229e-01,-1.53828905e-01,-2.16571777e-02,-1.94878784e+00,
  6.50945333e-02, 1.36368692e-01,-5.78986141e+00, 1.08773389e+01,
 -3.28249114e+00,-4.06605627e+00, 3.55197264e-01,-2.39655813e+02,
 -1.94660740e+02,-2.07739038e+01]

qfrc_actuator:
[ 3.90795871e-03, 7.26482297e-02, 2.03740032e-02, 1.75342029e-03,
 -1.65375180e-05, 3.48526320e-02, 1.09405727e-02, 1.85017653e-03,
 -2.94440587e-03, 3.47146916e-02, 1.08473155e-02, 1.72187859e-03,
  0.00000000e+00, 2.74520139e-03, 0.00000000e+00, 2.07265205e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25713296,  0.24922918, -0.06326274,  0.24922918,  0.27376641,
        0.06552899, -0.06326274,  0.06552899,  0.51529021,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006980957220458113
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30346802,  0.08789746, -0.94877879, -0.02677771,  0.99612953,
        0.08371928,  0.95246528,  0.        ,  0.30464715])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07221847, -0.04285533,  0.22459971])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038940896596734997
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.42552319e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.42552319e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01840135, -0.08003457,  0.06165527])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01348227e-03, 3.75779025e-02, 9.37740881e-03,-1.95886642e-05,
 -8.48201228e-06,-6.14967723e-06, 2.63893127e-05,-1.30517221e-05,
  3.35152307e-05,-8.38123826e-05,-3.91306800e-05,-1.40653841e-05,
  3.16009285e-03, 4.64435663e-03, 8.73044626e-03, 1.78958478e-03,
  6.21916009e-04, 4.44586933e-04,-4.90521330e+00, 6.38539150e-03,
  2.19157072e-03, 2.32449852e-04]


--- Step 2587 ---
qpos:
[-0.01605679, 1.29470568,-0.03224612, 0.94843905, 0.0043523 , 1.33149568,
 -0.02974766, 0.94625131, 0.01672642, 1.33656914,-0.02393533, 0.95498273,
  1.39381799,-0.00592363, 1.19069462, 0.06145565,-0.05009669,-0.11060938,
  0.07911757, 0.58267266,-0.01063631,-0.0034618 , 0.81262996]

qacc:
[-2.87637506e-02, 1.02745896e+00,-3.56121593e+00, 2.05184043e+00,
  6.35161511e-02, 1.92423672e+00,-7.35679882e+00, 1.26160596e+01,
  3.50849056e-02,-3.80033887e+00, 1.19045500e+01,-1.54330961e+01,
  9.96835539e-02,-2.08898945e-02,-8.68382265e-01, 1.64896911e+00,
 -2.90795763e+00,-3.60019984e+00,-8.12142593e-01,-2.11647513e+02,
 -1.72055184e+02,-1.83339991e+01]

qfrc_actuator:
[ 3.90380270e-03, 7.26445251e-02, 2.03465003e-02, 1.74274107e-03,
  6.77403460e-06, 3.48457438e-02, 1.09183080e-02, 1.87670214e-03,
 -2.95413626e-03, 3.46681257e-02, 1.08812818e-02, 1.69786540e-03,
  0.00000000e+00, 2.73873587e-03, 0.00000000e+00, 1.82781867e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006978518548285614
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03451183e-01,  8.78985048e-02, -9.48784081e-01, -2.67765456e-02,
        9.96129436e-01,  8.37207487e-02,  9.52470680e-01,  3.46944695e-18,
        3.04630274e-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([ 0.07221636, -0.04285576,  0.22460019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003921424158854554
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.53896626e-15,  4.24675952e-14,  1.00000000e+00,  1.50291387e-28,
        1.00000000e+00, -4.24675952e-14, -1.00000000e+00,  0.00000000e+00,
       -3.53896626e-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([-0.01843291, -0.08006603,  0.06165354])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.03870997e-03, 3.75312067e-02, 9.36439483e-03,-8.09651621e-06,
  1.83060647e-05,-5.52259293e-06,-2.08466907e-05, 2.68150820e-05,
  1.00548063e-05,-1.00977690e-04, 1.27386024e-05,-2.79681785e-05,
  3.15634866e-03, 4.62258035e-03, 8.94914536e-03, 1.77610255e-03,
  1.72827812e-04, 2.67084390e-05,-4.90505010e+00, 6.38342684e-03,
  2.19018458e-03, 1.15942120e-04]


--- Step 2588 ---
qpos:
[-0.01605927, 1.2947189 ,-0.03224367, 0.94843829, 0.00435242, 1.33149651,
 -0.0297483 , 0.94625374, 0.01672772, 1.33656897,-0.02393439, 0.95498201,
  1.39382794,-0.00592527, 1.19067564, 0.06145551,-0.05010181,-0.11063211,
  0.07912654, 0.5827426 ,-0.01019726,-0.00410961, 0.81258242]

qacc:
[ 1.64087688e-01, 6.67553384e-01,-4.79000498e+00, 1.17783760e+01,
  8.57517332e-02, 2.83839017e+00,-9.30654412e+00, 1.12066037e+01,
 -6.33443520e-02,-1.57751142e+00, 4.58916808e+00,-3.55673808e+00,
  3.34107903e-02,-9.13844540e-02, 3.98521327e+00,-7.73182740e+00,
 -2.58975408e+00,-3.20609108e+00,-1.82299673e+00,-1.88015403e+02,
 -1.52940039e+02,-1.61884290e+01]

qfrc_actuator:
[ 3.90249579e-03, 7.25835709e-02, 2.03470028e-02, 1.77245072e-03,
  2.07031454e-05, 3.48769111e-02, 1.08873912e-02, 1.89143733e-03,
 -2.97835850e-03, 3.46939429e-02, 1.09188290e-02, 1.70180077e-03,
  0.00000000e+00, 2.73540848e-03, 0.00000000e+00, 7.94402773e-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: -0.0006975434158125425
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03435147e-01,  8.78995597e-02, -9.48789112e-01, -2.67754544e-02,
        9.96129343e-01,  8.37222051e-02,  9.52475819e-01, -3.46944695e-18,
        3.04614204e-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([ 0.07221422, -0.04285621,  0.22460066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038958620363404375
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.12437334e-15,  7.12437334e-15,  1.00000000e+00,  5.07566954e-29,
        1.00000000e+00, -7.12437334e-15, -1.00000000e+00,  0.00000000e+00,
       -7.12437334e-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([-0.01839345, -0.08002834,  0.06165566])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.04075757e-03, 3.74834291e-02, 9.39365681e-03, 2.67840053e-05,
  2.47313274e-05, 2.48398981e-05,-3.35802786e-05, 1.45845511e-05,
 -1.82891674e-05,-2.83649949e-05, 1.84547480e-05, 6.64733683e-07,
  3.14839522e-03, 4.61499254e-03, 8.98162164e-03, 1.67424744e-03,
 -8.80666639e-06, 8.98898447e-06,-4.90502111e+00, 6.37125874e-03,
  2.19431741e-03, 1.09537650e-04]


--- Step 2589 ---
qpos:
[-0.01606158, 1.29473206,-0.03224139, 0.94843712, 0.00435273, 1.3314978 ,
 -0.02974994, 0.9462553 , 0.01672896, 1.3365688 ,-0.02393348, 0.95498238,
  1.39383806,-0.00592701, 1.19065639, 0.06145545,-0.05012249,-0.11064697,
  0.07912551, 0.58278013,-0.01030759,-0.00478091, 0.81255044]

qacc:
[ 7.31357488e-02,-2.93723754e-01, 1.67309209e+00,-6.08147123e+00,
  7.89492339e-02, 1.79368106e+00,-3.33205195e+00,-7.51828663e+00,
 -2.78211790e-02, 1.95671752e+00,-8.56635619e+00, 1.99186461e+01,
  2.21969708e-01,-2.88121504e-01,-6.51086133e-01, 1.66031363e+00,
 -3.89209412e+00, 1.97125150e+00,-2.49968017e+00,-1.69753346e+02,
  2.16221551e+02, 1.87155798e+01]

qfrc_actuator:
[ 3.92022570e-03, 7.25599751e-02, 2.03287359e-02, 1.75470833e-03,
  2.88901098e-05, 3.48950716e-02, 1.08340131e-02, 1.84587432e-03,
 -2.97557131e-03, 3.47096965e-02, 1.09229639e-02, 1.75769517e-03,
  0.00000000e+00, 2.71639572e-03, 0.00000000e+00, 1.23950963e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006973427497565972
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30342019,  0.08790049, -0.94879381, -0.02677442,  0.99612926,
        0.08372351,  0.95248061,  0.        ,  0.30459922])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07221232, -0.04285669,  0.22460109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038991546931168714
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.11835713e-15,  4.27101428e-14,  1.00000000e+00,  3.04026049e-28,
        1.00000000e+00, -4.27101428e-14, -1.00000000e+00,  0.00000000e+00,
       -7.11835713e-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([-0.00306933, -0.12489618,  0.06165558])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.03923385e-03, 3.75025748e-02, 9.38926051e-03,-2.15898054e-05,
  2.27819111e-05, 2.57703555e-05,-5.19099386e-05,-4.54602348e-05,
 -8.01176238e-06, 3.69101636e-06, 7.10449833e-07, 5.56093145e-05,
  3.14286024e-03, 4.60265625e-03, 8.83722930e-03, 1.71408890e-03,
 -1.14284868e-06, 2.69993918e-04,-4.90508601e+00, 6.35262707e-03,
  2.20247231e-03, 1.79240073e-04]


--- Step 2590 ---
qpos:
[-0.01606325, 1.294744  ,-0.0322393 , 0.94843585, 0.00435319, 1.33149911,
 -0.02975236, 0.94625633, 0.01673032, 1.33656895,-0.02393293, 0.95498306,
  1.3938483 ,-0.00592912, 1.1906411 , 0.06145566,-0.05015712,-0.11065481,
  0.07911119, 0.58278897,-0.01090554,-0.005473  , 0.81253192]

qacc:
[ 2.73608992e-01,-1.25671113e+00, 2.38373639e+00,-2.46565665e+00,
  6.28359247e-02, 1.25474191e+00,-2.99041412e+00,-3.53302958e+00,
  4.92956447e-02, 1.93978160e+00,-6.44248321e+00, 8.95829403e+00,
  1.56984161e-01,-3.93453746e-01, 4.99738773e+00,-9.00540542e+00,
 -3.48692316e+00, 1.75229106e+00,-3.32177245e+00,-1.50646486e+02,
  1.91906728e+02, 1.66341826e+01]

qfrc_actuator:
[ 3.91393177e-03, 7.24873401e-02, 2.03347262e-02, 1.74477183e-03,
  3.35666819e-05, 3.48696688e-02, 1.07854847e-02, 1.81843724e-03,
 -2.95660271e-03, 3.47369716e-02, 1.09073483e-02, 1.77268216e-03,
  0.00000000e+00, 2.70574332e-03, 0.00000000e+00,-9.13749999e-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: -0.0006971215030717147
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03405482e-01,  8.79013562e-02, -9.48798432e-01, -2.67733882e-02,
        9.96129184e-01,  8.37247521e-02,  9.52485328e-01, -3.46944695e-18,
        3.04584472e-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([ 0.07221041, -0.04285718,  0.22460152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   2.03107583,   8.39413532,   2.03107583,
        60.46487757, -12.54061769,   8.39413532, -12.54061769,
        11.67073758,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038624950391539375
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07788782e-14,  2.87436751e-14,  1.00000000e+00,  3.09824572e-28,
        1.00000000e+00, -2.87436751e-14, -1.00000000e+00,  0.00000000e+00,
       -1.07788782e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00299956, -0.12492283,  0.06165828])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.02435042e-03, 3.74333506e-02, 9.40424935e-03,-1.13065873e-05,
  1.81214344e-05,-2.26664574e-05,-5.07233909e-05,-2.92385397e-05,
  1.42382714e-05, 3.11039353e-05,-1.31871459e-05, 1.64128044e-05,
  3.13428955e-03, 4.59696577e-03, 8.85107730e-03, 1.57718104e-03,
  2.20762653e-04, 2.28712573e-04,-4.90508597e+00, 6.37943840e-03,
  2.20548033e-03, 1.73988672e-04]


--- Step 2591 ---
qpos:
[-0.016065  , 1.29475649,-0.03223635, 0.9484353 , 0.00435361, 1.33150025,
 -0.0297553 , 0.94625634, 0.01673154, 1.33656905,-0.02393301, 0.95498395,
  1.39385837,-0.00593127, 1.19062662, 0.06145589,-0.0501786 ,-0.11064571,
  0.07910589, 0.58281331,-0.01155357,-0.00555291, 0.81250497]

qacc:
[-3.69876756e-02,-3.77509172e-01, 6.39272150e-01, 7.37605348e+00,
 -1.57498484e-02,-6.19838808e-01, 3.86343878e+00,-1.51389214e+01,
 -5.67296465e-02, 2.00832986e+00,-7.06736947e+00, 8.70221080e+00,
 -1.51887521e-01, 1.05923651e-01, 1.14074471e+00,-2.24220985e+00,
  3.28911883e+00, 4.23633445e+00, 2.25408657e+00, 2.34175132e+02,
  1.98827885e+02,-5.27587134e+00]

qfrc_actuator:
[ 3.91043751e-03, 7.24397088e-02, 2.03731026e-02, 1.79263500e-03,
  1.83478607e-05, 3.48538963e-02, 1.07578153e-02, 1.76637445e-03,
 -2.98133917e-03, 3.46998277e-02, 1.08624740e-02, 1.78121765e-03,
  0.00000000e+00, 2.71816888e-03, 0.00000000e+00, 1.72724002e-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: -0.0006970528293655034
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03392105e-01,  8.79020174e-02, -9.48802649e-01, -2.67724107e-02,
        9.96129126e-01,  8.37257588e-02,  9.52489616e-01, -3.46944695e-18,
        3.04571061e-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([ 0.07220886, -0.04285771,  0.22460188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038425882293104396
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.22314595e-15,  1.44462919e-14,  1.00000000e+00,  1.04347675e-28,
        1.00000000e+00, -1.44462919e-14, -1.00000000e+00,  0.00000000e+00,
       -7.22314595e-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([-0.07611482, -0.13693656,  0.06165956])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.88765535e-04, 3.74462052e-02, 9.45197266e-03, 4.16062850e-05,
 -4.52592345e-06,-3.91107658e-05,-3.87259103e-05,-5.49072596e-05,
 -1.63291193e-05,-2.20320723e-05,-3.98180298e-05, 9.45500349e-06,
  3.12826637e-03, 4.62784742e-03, 8.65317036e-03, 1.58973227e-03,
  5.11019746e-04, 1.25507708e-04,-4.90516241e+00, 6.39208087e-03,
  2.20374586e-03, 9.65898895e-05]


--- Step 2592 ---
qpos:
[-0.01606764, 1.29476986,-0.03223313, 0.94843463, 0.00435393, 1.33150118,
 -0.029758  , 0.94625568, 0.01673227, 1.33656892,-0.023933  , 0.95498527,
  1.39386798,-0.00593312, 1.19060925, 0.061456  ,-0.05018849,-0.11062162,
  0.07910406, 0.58285153,-0.0122461 ,-0.00509127, 0.81247044]

qacc:
[-3.78136935e-01, 2.06914196e-01, 9.39506619e-01,-2.68213116e+00,
 -4.14318214e-02,-2.01947496e+00, 7.60296681e+00,-1.40867444e+01,
 -2.09478649e-01, 1.77457800e-01,-1.78935725e+00, 6.53643780e+00,
 -4.24243369e-01, 5.86140902e-01,-3.85004490e+00, 7.34824303e+00,
  2.89745046e+00, 3.74663913e+00, 8.67586585e-01, 2.07095546e+02,
  1.75966875e+02,-4.60041112e+00]

qfrc_actuator:
[ 3.89134234e-03, 7.24590616e-02, 2.03589293e-02, 1.78564012e-03,
  9.07065804e-06, 3.48618279e-02, 1.07781921e-02, 1.73575129e-03,
 -3.03209493e-03, 3.46952818e-02, 1.08714615e-02, 1.80359976e-03,
  0.00000000e+00, 2.76201810e-03, 0.00000000e+00, 1.21777069e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006970805012051148
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30337739,  0.08790272, -0.94880729, -0.02677133,  0.99612906,
        0.08372684,  0.95249433,  0.        ,  0.3045563 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07220735, -0.04285824,  0.22460227])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038641038292051427
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.15487809e-14,  1.43658539e-14,  1.00000000e+00,  3.09566639e-28,
        1.00000000e+00, -1.43658539e-14, -1.00000000e+00,  0.00000000e+00,
       -2.15487809e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07609142, -0.13690941,  0.06165791])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.74008520e-04, 3.74379946e-02, 9.39484750e-03,-1.08465569e-06,
 -1.19491126e-05,-2.29269811e-05, 6.71640916e-06,-3.42069722e-05,
 -6.03973264e-05,-2.42246370e-05, 4.37717702e-07, 2.07855144e-05,
  3.13728504e-03, 4.67399641e-03, 8.61322729e-03, 1.69336293e-03,
  1.06911894e-04,-5.18258390e-05,-4.90509648e+00, 6.40464100e-03,
  2.20361712e-03, 6.05445669e-05]


--- Step 2593 ---
qpos:
[-0.01607013, 1.29478143,-0.03223107, 0.9484349 , 0.00435415, 1.3315013 ,
 -0.02975977, 0.94625813, 0.0167326 , 1.3365691 ,-0.02393221, 0.95498573,
  1.39387717,-0.00593491, 1.19059548, 0.06145593,-0.0501881 ,-0.11058419,
  0.07910091, 0.58290163,-0.01297836,-0.00414768, 0.81242849]

qacc:
[ 6.82153109e-02, 2.36913659e+00,-1.24715691e+01, 2.26713577e+01,
 -4.39048838e-02, 1.74983789e+00,-1.33653765e+01, 4.81044265e+01,
 -1.67641737e-01,-3.16584063e+00, 1.25490298e+01,-2.10100257e+01,
 -5.69152864e-01, 6.21057819e-01, 5.89910253e+00,-1.28144281e+01,
  2.56726029e+00, 3.33431734e+00,-3.28620975e-01, 1.84266996e+02,
  1.56667025e+02,-3.93180824e+00]

qfrc_actuator:
[ 3.88147403e-03, 7.24648053e-02, 2.03312185e-02, 1.81728375e-03,
  3.43412193e-06, 3.48130828e-02, 1.08268669e-02, 1.89556077e-03,
 -3.04478988e-03, 3.47637549e-02, 1.09300532e-02, 1.76299182e-03,
  0.00000000e+00, 2.80663484e-03, 0.00000000e+00,-6.40253796e-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: -0.0006970006069307796
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03361572e-01,  8.79037046e-02, -9.48812255e-01, -2.67702342e-02,
        9.96128977e-01,  8.37282260e-02,  9.52499402e-01,  3.46944695e-18,
        3.04540455e-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([ 0.07220558, -0.0428587 ,  0.2246027 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038348377305466586
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.17132334e-14,  2.89509779e-14,  1.00000000e+00,  6.28619342e-28,
        1.00000000e+00, -2.89509779e-14, -1.00000000e+00,  0.00000000e+00,
       -2.17132334e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07612864, -0.1369439 ,  0.06166002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00847792e-03, 3.74000743e-02, 9.35334770e-03, 3.62917687e-05,
 -1.26884674e-05,-6.11441264e-05, 4.39542474e-05, 1.58521869e-04,
 -4.83547708e-05, 5.57795447e-05, 5.45208655e-05,-4.08273886e-05,
  3.16001496e-03, 4.70329514e-03, 8.75775967e-03, 1.51387553e-03,
 -3.81979196e-05, 1.34925273e-04,-4.90516441e+00, 6.42281798e-03,
  2.19448442e-03, 1.31127436e-04]


--- Step 2594 ---
qpos:
[-0.01607121, 1.29478958,-0.03223072, 0.94843606, 0.00435399, 1.33150066,
 -0.02976087, 0.94626249, 0.01673278, 1.33656952,-0.02393123, 0.95498469,
  1.39388639,-0.00593715, 1.19059047, 0.06145579,-0.05022973,-0.11057326,
  0.07910145, 0.58272038,-0.01302888,-0.00290845, 0.81256308]

qacc:
[ 5.95983895e-01, 1.65295366e+00,-1.26424722e+01, 2.35160286e+01,
 -1.61013157e-01, 4.04487147e-01,-6.42773249e+00, 2.81017864e+01,
 -6.34640068e-02,-2.78974905e+00, 1.24691600e+01,-2.81286907e+01,
 -1.29660241e-01,-1.11056129e-01, 1.31435463e+01,-2.71734341e+01,
 -1.05022768e+01,-6.62337387e+00, 9.18917276e-01, 3.17645439e+02,
 -1.92389084e+02, 1.45930911e+02]

qfrc_actuator:
[ 3.87644951e-03, 7.25002056e-02, 2.03322213e-02, 1.85335986e-03,
 -3.54780817e-05, 3.47665241e-02, 1.08562273e-02, 1.98860066e-03,
 -3.03454903e-03, 3.47513228e-02, 1.09289259e-02, 1.68570443e-03,
  0.00000000e+00, 2.79858137e-03, 0.00000000e+00,-3.70649633e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006969870750967444
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03348578e-01,  8.79046069e-02, -9.48816326e-01, -2.67693645e-02,
        9.96128897e-01,  8.37294515e-02,  9.52503565e-01,  3.46944695e-18,
        3.04527435e-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([ 0.07220415, -0.04285918,  0.22460305])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.008880316434813873
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.07324960e-01, -4.03662480e-01,  4.30445132e-01, -3.56196256e-01,
        9.14907975e-01,  1.89914783e-01, -4.70479157e-01, -2.77555756e-17,
       -8.82411108e-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([-0.07652079, -0.09985448,  0.06166085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.95436812e-04, 3.75250816e-02, 9.41261147e-03, 2.59127789e-05,
 -4.64025432e-05,-6.70278693e-05, 2.70533634e-05, 9.61734669e-05,
 -1.83057554e-05, 2.78482820e-05, 1.47671621e-05,-7.49874783e-05,
  3.18102437e-03, 4.69242470e-03, 8.57803252e-03, 1.21628341e-03,
  2.84076713e-07, 5.71782946e-04,-4.90532564e+00, 6.44403926e-03,
  2.17895956e-03, 2.75577196e-04]


--- Step 2595 ---
qpos:
[-0.01607153, 1.29479648,-0.03223122, 0.94843672, 0.00435312, 1.3315    ,
 -0.02976225, 0.94626446, 0.01673292, 1.33657022,-0.02393061, 0.9549838 ,
  1.3938959 ,-0.00593971, 1.19058836, 0.06145549,-0.05027362,-0.11057432,
  0.0791038 , 0.58260746,-0.01308089,-0.00235638, 0.81264499]

qacc:
[ 3.24285218e-01,-2.13910732e-01,-2.78485785e-01,-4.78833210e+00,
 -2.98487680e-01,-3.31114310e+00, 1.56732260e+01,-4.12344530e+01,
 -1.61944243e-02, 1.57699557e+00,-4.98240676e+00, 5.79506548e+00,
  2.85961979e-01,-4.75381518e-01, 4.74332940e+00,-1.04095237e+01,
 -5.67212189e-01,-2.99774653e+00, 4.57093901e-01,-2.79242373e+02,
 -1.99164177e+02,-4.75829943e+01]

qfrc_actuator:
[ 3.87302932e-03, 7.24847239e-02, 2.03159524e-02, 1.83849323e-03,
 -9.40377146e-05, 3.47748095e-02, 1.08383636e-02, 1.86401396e-03,
 -3.02838704e-03, 3.47613083e-02, 1.09099865e-02, 1.69389765e-03,
  0.00000000e+00, 2.75940913e-03, 0.00000000e+00,-3.94751667e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25688974,  0.25519845,  0.02942941,  0.25519845,  0.28515243,
       -0.24508116,  0.02942941, -0.24508116,  2.38212168,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006972249062721508
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30334046,  0.08790503, -0.94881888, -0.02676878,  0.99612886,
        0.08373008,  0.95250617,  0.        ,  0.3045193 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07220351, -0.04285975,  0.22460325])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.07189606,  3.07103742, -8.07189606, 13.66067805,
       13.20587743,  3.07103742, 13.20587743, 43.3466115 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00392369587221994
  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([-0.01850633, -0.0801032 ,  0.06165339])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.22107867e-04, 3.76800838e-02, 9.48156407e-03,-3.40411198e-05,
 -8.59447574e-05,-2.06069909e-05,-2.50679426e-05,-1.23568708e-04,
 -4.64409144e-06, 2.60413895e-05,-1.40195672e-05, 7.70576950e-06,
  3.17936562e-03, 4.67576035e-03, 8.14048154e-03, 1.19571799e-03,
  5.33770291e-04, 8.86206403e-04,-4.90523871e+00, 6.28673368e-03,
  2.23910900e-03, 3.96792909e-04]


--- Step 2596 ---
qpos:
[-0.01607268, 1.29480579,-0.03223077, 0.94843677, 0.0043517 , 1.33149974,
 -0.02976378, 0.94626488, 0.01673322, 1.33657139,-0.02392981, 0.95498435,
  1.39390538,-0.00594201, 1.1905804 , 0.06145482,-0.05032059,-0.11058645,
  0.07910342, 0.58255201,-0.01313042,-0.00240664, 0.8126838 ]

qacc:
[-3.54264560e-01,-4.42889513e-01, 6.54223328e+00,-1.42976929e+01,
 -2.33883017e-01,-1.71244794e+00, 9.40248867e+00,-2.63806688e+01,
  6.47161077e-02, 2.64556942e+00,-1.07714976e+01, 2.56505521e+01,
  7.13509302e-02, 6.86171969e-02,-7.50541877e+00, 1.36975055e+01,
 -7.68857758e-01,-2.76782235e+00,-6.84855483e-01,-2.43696495e+02,
 -1.76122879e+02,-3.98485530e+01]

qfrc_actuator:
[ 0.0038884 , 0.07242018, 0.0203069 , 0.00182961,-0.00011065, 0.03483331,
  0.01084613, 0.00178991,-0.00300697, 0.03482011, 0.01093409, 0.00177009,
  0.        , 0.00275488, 0.        ,-0.00014271, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006975302128328677
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30333437,  0.0879052 , -0.94882081, -0.02676829,  0.99612885,
        0.08373042,  0.95250812,  0.        ,  0.30451319])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07220313, -0.04286036,  0.2246034 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -1.73928368,  8.45941305, -1.73928368, 12.95450236,
        0.88782379,  8.45941305,  0.88782379,  8.81890318,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003977959781090862
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.39546789e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.39546789e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.018641  , -0.08018323,  0.06164945])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.99438876e-04, 3.76787415e-02, 9.51521844e-03,-1.77764897e-05,
 -6.73304265e-05, 3.84985599e-05,-2.73456652e-06,-7.83266285e-05,
  1.86749833e-05, 7.06840474e-05, 2.78193486e-05, 7.67383243e-05,
  3.16495988e-03, 4.68750990e-03, 7.99527338e-03, 1.45567237e-03,
  9.66118074e-05, 1.84920947e-04,-4.90504070e+00, 6.35592931e-03,
  2.19931580e-03, 2.08896281e-04]


--- Step 2597 ---
qpos:
[-0.0160746 , 1.29481733,-0.0322286 , 0.94843668, 0.00435003, 1.33150002,
 -0.0297651 , 0.94626506, 0.01673371, 1.33657249,-0.02392904, 0.95498552,
  1.39391445,-0.00594414, 1.19056899, 0.06145411,-0.05037118,-0.1106088 ,
  0.0790963 , 0.58254455,-0.01317474,-0.00298787, 0.8126865 ]

qacc:
[-3.26124967e-01,-1.93412896e+00, 1.01069537e+01,-1.17013612e+01,
 -1.07856183e-01,-3.06458106e-01, 2.32106077e+00,-5.05373949e+00,
  8.20885845e-02, 1.05164030e+00,-4.80372467e+00, 1.13880317e+01,
 -2.50510474e-01, 2.93751652e-01,-4.99474505e+00, 1.00781665e+01,
 -9.04138872e-01,-2.55535925e+00,-1.68702022e+00,-2.13960631e+02,
 -1.56478990e+02,-3.35071382e+01]

qfrc_actuator:
[ 3.91633891e-03, 7.23940246e-02, 2.03539787e-02, 1.82463057e-03,
 -1.01968654e-04, 3.48860214e-02, 1.08692420e-02, 1.78171140e-03,
 -2.99433268e-03, 3.47658672e-02, 1.09126251e-02, 1.79697566e-03,
  0.00000000e+00, 2.78842364e-03, 0.00000000e+00,-6.19993938e-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: -0.0006976648653603083
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03325061e-01,  8.79056563e-02, -9.48823747e-01, -2.67676112e-02,
        9.96128805e-01,  8.37311137e-02,  9.52511104e-01, -3.46944695e-18,
        3.04503855e-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([ 0.07220221, -0.04286091,  0.22460365])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -1.70150574,  8.46709248, -1.70150574, 13.77749013,
        1.03313578,  8.46709248,  1.03313578,  8.84397758,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003972246918750033
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.79494968e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.79494968e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01868207, -0.08018327,  0.06164986])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.68915121e-04, 3.75313822e-02, 9.51449333e-03, 8.00251167e-06,
 -3.10473325e-05, 7.11269990e-05, 2.80415742e-05,-8.93982844e-06,
  2.36675693e-05,-7.45356263e-06,-2.25594805e-06, 3.15789089e-05,
  3.16672297e-03, 4.70773254e-03, 8.28767475e-03, 1.55512572e-03,
  5.61496159e-06, 1.51817036e-06,-4.90499938e+00, 6.38551368e-03,
  2.18350739e-03, 1.60112862e-04]


--- Step 2598 ---
qpos:
[-0.01607666, 1.29482922,-0.03222588, 0.94843642, 0.0043484 , 1.331501  ,
 -0.02976623, 0.94626547, 0.01673466, 1.33657365,-0.02392904, 0.95498566,
  1.39392302,-0.00594626, 1.19055705, 0.06145342,-0.05042572,-0.11064059,
  0.07907892, 0.58257681,-0.013212  ,-0.00403984, 0.81265822]

qacc:
[-5.73771346e-02,-1.34165281e+00, 5.28289862e+00,-6.80187954e+00,
  1.89217163e-02, 8.45181612e-01,-2.11404191e+00, 4.07089039e+00,
  1.96765337e-01, 3.66821868e-01, 9.88974642e-01,-1.28775395e+01,
 -3.78193247e-01, 3.22947208e-01,-8.10081109e-01, 1.77578648e+00,
 -9.88594656e-01,-2.35969271e+00,-2.56293147e+00,-1.89016385e+02,
 -1.39717805e+02,-2.82829784e+01]

qfrc_actuator:
[ 3.95208009e-03, 7.23901361e-02, 2.03625750e-02, 1.80400699e-03,
 -7.81843365e-05, 3.49349724e-02, 1.08835020e-02, 1.79461376e-03,
 -2.95155638e-03, 3.47506812e-02, 1.08639507e-02, 1.74125126e-03,
  0.00000000e+00, 2.82705678e-03, 0.00000000e+00,-8.42814734e-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: -0.0006977731091615466
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30331199,  0.08790639, -0.94882786, -0.02676668,  0.99612874,
        0.08373218,  0.95251529,  0.        ,  0.30449076])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07220094, -0.04286138,  0.22460399])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -1.62089431,  8.48289329, -1.62089431, 14.77074252,
        1.17214487,  8.48289329,  1.17214487,  8.86033474,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0039180528625279085
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.41680455e-14,  1.41680455e-14,  1.00000000e+00,  2.00733513e-28,
        1.00000000e+00, -1.41680455e-14, -1.00000000e+00,  0.00000000e+00,
       -1.41680455e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01864893, -0.08011981,  0.06165373])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.04291003e-03, 3.74162745e-02, 9.43735827e-03,-5.82499545e-06,
  5.46575174e-06, 9.35096584e-05, 3.10987592e-05, 1.56482578e-05,
  5.67498409e-05,-1.88181416e-05,-4.94627953e-05,-5.52721863e-05,
  3.18681750e-03, 4.73814676e-03, 8.46099629e-03, 1.53456175e-03,
  1.48222574e-04, 1.73953010e-04,-4.90506660e+00, 6.38954328e-03,
  2.18328820e-03, 2.06918207e-04]


--- Step 2599 ---
qpos:
[-0.01607857, 1.29484041,-0.03222406, 0.94843747, 0.00434707, 1.33150278,
 -0.02976724, 0.94626638, 0.0167361 , 1.33657489,-0.0239291 , 0.95498474,
  1.39393144,-0.00594814, 1.19054529, 0.06145219,-0.05045774,-0.11068257,
  0.07907579, 0.58260369,-0.01269524,-0.00509006, 0.81264129]

qacc:
[ 5.76364805e-02, 3.76872608e+00,-1.60777220e+01, 2.95283260e+01,
  1.24518201e-01, 1.54138811e+00,-4.77332379e+00, 9.32436389e+00,
  2.02968112e-01,-1.54468325e+00, 7.29228498e+00,-1.85126554e+01,
 -3.28554600e-01, 5.23408273e-01, 1.95983511e+00,-6.41452187e+00,
  5.63144682e+00,-2.54710319e+00, 3.56404650e+00, 1.62083941e+02,
 -2.24692260e+02, 4.39117902e+00]

qfrc_actuator:
[ 3.93892180e-03, 7.23828400e-02, 2.03130507e-02, 1.86285301e-03,
 -4.55366560e-05, 3.49812804e-02, 1.08924063e-02, 1.81980297e-03,
 -2.92655153e-03, 3.47765770e-02, 1.08707148e-02, 1.69063465e-03,
  0.00000000e+00, 2.83332660e-03, 0.00000000e+00,-1.32895897e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000697885012834909
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30329806,  0.08790717, -0.94883224, -0.02676569,  0.99612867,
        0.08373332,  0.95251975,  0.        ,  0.30447679])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07219963, -0.0428618 ,  0.22460436])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038583207730863295
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.87747725e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.87747725e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07671345, -0.09995734,  0.06165788])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.03648064e-03, 3.73914857e-02, 9.35995293e-03, 6.17475451e-05,
  3.58763244e-05, 1.04579315e-04, 3.11876456e-05, 2.92677058e-05,
  5.85102528e-05, 4.18693828e-06,-4.15029853e-06,-5.39063048e-05,
  3.21218647e-03, 4.74395604e-03, 8.48715610e-03, 1.48486225e-03,
  4.47272656e-04, 5.88883234e-04,-4.90520633e+00, 6.37754463e-03,
  2.19304023e-03, 3.18667784e-04]


--- Step 2600 ---
qpos:
[-0.01607969, 1.29484946,-0.03222371, 0.94843972, 0.00434622, 1.33150517,
 -0.0297683 , 0.94626692, 0.01673764, 1.33657578,-0.02392897, 0.95498393,
  1.39394026,-0.00595009, 1.19053783, 0.06145055,-0.05047327,-0.11070636,
  0.07908269, 0.58263293,-0.01224381,-0.00552998, 0.81262438]

qacc:
[ 3.40131961e-01, 3.21009548e+00,-1.63120883e+01, 2.93855212e+01,
  2.04399215e-01, 3.18634432e-01, 6.99418292e-01,-5.28655621e+00,
  4.57912674e-02,-8.03779156e-01, 1.82102153e+00,-1.51127377e-02,
  1.19016169e-01,-7.32245743e-02, 7.53427794e+00,-1.71492195e+01,
  4.12090453e+00, 4.54701741e+00, 2.50482911e+00, 2.28958567e+02,
  2.04332712e+02, 3.08568293e+00]

qfrc_actuator:
[ 3.89620747e-03, 7.23921563e-02, 2.02831546e-02, 1.91470651e-03,
 -7.83815178e-06, 3.49901251e-02, 1.08803238e-02, 1.79875444e-03,
 -2.94791517e-03, 3.47383079e-02, 1.08748325e-02, 1.69676992e-03,
  0.00000000e+00, 2.80218617e-03, 0.00000000e+00,-3.21011169e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006979334151528058
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30328566,  0.0879079 , -0.94883613, -0.02676482,  0.99612861,
        0.08373436,  0.95252373,  0.        ,  0.30446436])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07219833, -0.04286223,  0.2246047 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003868951179769625
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.43478552e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.43478552e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07632182, -0.13698165,  0.06165709])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.86983175e-04, 3.74354943e-02, 9.37546429e-03, 4.80250164e-05,
  5.88728695e-05, 7.36610208e-05, 1.27742578e-05,-1.63176734e-05,
  1.31819659e-05,-3.83684041e-05, 2.88400269e-06, 4.88329228e-06,
  3.21959498e-03, 4.70056773e-03, 8.47850639e-03, 1.32446826e-03,
  1.10164415e-04, 6.83306920e-04,-4.90525134e+00, 6.38018710e-03,
  2.19106652e-03, 3.26176065e-04]


--- Step 2601 ---
qpos:
[-0.01608107, 1.2948581 ,-0.03222363, 0.94843994, 0.00434584, 1.33150786,
 -0.0297691 , 0.94626825, 0.01673914, 1.33657599,-0.02392859, 0.95498289,
  1.39394919,-0.00595217, 1.19053007, 0.06144913,-0.05047456,-0.11071418,
  0.07909391, 0.5826664 ,-0.0118483 ,-0.00542975, 0.81260692]

qacc:
[-1.08092176e-01,-3.29801020e+00, 1.42384588e+01,-3.55354766e+01,
  1.99391295e-01, 1.03727838e+00,-4.55183749e+00, 1.29584442e+01,
 -1.97194117e-02,-1.93648906e+00, 5.71827865e+00,-7.28666415e+00,
  2.05938263e-01,-3.05786585e-01,-1.09223661e+00, 3.15550462e+00,
  3.55936851e+00, 3.99269081e+00, 1.07997387e+00, 2.03201939e+02,
  1.80092996e+02, 1.58055637e+00]

qfrc_actuator:
[ 3.87054801e-03, 7.24131549e-02, 2.02837119e-02, 1.81992636e-03,
  1.48320566e-05, 3.49941033e-02, 1.08912825e-02, 1.83939134e-03,
 -2.96141508e-03, 3.46797009e-02, 1.08771293e-02, 1.68295013e-03,
  0.00000000e+00, 2.80208296e-03, 0.00000000e+00,-2.55462194e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006980544488090108
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30327669,  0.08790834, -0.94883896, -0.02676417,  0.99612857,
        0.08373503,  0.9525266 ,  0.        ,  0.30445537])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07219742, -0.04286275,  0.22460495])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  2.08539514,  8.38080569,  2.08539514, 46.68438238,
       -9.46748515,  8.38080569, -9.46748515, 10.99215713,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038947262877730426
  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([-0.0763137 , -0.13695344,  0.06165532])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.21412832e-04, 3.75630260e-02, 9.44944648e-03,-1.06950832e-04,
  5.74139786e-05, 4.67202914e-05, 2.63377105e-05, 4.28436790e-05,
 -5.71805850e-06,-7.91223705e-05,-4.72780649e-06,-1.47585835e-05,
  3.19960405e-03, 4.70440878e-03, 8.26389723e-03, 1.40989188e-03,
 -2.49059622e-05, 1.24753365e-04,-4.90506538e+00, 6.38401581e-03,
  2.19509456e-03, 1.55683834e-04]


--- Step 2602 ---
qpos:
[-0.01608325, 1.29486861,-0.0322229 , 0.94843912, 0.0043457 , 1.33150937,
 -0.02976885, 0.94627118, 0.01674039, 1.33657597,-0.02392805, 0.95498096,
  1.39395823,-0.00595399, 1.19051699, 0.06144755,-0.05046348,-0.11070788,
  0.07910454, 0.58270489,-0.01150097,-0.00484852, 0.81258799]

qacc:
[-3.42470383e-01,-1.08182335e+00, 8.63795491e+00,-2.07930268e+01,
  1.03057142e-01,-1.62366868e+00, 1.64575992e-01, 1.91520154e+01,
 -1.03304544e-01,-2.28620363e+00, 8.88770357e+00,-1.77734789e+01,
  1.68484353e-01,-1.53387440e-02,-7.40783636e+00, 1.44550396e+01,
  3.09506785e+00, 3.53067993e+00,-1.46039853e-01, 1.81425288e+02,
  1.59728169e+02, 5.15751652e-01]

qfrc_actuator:
[ 3.89135925e-03, 7.24225523e-02, 2.02841698e-02, 1.78193795e-03,
  1.05515588e-05, 3.48532227e-02, 1.09157758e-02, 1.91602370e-03,
 -2.98783778e-03, 3.46981202e-02, 1.08959710e-02, 1.63971319e-03,
  0.00000000e+00, 2.78517896e-03, 0.00000000e+00,-5.59184693e-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: -0.0006981314321851985
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30326838,  0.08790885, -0.94884157, -0.02676359,  0.99612852,
        0.08373576,  0.95252927,  0.        ,  0.30444704])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07219651, -0.04286325,  0.22460518])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   2.22775915,   8.34409168,   2.22775915,
        49.94954079, -11.03005717,   8.34409168, -11.03005717,
        11.58123909,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003869150377402472
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.43471165e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.43471165e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0763633 , -0.1369875 ,  0.06165735])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.54901265e-04, 3.75934307e-02, 9.46302125e-03,-4.35105788e-05,
  2.96011606e-05,-1.08615834e-04, 3.78805702e-05, 7.98032172e-05,
 -2.98011406e-05,-2.66978632e-05, 2.41875644e-06,-4.60640661e-05,
  3.19396400e-03, 4.69399334e-03, 8.27866997e-03, 1.59881749e-03,
  5.44340033e-05,-2.36117942e-05,-4.90502278e+00, 6.38759482e-03,
  2.19351045e-03, 1.06072901e-04]


--- Step 2603 ---
qpos:
[-0.01608611, 1.29488105,-0.03222146, 0.94843887, 0.00434553, 1.33150967,
 -0.02976811, 0.94627469, 0.01674136, 1.33657679,-0.02392841, 0.95498022,
  1.39396705,-0.00595541, 1.19049903, 0.06144561,-0.05044155,-0.110689  ,
  0.07911037, 0.58274839,-0.0111954 ,-0.00383625, 0.81256646]

qacc:
[-2.92734920e-01, 1.64662022e+00,-3.46664134e+00, 8.42132943e+00,
 -1.00391506e-02,-1.94782598e+00, 3.22543974e+00, 4.75030660e+00,
 -1.17505745e-01, 5.60614662e+00,-1.93415292e+01, 2.99132774e+01,
 -2.12163649e-01, 4.61889927e-01,-6.08183342e+00, 1.08422082e+01,
  2.70980015e+00, 3.14370748e+00,-1.19886749e+00, 1.62978273e+02,
  1.42578943e+02,-2.16503923e-01]

qfrc_actuator:
[ 3.94070399e-03, 7.23696092e-02, 2.02660089e-02, 1.81336215e-03,
 -9.85972825e-06, 3.47687878e-02, 1.09297430e-02, 1.94211695e-03,
 -3.00404549e-03, 3.47980732e-02, 1.08714482e-02, 1.70383662e-03,
  0.00000000e+00, 2.81111382e-03, 0.00000000e+00, 6.45313950e-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: -0.0006980308797171798
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30325766,  0.08790964, -0.94884492, -0.02676288,  0.99612845,
        0.0837368 ,  0.9525327 ,  0.        ,  0.3044363 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07219512, -0.04286371,  0.2246055 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   2.28894009,   8.32751644,   2.28894009,
        53.55195538, -12.34570949,   8.32751644, -12.34570949,
        12.02976305,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003802248541897757
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.29977941e-15,  2.91991176e-14,  1.00000000e+00,  2.13147118e-28,
        1.00000000e+00, -2.91991176e-14, -1.00000000e+00,  0.00000000e+00,
       -7.29977941e-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([-0.07645871, -0.13707088,  0.06166241])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.04440309e-03, 3.74469392e-02, 9.41239421e-03, 4.03922903e-05,
 -2.94780842e-06,-1.34721323e-04,-6.24105844e-07, 2.58042612e-05,
 -3.38029113e-05, 8.42933073e-05,-3.08127371e-05, 6.23290223e-05,
  3.18902930e-03, 4.70689633e-03, 8.54526488e-03, 1.72708540e-03,
  2.84270007e-04, 1.17097879e-04,-4.90508182e+00, 6.39175461e-03,
  2.18718051e-03, 1.42169151e-04]


--- Step 2604 ---
qpos:
[-0.01608948, 1.29489405,-0.03221952, 0.94843913, 0.00434511, 1.33151021,
 -0.02976828, 0.9462774 , 0.01674224, 1.3365782 ,-0.02392849, 0.95498021,
  1.39397521,-0.00595658, 1.19048021, 0.06144367,-0.05043218,-0.11068571,
  0.07911818, 0.58281762,-0.01084967,-0.00346022, 0.81252319]

qacc:
[-2.14426363e-01, 2.18835011e-01,-8.96669389e-01, 6.38103062e+00,
 -1.10113474e-01, 1.42335551e+00,-2.61644309e+00,-7.21259094e+00,
 -4.21874283e-02, 1.24067524e+00,-4.59653482e+00, 1.20627784e+01,
 -6.40036587e-01, 7.49596125e-01,-1.22022654e+00, 2.53003755e+00,
 -3.13980638e+00,-3.89698051e+00, 4.91707923e-01,-2.46683450e+02,
 -2.01530665e+02,-2.04267220e+01]

qfrc_actuator:
[ 3.95411550e-03, 7.23316994e-02, 2.02718747e-02, 1.83197283e-03,
 -3.97797699e-05, 3.48430058e-02, 1.09020183e-02, 1.90275739e-03,
 -2.99624106e-03, 3.48394612e-02, 1.08929334e-02, 1.74189622e-03,
  0.00000000e+00, 2.88025134e-03, 0.00000000e+00, 4.90344505e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25704469,  0.25262695, -0.04745098,  0.25262695,  0.26641591,
        0.049892  , -0.04745098,  0.049892  ,  0.52266755,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000697779579078333
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30324442,  0.08791066, -0.94884906, -0.02676203,  0.99612836,
        0.08373815,  0.95253694,  0.        ,  0.30442304])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07219328, -0.04286412,  0.22460591])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038532974768911155
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.44061422e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.44061422e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0186528 , -0.08006033,  0.0616587 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09213233e-03, 3.73118456e-02, 9.38339715e-03, 3.03401425e-05,
 -3.16645018e-05, 3.49677757e-07,-5.33816996e-05,-4.28124542e-05,
 -1.21495610e-05, 8.38239736e-05, 3.62677237e-05, 4.11060153e-05,
  3.19947491e-03, 4.75555031e-03, 8.78956497e-03, 1.72996184e-03,
  6.18898472e-04, 4.60637992e-04,-4.90521427e+00, 6.39672048e-03,
  2.17692766e-03, 2.38994348e-04]


--- Step 2605 ---
qpos:
[-0.01609234, 1.29490623,-0.03221763, 0.94843873, 0.00434454, 1.33151102,
 -0.02976888, 0.94627856, 0.01674294, 1.33657923,-0.0239273 , 0.95498069,
  1.3939836 ,-0.00595798, 1.19046344, 0.06144206,-0.05043401,-0.1106963 ,
  0.07912322, 0.58291015,-0.01046854,-0.00364521, 0.812461  ]

qacc:
[ 2.13529772e-01,-2.05936285e+00, 6.77806594e+00,-1.29918891e+01,
 -6.45209654e-02,-1.16448104e+00, 7.42323917e+00,-2.46628053e+01,
 -7.10061832e-02,-3.06839357e+00, 8.41417156e+00,-1.40057473e+00,
  2.44401684e-01,-3.83880018e-01, 1.99630448e+00,-2.62451667e+00,
 -2.79903261e+00,-3.47024080e+00,-6.89540749e-01,-2.17514180e+02,
 -1.77723291e+02,-1.80812010e+01]

qfrc_actuator:
[ 3.94605820e-03, 7.23744373e-02, 2.02920644e-02, 1.78946796e-03,
 -3.96546526e-05, 3.48694267e-02, 1.08860066e-02, 1.82528261e-03,
 -3.00960122e-03, 3.47746185e-02, 1.09411849e-02, 1.76429681e-03,
  0.00000000e+00, 2.83329617e-03, 0.00000000e+00,-3.04970416e-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: -0.0006975234611816192
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03230176e-01,  8.79118408e-02, -9.48853502e-01, -2.67611351e-02,
        9.96128259e-01,  8.37396764e-02,  9.52541496e-01, -3.46944695e-18,
        3.04408768e-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([ 0.07219136, -0.04286447,  0.22460635])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -6.75983718,  5.37507007, -6.75983718, 31.88747414,
       29.24124138,  5.37507007, 29.24124138, 45.41095971,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003891161869780127
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.42659579e-14,  1.42659579e-14,  1.00000000e+00,  2.03517553e-28,
        1.00000000e+00, -1.42659579e-14, -1.00000000e+00,  0.00000000e+00,
       -1.42659579e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01870526, -0.08011407,  0.06165602])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10921887e-03, 3.73270789e-02, 9.37806089e-03,-3.78310322e-05,
 -1.85599686e-05, 1.48903749e-05,-2.32667762e-05,-8.00173924e-05,
 -2.05297665e-05,-1.01973702e-05, 6.99446631e-05, 2.69040129e-05,
  3.23261285e-03, 4.69664641e-03, 8.83285648e-03, 1.65053883e-03,
  1.63360781e-04, 2.74362726e-05,-4.90503716e+00, 6.38179775e-03,
  2.18358537e-03, 1.16601579e-04]


--- Step 2606 ---
qpos:
[-0.01609452, 1.29491816,-0.03221593, 0.9484371 , 0.00434402, 1.33151183,
 -0.02976932, 0.94627842, 0.01674363, 1.33658061,-0.02392684, 0.95498078,
  1.39399274,-0.00595966, 1.19044629, 0.06144067,-0.0504511 ,-0.11069845,
  0.07911906, 0.58296405,-0.01065452,-0.0038587 , 0.81241892]

qacc:
[ 2.93117195e-01,-1.91402089e+00, 8.37552232e+00,-2.14061534e+01,
  2.50424601e-02,-2.62933761e+00, 1.12259024e+01,-2.46753108e+01,
 -9.03386724e-03, 1.76811744e+00,-4.41670685e+00,-8.49126510e-01,
  8.25875806e-01,-9.75688861e-01,-1.25080563e+00, 3.43868948e+00,
 -3.81487345e+00, 2.11135613e+00,-2.30068831e+00,-1.77027919e+02,
  2.21891184e+02, 2.24393944e+01]

qfrc_actuator:
[ 3.95982235e-03, 7.23956948e-02, 2.02856979e-02, 1.72901453e-03,
 -2.15060225e-05, 3.48670397e-02, 1.08946456e-02, 1.76151930e-03,
 -3.00004645e-03, 3.47887887e-02, 1.08978913e-02, 1.74174533e-03,
  0.00000000e+00, 2.75256323e-03, 0.00000000e+00, 1.09889922e-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: -0.0006973390616447535
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03216752e-01,  8.79128635e-02, -9.48857697e-01, -2.67602641e-02,
        9.96128169e-01,  8.37410284e-02,  9.52545794e-01, -3.46944695e-18,
        3.04395319e-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([ 0.07218963, -0.04286486,  0.22460675])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  2.3451307 , -8.31186735,  2.3451307 , 75.25502579,
       18.79595323, -8.31186735, 18.79595323, 13.93950012,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003889497674141165
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.13603091e-15, -1.42720618e-14,  1.00000000e+00, -1.01845874e-28,
        1.00000000e+00,  1.42720618e-14, -1.00000000e+00,  0.00000000e+00,
       -7.13603091e-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([-0.00339157, -0.12500487,  0.06165622])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09793842e-03, 3.73888782e-02, 9.37410011e-03,-6.52707060e-05,
  7.19718966e-06,-1.10363191e-06, 6.56104378e-06,-6.58531587e-05,
 -2.56599269e-06, 2.29801834e-05,-3.65507839e-05,-2.01772770e-05,
  3.22161999e-03, 4.62738481e-03, 8.73065298e-03, 1.67534388e-03,
 -1.09616214e-05, 1.84420465e-05,-4.90500351e+00, 6.35825826e-03,
  2.19461021e-03, 1.11384559e-04]


--- Step 2607 ---
qpos:
[-0.01609522, 1.29492793,-0.03221545, 0.94843602, 0.00434378, 1.33151273,
 -0.02976939, 0.94627681, 0.01674449, 1.33658263,-0.02392715, 0.95498266,
  1.39400231,-0.00596179, 1.19043431, 0.06143922,-0.05048193,-0.11069313,
  0.07910231, 0.58298439,-0.01134322,-0.00409668, 0.81239384]

qacc:
[ 6.31214206e-01, 1.36733637e+00,-9.02133177e+00, 1.55384992e+01,
  1.14887646e-01,-3.39488867e+00, 1.42372545e+01,-2.94646428e+01,
  7.50886523e-02, 5.98876872e+00,-2.21026997e+01, 3.92777201e+01,
  3.68757065e-01,-6.19842191e-01, 7.76068728e+00,-1.61333161e+01,
 -3.43323169e+00, 1.86636962e+00,-3.14889937e+00,-1.56630178e+02,
  1.96918310e+02, 1.94217234e+01]

qfrc_actuator:
[ 3.98629224e-03, 7.23683220e-02, 2.02635615e-02, 1.74739591e-03,
  7.30641463e-06, 3.48830326e-02, 1.09176616e-02, 1.68858481e-03,
 -2.97682258e-03, 3.48497783e-02, 1.08721654e-02, 1.83492443e-03,
  0.00000000e+00, 2.74046714e-03, 0.00000000e+00,-1.94472468e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006971188106794195
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30320375,  0.08791367, -0.94886178, -0.02675937,  0.9961281 ,
        0.08374217,  0.95254996,  0.        ,  0.30438229])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07218788, -0.04286529,  0.22460714])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -2.44847682,  8.28201293, -2.44847682, 38.62606002,
        8.86609052,  8.28201293,  8.86609052, 11.25751592,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003864740663745106
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.43634867e-14,  1.43634867e-14,  1.00000000e+00,  2.06309751e-28,
        1.00000000e+00, -1.43634867e-14, -1.00000000e+00,  0.00000000e+00,
       -1.43634867e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00335204, -0.12502712,  0.06165798])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09002153e-03, 3.73739401e-02, 9.36159115e-03, 1.49623735e-05,
  3.30597112e-05, 1.46857715e-05, 2.16163275e-05,-7.43029382e-05,
  2.17106614e-05, 6.59520194e-05,-2.59839393e-05, 9.23236674e-05,
  3.18336749e-03, 4.62920006e-03, 8.74962217e-03, 1.45937441e-03,
  5.06666324e-05, 1.71155415e-05,-4.90502079e+00, 6.38664702e-03,
  2.20167663e-03, 1.20757676e-04]


--- Step 2608 ---
qpos:
[-0.0160954 , 1.29493711,-0.03221553, 0.94843568, 0.00434413, 1.33151394,
 -0.02976873, 0.94627464, 0.01674528, 1.3365844 ,-0.02392713, 0.95498531,
  1.39401187,-0.00596404, 1.19042394, 0.06143746,-0.0505224 ,-0.11070008,
  0.07907839, 0.58302665,-0.01200289,-0.00482965, 0.81235001]

qacc:
[ 2.19132991e-01, 2.02999636e+00,-9.07191920e+00, 1.68417277e+01,
  2.50962093e-01,-2.51455682e+00, 9.81486963e+00,-1.51194996e+01,
 -3.18635865e-02, 1.19335428e-01,-2.36022579e+00, 1.11673260e+01,
 -3.50739502e-02,-3.25608823e-02, 3.27926474e+00,-8.02493031e+00,
 -2.41297522e+00,-3.06896624e+00,-1.79243897e+00,-1.92515467e+02,
 -1.55922457e+02,-1.72317170e+01]

qfrc_actuator:
[ 3.98381206e-03, 7.23492929e-02, 2.02508147e-02, 1.79403263e-03,
  6.00341610e-05, 3.49277172e-02, 1.09667827e-02, 1.66410475e-03,
 -2.99884558e-03, 3.47964182e-02, 1.08750694e-02, 1.87126201e-03,
  0.00000000e+00, 2.75208805e-03, 0.00000000e+00,-2.10619688e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006970337895718243
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30319399,  0.087914  , -0.94886487, -0.0267586 ,  0.99612807,
        0.08374275,  0.95255309,  0.        ,  0.3043725 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0721866 , -0.04286579,  0.22460743])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038310891184721724
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.99232726e-14,  1.44896528e-14,  1.00000000e+00, -2.88681303e-28,
        1.00000000e+00, -1.44896528e-14, -1.00000000e+00,  0.00000000e+00,
        1.99232726e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01863767, -0.08005106,  0.06166022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01349474e-03, 3.74631928e-02, 9.40956751e-03, 3.40679418e-05,
  7.22371610e-05, 5.48000792e-05, 5.22715317e-05,-2.51314713e-05,
 -9.20204068e-06,-1.92374412e-05, 1.55331775e-05, 3.96851329e-05,
  3.16228590e-03, 4.66356976e-03, 8.49175847e-03, 1.44606789e-03,
  2.06730980e-04,-5.63933031e-05,-4.90511442e+00, 6.39730248e-03,
  2.20225319e-03, 5.13782491e-05]


--- Step 2609 ---
qpos:
[-0.01609621, 1.29494784,-0.03221497, 0.94843564, 0.00434479, 1.3315155 ,
 -0.02976813, 0.94627362, 0.01674577, 1.33658592,-0.02392684, 0.95498458,
  1.3940211 ,-0.00596606, 1.19041036, 0.06143543,-0.05054869,-0.11068981,
  0.07906485, 0.58307942,-0.01272051,-0.00493208, 0.81230059]

qacc:
[-2.66315267e-01, 8.26239137e-01,-8.42674546e-01, 3.24350091e+00,
  1.32830294e-01, 2.58373349e+00,-1.01960912e+01, 2.18217494e+01,
 -1.27054899e-01,-6.87157933e+00, 2.88180229e+01,-6.37866715e+01,
 -2.64937626e-01, 3.77069197e-01,-3.86039698e+00, 6.68472197e+00,
  3.54547210e+00, 4.30679680e+00, 2.59590759e+00, 2.39262879e+02,
  2.07402737e+02,-1.97666658e+00]

qfrc_actuator:
[ 3.98208875e-03, 7.23523070e-02, 2.02612926e-02, 1.82170243e-03,
  5.56710140e-05, 3.49361133e-02, 1.09600509e-02, 1.72162588e-03,
 -3.03008202e-03, 3.47638495e-02, 1.08766082e-02, 1.69625860e-03,
  0.00000000e+00, 2.77778147e-03, 0.00000000e+00,-7.74054012e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25682344,  0.25438764, -0.03528747,  0.25438764,  0.26201657,
        0.03743728, -0.03528747,  0.03743728,  0.5267091 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006969876886892892
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30318532,  0.08791416, -0.94886762, -0.02675789,  0.99612805,
        0.08374314,  0.95255587,  0.        ,  0.3043638 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07218546, -0.04286631,  0.22460769])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00383415932900881
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.34341506e-14,  2.89561004e-14,  1.00000000e+00, -1.25768363e-27,
        1.00000000e+00, -2.89561004e-14, -1.00000000e+00,  0.00000000e+00,
        4.34341506e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07648031, -0.13700787,  0.06165967])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.86054808e-04, 3.74953547e-02, 9.44838254e-03, 2.44796685e-05,
  3.82662354e-05, 4.81679326e-05, 9.18916134e-06, 6.01121061e-05,
 -3.66694959e-05,-3.90055340e-05, 7.10133346e-07,-1.74189202e-04,
  3.16292859e-03, 4.69504496e-03, 8.41174557e-03, 1.59438843e-03,
  5.91795417e-04, 1.41237035e-04,-4.90520090e+00, 6.39540054e-03,
  2.21090465e-03, 1.03717198e-04]


--- Step 2610 ---
qpos:
[-0.01609715, 1.29495932,-0.03221347, 0.94843565, 0.00434532, 1.33151698,
 -0.02976743, 0.94627401, 0.01674593, 1.33658698,-0.02392683, 0.95498388,
  1.39403002,-0.00596815, 1.19039686, 0.06143352,-0.05056257,-0.11066432,
  0.07905594, 0.58314211,-0.01348901,-0.00447757, 0.81224583]

qacc:
[-5.90327383e-02,-1.48863803e+00, 5.93590515e+00,-5.11179493e+00,
 -5.55495286e-02, 2.03789021e+00,-9.68965415e+00, 2.48954676e+01,
 -1.40148109e-01, 1.90918956e-01,-1.40608177e+00, 1.83697698e+00,
 -1.94684804e-01, 1.02302398e-01,-2.45240652e-01, 1.04381928e+00,
  3.10359966e+00, 3.80607788e+00, 1.15802721e+00, 2.11423253e+02,
  1.83097141e+02,-1.91494578e+00]

qfrc_actuator:
[ 3.99950534e-03, 7.23488856e-02, 2.03024752e-02, 1.82038509e-03,
  1.70949508e-05, 3.49048055e-02, 1.09558096e-02, 1.79136969e-03,
 -3.04883873e-03, 3.47260975e-02, 1.08595047e-02, 1.70009185e-03,
  0.00000000e+00, 2.79386684e-03, 0.00000000e+00,-1.03013210e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006968642729249901
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03174549e-01,  8.79145252e-02, -9.48871029e-01, -2.67570492e-02,
        9.96128022e-01,  8.37438001e-02,  9.52559317e-01,  3.46944695e-18,
        3.04352997e-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([ 0.07218401, -0.04286676,  0.22460803])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038668860957779758
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.43555176e-14,  1.43555176e-14,  1.00000000e+00,  2.06080884e-28,
        1.00000000e+00, -1.43555176e-14, -1.00000000e+00,  0.00000000e+00,
       -1.43555176e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07644574, -0.13696287,  0.06165707])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.03469570e-03, 3.74139492e-02, 9.45741955e-03, 8.09771359e-06,
 -1.59935060e-05,-1.07577099e-06, 7.98084783e-06, 7.28534805e-05,
 -4.04062601e-05,-6.43571699e-05,-2.97396225e-05,-1.35420771e-06,
  3.17925378e-03, 4.69965957e-03, 8.57186034e-03, 1.58277315e-03,
  1.43072981e-04,-5.90718082e-05,-4.90513319e+00, 6.41775980e-03,
  2.20451101e-03, 6.22787991e-05]


--- Step 2611 ---
qpos:
[-0.01609838, 1.29497086,-0.03221183, 0.94843436, 0.00434573, 1.33151841,
 -0.02976642, 0.94627419, 0.0167458 , 1.33658781,-0.02392632, 0.95498386,
  1.39403869,-0.00597029, 1.19038245, 0.06143184,-0.05061475,-0.11066544,
  0.07905385, 0.58298257,-0.01355744,-0.00373829, 0.81236294]

qacc:
[-1.19139865e-01,-2.50489072e+00, 1.09355640e+01,-2.44892607e+01,
 -5.19204680e-02,-1.28130633e+00, 4.54675206e+00,-6.42356639e+00,
 -1.21243410e-01,-4.86172624e-01,-1.39435945e-01, 8.09210489e+00,
 -1.05115765e-01, 1.87029295e-02,-2.02124055e+00, 5.12576726e+00,
 -9.57570308e+00,-6.65602211e+00, 1.70437217e+00, 3.18658239e+02,
 -2.02946430e+02, 1.40717360e+02]

qfrc_actuator:
[ 3.99266452e-03, 7.23418018e-02, 2.02905185e-02, 1.74855700e-03,
  1.15683445e-05, 3.49032327e-02, 1.09706758e-02, 1.77894877e-03,
 -3.05995688e-03, 3.47565555e-02, 1.09026615e-02, 1.73815950e-03,
  0.00000000e+00, 2.80439556e-03, 0.00000000e+00,-6.44291673e-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: -0.0006968121757605847
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03162186e-01,  8.79149556e-02, -9.48874939e-01, -2.67560902e-02,
        9.96127984e-01,  8.37445584e-02,  9.52563279e-01,  3.46944695e-18,
        3.04340598e-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([ 0.07218255, -0.04286719,  0.22460839])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.008618855165126754
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.97252746e-01, -3.98626373e-01,  4.53304614e-01, -3.46528538e-01,
        9.17113414e-01,  1.97030347e-01, -4.94273235e-01, -2.77555756e-17,
       -8.69306602e-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([-0.07675426, -0.0999607 ,  0.06165398])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.03478143e-03, 3.73699699e-02, 9.39859719e-03,-6.57900942e-05,
 -1.49647400e-05, 1.56616788e-06, 1.76963093e-05,-1.05254178e-05,
 -3.49755714e-05,-1.09885112e-05, 2.71669797e-05, 3.52596586e-05,
  3.19489002e-03, 4.71373073e-03, 8.56838765e-03, 1.61534997e-03,
 -3.36215119e-05, 1.29364090e-04,-4.90520644e+00, 6.44259748e-03,
  2.19085790e-03, 1.34819846e-04]


--- Step 2612 ---
qpos:
[-0.01610032, 1.29498264,-0.03221035, 0.94843188, 0.00434604, 1.33152048,
 -0.02976602, 0.94627282, 0.01674544, 1.33658926,-0.02392536, 0.95498388,
  1.39404718,-0.00597223, 1.1903658 , 0.06143024,-0.05069526,-0.11068851,
  0.07905418, 0.58264656,-0.01301648,-0.00277352, 0.81261668]

qacc:
[-3.05159598e-01,-1.27466852e+00, 6.95257816e+00,-1.99419335e+01,
 -4.26281474e-02,-1.26438487e-01, 4.59655923e+00,-2.22787159e+01,
 -9.40021716e-02,-3.30012036e-01, 1.97984826e+00,-1.66629579e+00,
 -1.48844208e-01, 2.61111013e-01,-3.54837927e+00, 7.64023583e+00,
 -7.08247376e+00,-5.48318712e+00, 6.05695229e-01, 2.68275014e+02,
 -1.83044781e+02, 1.11888448e+02]

qfrc_actuator:
[ 3.95371301e-03, 7.23328876e-02, 2.02648450e-02, 1.68899949e-03,
  8.16279708e-06, 3.49550045e-02, 1.09434966e-02, 1.70054486e-03,
 -3.06640394e-03, 3.48456423e-02, 1.09458003e-02, 1.74284794e-03,
  0.00000000e+00, 2.81159988e-03, 0.00000000e+00, 1.25174802e-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: -0.0006967211056981212
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03149610e-01,  8.79154730e-02, -9.48878909e-01, -2.67551389e-02,
        9.96127938e-01,  8.37454054e-02,  9.52567308e-01,  3.46944695e-18,
        3.04327987e-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([ 0.07218103, -0.04286758,  0.22460876])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  1.87592576, -8.43016485,  1.87592576,  4.9598613 ,
       -0.81811513, -8.43016485, -0.81811513,  8.45431224,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.008542446683447074
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7956959 , -0.39784795,  0.45671111, -0.34504934,  0.91745137,
        0.19805037, -0.49780416,  0.        , -0.86728946])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07682924, -0.09999199,  0.06165433])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00980154e-03, 3.73572340e-02, 9.36548815e-03,-6.06208161e-05,
 -1.22362422e-05, 5.57715941e-05,-2.51708836e-05,-7.80789916e-05,
 -2.70967352e-05, 8.93530167e-05, 4.51104213e-05, 5.98031247e-06,
  3.20774008e-03, 4.72355306e-03, 8.61422734e-03, 1.68109683e-03,
  1.75141364e-04, 3.34054545e-04,-4.90506989e+00, 6.33429591e-03,
  2.21418710e-03, 2.48534198e-04]


--- Step 2613 ---
qpos:
[-0.01610205, 1.29499384,-0.0322087 , 0.94843083, 0.00434612, 1.33152262,
 -0.02976525, 0.94627122, 0.01674508, 1.33659107,-0.02392521, 0.95498404,
  1.3940558 ,-0.00597416, 1.19035268, 0.06142858,-0.05076865,-0.11071978,
  0.07905362, 0.58241377,-0.01251386,-0.00249698, 0.81279233]

qacc:
[ 9.34056926e-02, 1.19934431e+00,-7.74772416e+00, 2.36322195e+01,
 -9.39911856e-02,-1.35071222e+00, 5.00449782e+00,-7.15184293e+00,
 -6.52417313e-03, 2.91156739e+00,-9.22710836e+00, 9.45496359e+00,
 -9.01715061e-02, 1.58011231e-01, 5.38736333e+00,-1.12639043e+01,
  1.77982694e+00,-2.05275646e+00,-2.24024438e-01,-2.90234827e+02,
 -1.84273171e+02,-6.91064064e+01]

qfrc_actuator:
[ 3.93154840e-03, 7.23049409e-02, 2.03022095e-02, 1.76148685e-03,
 -1.16959973e-05, 3.49493468e-02, 1.09629075e-02, 1.69048083e-03,
 -3.05224560e-03, 3.48093785e-02, 1.08822677e-02, 1.74563165e-03,
  0.00000000e+00, 2.79882522e-03, 0.00000000e+00,-1.36005673e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25669126,  0.25609004, -0.01755831,  0.25609004,  0.26145498,
        0.06947945, -0.01755831,  0.06947945,  1.27005701,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006965149618834328
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30313698,  0.08791621, -0.94888288, -0.02675425,  0.99612787,
        0.08374646,  0.95257135,  0.        ,  0.30431532])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07217933, -0.04286793,  0.22460915])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.95343516,  3.36595395, -7.95343516, 19.39275333,
       25.41634533,  3.36595395, 25.41634533, 68.69281647,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00398535856394254
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.48219303e-15,  1.39287721e-14,  1.00000000e+00, -4.85026732e-29,
        1.00000000e+00, -1.39287721e-14, -1.00000000e+00,  0.00000000e+00,
        3.48219303e-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([-0.01907729, -0.08031009,  0.06164816])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.02341887e-03, 3.73178646e-02, 9.41126440e-03, 7.14114931e-05,
 -2.70771332e-05, 1.79117140e-05, 2.51615993e-05,-1.09392718e-05,
 -1.83563755e-06, 2.21225017e-05,-4.07836964e-05, 6.89391868e-06,
  3.21630381e-03, 4.70077201e-03, 8.72633688e-03, 1.52836560e-03,
  8.03742416e-04, 5.03590308e-04,-4.90530444e+00, 6.35431233e-03,
  2.31229163e-03, 2.05657071e-04]


--- Step 2614 ---
qpos:
[-0.0161027 , 1.2950038 ,-0.03220713, 0.94843177, 0.00434583, 1.33152454,
 -0.02976384, 0.94627021, 0.01674492, 1.33659245,-0.02392577, 0.9549843 ,
  1.3940646 ,-0.00597635, 1.190345  , 0.06142671,-0.05083767,-0.11075911,
  0.07904805, 0.58226557,-0.01203731,-0.0028227 , 0.81290463]

qacc:
[ 4.56746544e-01, 1.99970144e+00,-1.25553628e+01, 3.46514770e+01,
 -1.58084914e-01,-9.73922985e-01, 1.60462785e+00, 5.64414489e+00,
  8.77828272e-02, 1.51998517e+00,-5.82029370e+00, 6.42604741e+00,
  1.36862615e-02,-1.23707484e-01, 8.68946770e+00,-1.87079892e+01,
  1.09473348e+00,-2.01360076e+00,-1.24973308e+00,-2.51899875e+02,
 -1.64280235e+02,-5.65647159e+01]

qfrc_actuator:
[ 3.97206534e-03, 7.22662830e-02, 2.03238576e-02, 1.85779771e-03,
 -4.12649661e-05, 3.49273020e-02, 1.09917664e-02, 1.72073349e-03,
 -3.02584219e-03, 3.47334280e-02, 1.08268245e-02, 1.74714958e-03,
  0.00000000e+00, 2.79193025e-03, 0.00000000e+00,-3.13184824e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006964732147165704
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30312472,  0.08791687, -0.94888673, -0.02675337,  0.99612782,
        0.08374744,  0.95257528,  0.        ,  0.30430303])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07217791, -0.04286835,  0.2246095 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -0.89789146,  8.58956156, -0.89789146,  8.25305612,
       -0.04006823,  8.58956156, -0.04006823,  8.63217519,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004024719572905969
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.44813783e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.44813783e-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([-0.01924154, -0.08037257,  0.06164527])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05297708e-03, 3.73077380e-02, 9.42388911e-03, 9.61803534e-05,
 -4.55466642e-05,-7.56349483e-06, 3.48977245e-05, 3.12750801e-05,
  2.53215629e-05,-7.14898767e-05,-5.55578248e-05, 1.14365288e-06,
  3.20991424e-03, 4.69361101e-03, 8.55046882e-03, 1.35418224e-03,
  2.11418446e-04, 4.87705829e-05,-4.90514351e+00, 6.42806303e-03,
  2.23007419e-03, 1.13351699e-04]


--- Step 2615 ---
qpos:
[-0.01610373, 1.29501577,-0.03220484, 0.94843387, 0.00434547, 1.33152654,
 -0.02976241, 0.94626854, 0.01674486, 1.33659377,-0.02392683, 0.95498384,
  1.39407325,-0.00597819, 1.19033249, 0.06142423,-0.05090437,-0.11080623,
  0.07903386, 0.58218635,-0.01157766,-0.00367835, 0.81296462]

qacc:
[-1.64530436e-01, 2.64668822e+00,-7.82917659e+00, 1.89236912e+01,
 -3.04681429e-02,-1.09749434e+00, 5.05897237e+00,-1.20905045e+01,
  4.49686959e-02, 3.42734301e-02, 1.22670524e+00,-9.27741884e+00,
 -1.34648064e-01, 3.47021894e-01,-5.26518125e+00, 8.07052178e+00,
  5.77136480e-01,-1.95049638e+00,-2.15812973e+00,-2.19968647e+02,
 -1.47002617e+02,-4.64319927e+01]

qfrc_actuator:
[ 4.01374599e-03, 7.22753534e-02, 2.03185222e-02, 1.93176857e-03,
 -2.31619593e-05, 3.49311939e-02, 1.09903884e-02, 1.68567443e-03,
 -3.02781350e-03, 3.47585686e-02, 1.08119584e-02, 1.71239282e-03,
  0.00000000e+00, 2.80657430e-03, 0.00000000e+00,-9.90675736e-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: -0.0006966564200323079
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30311373,  0.0879172 , -0.94889021, -0.0267525 ,  0.99612779,
        0.08374806,  0.9525788 ,  0.        ,  0.30429201])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07217695, -0.04286884,  0.22460978])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -0.86191761,  8.59324589, -0.86191761,  8.52415085,
       -0.01125514,  8.59324589, -0.01125514,  8.63523473,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004005734624857614
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.38579203e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.38579203e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01930507, -0.08035775,  0.06164657])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.04108254e-03, 3.73787548e-02, 9.42307979e-03, 7.07909000e-05,
 -8.77473247e-06, 7.45227632e-06, 2.02378842e-06,-3.35343566e-05,
  1.29769252e-05,-2.52164540e-05,-3.51083648e-05,-3.84725392e-05,
  3.20116619e-03, 4.72104756e-03, 8.27827481e-03, 1.57907190e-03,
  1.61255162e-05, 8.70897633e-05,-4.90513610e+00, 6.45140576e-03,
  2.19005578e-03, 1.42840135e-04]


--- Step 2616 ---
qpos:
[-0.01610563, 1.29502911,-0.03220219, 0.94843656, 0.00434531, 1.3315286 ,
 -0.02976099, 0.94626646, 0.01674486, 1.33659513,-0.02392707, 0.95498359,
  1.39408168,-0.00597958, 1.19031557, 0.06142135,-0.05097031,-0.11086085,
  0.07900783, 0.58216297,-0.01112801,-0.00500299, 0.81298057]

qacc:
[-3.63768671e-01, 1.85117869e+00,-5.06346448e+00, 1.04034522e+01,
  8.20449891e-02,-5.55172028e-01, 2.72984101e+00,-7.06517331e+00,
  2.24310875e-02,-1.81819057e+00, 5.58847333e+00,-2.57907163e+00,
 -2.82412136e-01, 5.68242520e-01,-5.31573259e+00, 9.18795125e+00,
  1.90523762e-01,-1.87192638e+00,-2.95839874e+00,-1.93303985e+02,
 -1.32094430e+02,-3.82122931e+01]

qfrc_actuator:
[ 3.98614291e-03, 7.22748096e-02, 2.02962180e-02, 1.95686465e-03,
  5.63951620e-06, 3.49326828e-02, 1.09889724e-02, 1.66570404e-03,
 -3.02903886e-03, 3.48086704e-02, 1.08747741e-02, 1.72765616e-03,
  0.00000000e+00, 2.83364033e-03, 0.00000000e+00,-4.73830314e-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: -0.0006966904678597161
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03100144e-01,  8.79176677e-02, -9.48894507e-01, -2.67514462e-02,
        9.96127745e-01,  8.37488891e-02,  9.52583153e-01,  3.46944695e-18,
        3.04278388e-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([ 0.07217552, -0.04286928,  0.22461015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -0.79092835,  8.6000703 , -0.79092835,  8.90640555,
        0.02483512,  8.6000703 ,  0.02483512,  8.63864766,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0039397319111588724
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.52252085e-15,  2.81801668e-14,  1.00000000e+00,  9.92652252e-29,
        1.00000000e+00, -2.81801668e-14, -1.00000000e+00,  0.00000000e+00,
       -3.52252085e-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([-0.01928882, -0.08028144,  0.06165119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.03275894e-03, 3.72780356e-02, 9.36455358e-03, 3.80064575e-05,
  2.36238491e-05, 4.98305587e-06,-7.17375362e-07,-2.04632364e-05,
  6.43630870e-06, 2.81528854e-05, 5.27747284e-05, 1.25932179e-05,
  3.20814408e-03, 4.73071927e-03, 8.52015343e-03, 1.70424618e-03,
  8.58688336e-05, 4.57607983e-04,-4.90523295e+00, 6.44367102e-03,
  2.17686995e-03, 2.54364075e-04]


--- Step 2617 ---
qpos:
[-0.01610769, 1.29504177,-0.03219997, 0.94843873, 0.0043454 , 1.33153091,
 -0.02975999, 0.94626417, 0.01674489, 1.33659599,-0.02392578, 0.95498421,
  1.39409012,-0.00598093, 1.19029869, 0.06141858,-0.05101472,-0.11089327,
  0.07899769, 0.58213528,-0.01075578,-0.00566784, 0.81300105]

qacc:
[-7.45144532e-02,-6.29727035e-01, 2.04548441e+00,-7.42654751e+00,
  1.08180142e-01, 1.05332038e+00,-2.57611447e+00,-4.85905355e-01,
  1.07766160e-02,-3.26798106e+00, 8.09103342e+00, 3.48355658e+00,
 -1.13334056e-02, 4.67129747e-02,-2.43293468e-01, 9.27152001e-01,
  5.38465284e+00, 5.54981646e+00, 3.97087782e+00, 2.45650398e+02,
  2.23487881e+02, 6.93454978e+00]

qfrc_actuator:
[ 3.97084920e-03, 7.22328100e-02, 2.02638045e-02, 1.91723012e-03,
  2.28706153e-05, 3.49504702e-02, 1.09698170e-02, 1.65479273e-03,
 -3.02980555e-03, 3.47671557e-02, 1.09475746e-02, 1.77230348e-03,
  0.00000000e+00, 2.83241436e-03, 0.00000000e+00,-5.32748628e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25670313,  0.25280952, -0.04454039,  0.25280952,  0.28902072,
        0.18343335, -0.04454039,  0.18343335,  1.29786369,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006965574241622266
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30308489,  0.08791842, -0.94889931, -0.02675033,  0.99612768,
        0.08375003,  0.95258804,  0.        ,  0.3042631 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0721737 , -0.04286967,  0.22461059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -1.79303432,  8.44818352, -1.79303432,  3.04122209,
       -1.18750745,  8.44818352, -1.18750745,  8.3843282 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003906777874292652
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.10446729e-15,  2.84178692e-14,  1.00000000e+00, -2.01893822e-28,
        1.00000000e+00, -2.84178692e-14, -1.00000000e+00,  0.00000000e+00,
        7.10446729e-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([-0.0767885 , -0.1370971 ,  0.06165325])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.06011436e-03, 3.71667797e-02, 9.31398886e-03,-3.13685499e-05,
  3.11719034e-05, 1.97717835e-05,-1.88691181e-05,-1.12558580e-05,
  3.03497373e-06,-1.52758262e-05, 8.46629214e-05, 4.73198928e-05,
  3.21970612e-03, 4.70705879e-03, 8.74085480e-03, 1.67513873e-03,
  3.31252663e-04, 1.04878084e-03,-4.90539762e+00, 6.41770462e-03,
  2.18043679e-03, 4.20047541e-04]


--- Step 2618 ---
qpos:
[-0.01610995, 1.29505437,-0.03219779, 0.94844033, 0.00434572, 1.33153246,
 -0.02975865, 0.94626492, 0.01674463, 1.3365963 ,-0.02392368, 0.95498368,
  1.39409839,-0.00598223, 1.1902809 , 0.06141591,-0.05104084,-0.11090648,
  0.07899681, 0.58210693,-0.01044931,-0.00575061, 0.81302476]

qacc:
[-8.45845729e-02,-9.38446660e-01, 4.11642796e+00,-1.00534750e+01,
  9.92143384e-02, 3.32794888e+00,-1.83195544e+01, 5.16838177e+01,
 -1.18425324e-01,-4.89598718e+00, 1.74198373e+01,-2.80572152e+01,
 -1.20318224e-01, 1.26715632e-01,-1.66265077e+00, 3.90725954e+00,
  4.56987233e+00, 4.80083684e+00, 2.31768686e+00, 2.17476459e+02,
  1.96133062e+02, 4.52754879e+00]

qfrc_actuator:
[ 3.99810928e-03, 7.22207086e-02, 2.02614796e-02, 1.89289792e-03,
  3.30201571e-05, 3.48712994e-02, 1.09759163e-02, 1.80906985e-03,
 -3.06579556e-03, 3.47066945e-02, 1.09720662e-02, 1.70954796e-03,
  0.00000000e+00, 2.84994503e-03, 0.00000000e+00,-1.03342958e-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: -0.0006963758275376312
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3030707 ,  0.08791921, -0.94890377, -0.02674932,  0.99612761,
        0.08375118,  0.95259258,  0.        ,  0.30424887])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0721719 , -0.04287006,  0.22461101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -0.66394246,  8.61080468, -0.66394246, 31.46308989,
        1.76007159,  8.61080468,  1.76007159,  8.77207526,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003970515230674154
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.99042165e-15,  2.79616866e-14,  1.00000000e+00,  1.95463979e-28,
        1.00000000e+00, -2.79616866e-14, -1.00000000e+00,  0.00000000e+00,
       -6.99042165e-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([-0.0767496 , -0.13702695,  0.06164845])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09610561e-03, 3.71887703e-02, 9.33321000e-03,-2.93983157e-05,
  2.85450287e-05,-7.22809008e-05, 7.48241940e-06, 1.54057233e-04,
 -3.41984743e-05,-5.09785776e-05, 3.25127793e-05,-5.96258931e-05,
  3.21890439e-03, 4.72246562e-03, 8.73949883e-03, 1.71328623e-03,
  3.81439431e-05, 2.76751634e-04,-4.90512644e+00, 6.40876402e-03,
  2.19446543e-03, 1.88549497e-04]


--- Step 2619 ---
qpos:
[-0.01611324, 1.29506838,-0.03219483, 0.94844146, 0.00434594, 1.33153229,
 -0.0297562 , 0.94626825, 0.01674404, 1.33659622,-0.02392132, 0.95498312,
  1.39410611,-0.00598316, 1.19025919, 0.06141335,-0.05105135,-0.11090296,
  0.07899952, 0.58208001,-0.01019905,-0.00531688, 0.81305016]

qacc:
[-4.33775446e-01,-1.04749207e+00, 6.63276325e+00,-1.21835385e+01,
 -4.43038229e-02,-8.58785659e-01,-5.19712751e+00, 3.54407511e+01,
 -1.43927424e-01,-1.29153451e+00, 3.66944323e+00,-3.40464494e+00,
 -4.60654195e-01, 6.40698287e-01,-6.06878329e+00, 1.28597156e+01,
  3.90239073e+00, 4.18334519e+00, 8.95264538e-01, 1.93623327e+02,
  1.73175258e+02, 2.76492438e+00]

qfrc_actuator:
[ 3.99773732e-03, 7.22261979e-02, 2.02769874e-02, 1.87799591e-03,
  3.33474570e-06, 3.47348756e-02, 1.10143529e-02, 1.93501055e-03,
 -3.08711926e-03, 3.46883736e-02, 1.09854344e-02, 1.70830305e-03,
  0.00000000e+00, 2.89645849e-03, 0.00000000e+00, 1.40694727e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006961408377681548
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03056606e-01,  8.79200538e-02, -9.48908193e-01, -2.67483351e-02,
        9.96127534e-01,  8.37523876e-02,  9.52597092e-01,  3.46944695e-18,
        3.04234744e-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([ 0.07217004, -0.04287043,  0.22461143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -0.57053687,  8.61749758, -0.57053687, 33.34070086,
        1.63559492,  8.61749758,  1.63559492,  8.74465113,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0039743786035297685
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.98362647e-15,  1.39672529e-14,  1.00000000e+00,  9.75420773e-29,
        1.00000000e+00, -1.39672529e-14, -1.00000000e+00,  0.00000000e+00,
       -6.98362647e-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([-0.07677583, -0.13702884,  0.06164816])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10564741e-03, 3.71972666e-02, 9.35061745e-03,-1.60706903e-05,
 -1.28439801e-05,-1.70333942e-04, 2.96643238e-05, 1.27571892e-04,
 -4.15157814e-05,-4.19354007e-05, 5.35948183e-06,-3.18911991e-06,
  3.22786639e-03, 4.76651829e-03, 8.78473651e-03, 1.85869174e-03,
  3.86297945e-06, 7.28524101e-07,-4.90502771e+00, 6.39817629e-03,
  2.20270838e-03, 1.02712772e-04]


--- Step 2620 ---
qpos:
[-0.01611633, 1.29508188,-0.03219179, 0.94844329, 0.00434595, 1.33153165,
 -0.02975411, 0.94626993, 0.01674329, 1.33659624,-0.02391929, 0.95498253,
  1.39411361,-0.00598407, 1.19023931, 0.06141091,-0.05107498,-0.11089182,
  0.07899354, 0.58201492,-0.01054505,-0.00491223, 0.81309489]

qacc:
[ 8.20391797e-02, 2.91547286e-01,-3.21183602e+00, 1.13187160e+01,
 -8.82541507e-02,-2.47603796e+00, 1.07201491e+01,-2.81887495e+01,
 -6.63511502e-02, 9.97081957e-01,-3.05269757e+00, 2.32158326e+00,
 -2.89308667e-01, 3.13221564e-01, 2.37146866e+00,-4.28703397e+00,
 -3.27713390e+00, 1.90462377e+00,-2.17202203e+00,-1.85509244e+02,
  2.33730029e+02, 2.25848292e+01]

qfrc_actuator:
[ 4.01718994e-03, 7.21875372e-02, 2.02846477e-02, 1.90439932e-03,
 -1.45007702e-05, 3.47428807e-02, 1.10002591e-02, 1.84792264e-03,
 -3.08171854e-03, 3.47131549e-02, 1.09746014e-02, 1.70780769e-03,
  0.00000000e+00, 2.90677067e-03, 0.00000000e+00, 3.70010961e-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: -0.0006957866098903642
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03040427e-01,  8.79212331e-02, -9.48913250e-01, -2.67472687e-02,
        9.96127430e-01,  8.37539661e-02,  9.52602269e-01,  6.93889390e-18,
        3.04218535e-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([ 0.07216783, -0.04287072,  0.22461192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003980255124186621
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.39466314e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.39466314e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00418843, -0.12498473,  0.06164775])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17597153e-03, 3.70880321e-02, 9.31968503e-03, 3.43829411e-05,
 -2.54214472e-05,-7.65872615e-05,-4.02894187e-05,-8.83585170e-05,
 -1.91115415e-05, 2.53900941e-06,-1.85100384e-05,-1.65275227e-06,
  3.25487847e-03, 4.75869609e-03, 8.98191550e-03, 1.75025994e-03,
  1.52442540e-04, 7.30338484e-05,-4.90505046e+00, 6.38806875e-03,
  2.20561906e-03, 1.19683514e-04]


--- Step 2621 ---
qpos:
[-0.01611801, 1.2950928 ,-0.03218976, 0.94844567, 0.00434604, 1.33153139,
 -0.02975317, 0.94626947, 0.01674247, 1.33659692,-0.02391855, 0.95498193,
  1.39412119,-0.00598539, 1.19022583, 0.06140863,-0.05111065,-0.11087388,
  0.07897541, 0.58191657,-0.01141761,-0.00453255, 0.8131557 ]

qacc:
[ 5.96810961e-01, 3.02245321e-01,-6.20705889e+00, 1.33733418e+01,
  3.42955511e-02,-6.45814259e-02, 5.16882683e+00,-2.93641913e+01,
 -2.67840741e-02, 4.35407140e+00,-1.31265301e+01, 1.09271570e+01,
  2.32970285e-02,-2.68196780e-01, 8.93296861e+00,-1.75553262e+01,
 -3.01218425e+00, 1.70127495e+00,-3.03567791e+00,-1.63516257e+02,
  2.06645645e+02, 1.93591384e+01]

qfrc_actuator:
[ 4.04773438e-03, 7.21414947e-02, 2.02702180e-02, 1.91908248e-03,
  1.04241728e-05, 3.48014827e-02, 1.09556803e-02, 1.74273617e-03,
 -3.07808328e-03, 3.47634652e-02, 1.09142361e-02, 1.70776067e-03,
  0.00000000e+00, 2.89554775e-03, 0.00000000e+00,-1.84086645e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006955093122553574
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03024648e-01,  8.79223495e-02, -9.48918186e-01, -2.67462183e-02,
        9.96127331e-01,  8.37554736e-02,  9.52607318e-01, -3.46944695e-18,
        3.04202724e-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([ 0.07216579, -0.04287102,  0.22461238])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -0.30963788,  8.63081116, -0.30963788, 23.34340007,
        0.52762776,  8.63081116,  0.52762776,  8.65529274,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003962700307366146
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40084152e-14,  2.80168304e-14,  1.00000000e+00,  3.92471393e-28,
        1.00000000e+00, -2.80168304e-14, -1.00000000e+00,  0.00000000e+00,
       -1.40084152e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00417575, -0.12499583,  0.06164893])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19688850e-03, 3.70673714e-02, 9.30063746e-03, 1.35936825e-05,
  9.92121114e-06, 5.71247133e-06,-6.67274697e-05,-1.10709105e-04,
 -7.64782118e-06, 4.80463250e-05,-6.20244681e-05,-5.49637563e-07,
  3.26629414e-03, 4.74588040e-03, 8.89005295e-03, 1.52307442e-03,
 -1.36107230e-05, 1.07614097e-04,-4.90503173e+00, 6.36625764e-03,
  2.20110239e-03, 1.38489937e-04]


--- Step 2622 ---
qpos:
[-0.0161199 , 1.29510469,-0.03218773, 0.94844784, 0.0043463 , 1.33153111,
 -0.02975245, 0.94626775, 0.01674164, 1.33659728,-0.02391791, 0.95498102,
  1.39412908,-0.00598649, 1.1902085 , 0.0614061 ,-0.05115452,-0.11086919,
  0.07895467, 0.5818556 ,-0.01226845,-0.00472983, 0.81318582]

qacc:
[-8.23263104e-02, 8.98552666e-01,-9.47338482e-01,-2.26633370e+00,
  7.19715484e-02,-1.55482627e+00, 7.65828857e+00,-2.13520628e+01,
 -6.79520221e-03,-7.25234766e-01, 2.47825813e+00,-5.57362204e+00,
  2.89889618e-01,-1.28845467e-01,-4.93902042e+00, 9.00440928e+00,
 -2.05019187e+00,-3.31318578e+00,-6.55038550e-01,-2.28113516e+02,
 -1.76450622e+02,-2.74673428e+01]

qfrc_actuator:
[ 4.03039149e-03, 7.21288046e-02, 2.02436107e-02, 1.92660797e-03,
  2.52937964e-05, 3.48010170e-02, 1.09469908e-02, 1.68108162e-03,
 -3.07553855e-03, 3.47042099e-02, 1.08962463e-02, 1.69021916e-03,
  0.00000000e+00, 2.85408623e-03, 0.00000000e+00, 2.13753612e-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: -0.000695418287491284
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30301231,  0.087923  , -0.94892207, -0.02674533,  0.99612727,
        0.08375644,  0.95261127,  0.        ,  0.30419036])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07216432, -0.04287139,  0.22461273])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003912596504838578
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.41878037e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.41878037e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01948258, -0.08028021,  0.06165231])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10953973e-03, 3.71837124e-02, 9.32508317e-03,-6.43383321e-06,
  2.07249048e-05,-1.36739458e-05,-1.84082100e-05,-6.60067815e-05,
 -1.96815771e-06,-4.48222822e-05,-1.56737986e-05,-1.79440779e-05,
  3.26233663e-03, 4.72523500e-03, 8.57112725e-03, 1.72051348e-03,
 -4.92726300e-05, 5.98297022e-05,-4.90510352e+00, 6.33205592e-03,
  2.19099372e-03, 7.01828263e-05]


--- Step 2623 ---
qpos:
[-0.01612321, 1.29511976,-0.03218459, 0.94844844, 0.00434644, 1.33153087,
 -0.02975218, 0.94626496, 0.01674081, 1.33659656,-0.02391709, 0.95497893,
  1.39413744,-0.00598708, 1.19018139, 0.06140359,-0.0511843 ,-0.11084656,
  0.07894137, 0.5818095 ,-0.01316698,-0.00435219, 0.81320686]

qacc:
[-6.11245653e-01,-1.50082487e+00, 1.31495398e+01,-3.15551428e+01,
 -5.06135236e-02,-5.81676234e-01, 4.12731279e+00,-1.59274080e+01,
  2.62321743e-03,-3.93327368e+00, 1.35009575e+01,-2.46980102e+01,
  5.17468989e-01,-1.77002065e-01,-1.45176028e+01, 2.97095958e+01,
  3.52244923e+00, 4.48507250e+00, 1.86148485e+00, 2.19947667e+02,
  1.86745510e+02,-5.05159981e+00]

qfrc_actuator:
[ 4.00310173e-03, 7.21336013e-02, 2.02268299e-02, 1.85937273e-03,
 -1.49614907e-06, 3.48008536e-02, 1.09238797e-02, 1.62778783e-03,
 -3.07366965e-03, 3.45977001e-02, 1.08852495e-02, 1.62698874e-03,
  0.00000000e+00, 2.81177044e-03, 0.00000000e+00, 3.58841513e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25631323,  0.23543988, -0.10131402,  0.23543988,  0.29908851,
        0.09940388, -0.10131402,  0.09940388,  0.48731421,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006951645167143708
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30299903,  0.08792373, -0.94892624, -0.02674438,  0.99612721,
        0.08375751,  0.95261552,  0.        ,  0.30417705])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07216252, -0.04287175,  0.22461313])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003951291436549639
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.02443139e-15,  1.40488628e-14,  1.00000000e+00, -9.86852728e-29,
        1.00000000e+00, -1.40488628e-14, -1.00000000e+00,  0.00000000e+00,
        7.02443139e-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([-0.0768608 , -0.13708795,  0.06164917])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09188831e-03, 3.71396386e-02, 9.30794353e-03,-6.29726630e-05,
 -1.45602824e-05,-1.33067282e-05,-2.98161336e-05,-5.57764785e-05,
  7.05823946e-07,-1.34893744e-04,-2.20588976e-05,-6.54345272e-05,
  3.24642194e-03, 4.67221839e-03, 8.76320978e-03, 2.07034768e-03,
  2.38214381e-04,-1.08105471e-04,-4.90511098e+00, 6.37153869e-03,
  2.18463189e-03, 1.93033297e-05]


--- Step 2624 ---
qpos:
[-0.01612704, 1.29513503,-0.03218104, 0.9484475 , 0.00434624, 1.33153072,
 -0.02975232, 0.94626259, 0.0167403 , 1.33659562,-0.02391737, 0.95497747,
  1.39414578,-0.00598765, 1.19015309, 0.06140172,-0.05119379,-0.11083364,
  0.07894562, 0.58175767,-0.01345104,-0.0039715 , 0.81324124]

qacc:
[-2.17543339e-01,-3.46464656e+00, 1.47656216e+01,-3.07548415e+01,
 -1.47346163e-01, 1.91211149e+00,-6.92521824e+00, 1.06986394e+01,
  1.29469549e-01, 3.76976941e+00,-1.39144242e+01, 1.94745961e+01,
  8.50595993e-02,-1.04392667e-01,-3.69879971e+00, 1.03613941e+01,
  5.07427669e+00,-2.42681819e+00, 4.38662844e+00, 1.79991368e+02,
 -2.49059012e+02, 4.89747286e+00]

qfrc_actuator:
[ 4.00666714e-03, 7.21107895e-02, 2.02325881e-02, 1.76647632e-03,
 -3.53079024e-05, 3.48185868e-02, 1.09101715e-02, 1.65082290e-03,
 -3.03671652e-03, 3.46234950e-02, 1.08427137e-02, 1.66160990e-03,
  0.00000000e+00, 2.83955970e-03, 0.00000000e+00, 3.31534304e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006945728251596707
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30298166,  0.08792493, -0.94893167, -0.02674321,  0.9961271 ,
        0.08375914,  0.95262108,  0.        ,  0.30415964])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07215986, -0.04287205,  0.22461368])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003998095945801847
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.3884397e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.3884397e-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([-0.07728331, -0.10027678,  0.06164554])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16713267e-03, 3.69576785e-02, 9.25799566e-03,-7.73078372e-05,
 -4.24040950e-05, 2.86633703e-06,-2.13402335e-05, 2.04645920e-05,
  3.73653078e-05,-5.50463315e-05,-7.33039866e-05, 2.84530952e-05,
  3.22357945e-03, 4.67392523e-03, 9.25294475e-03, 2.04253779e-03,
 -4.23471792e-05, 5.65449607e-05,-4.90515383e+00, 6.37083280e-03,
  2.18829434e-03, 8.75029531e-05]


--- Step 2625 ---
qpos:
[-0.01612952, 1.29514685,-0.03217879, 0.9484476 , 0.00434566, 1.33153072,
 -0.02975246, 0.94626221, 0.01674028, 1.33659381,-0.02391686, 0.95497673,
  1.39415391,-0.00598866, 1.19013413, 0.06140021,-0.05118549,-0.11082939,
  0.07896092, 0.58169995,-0.01319107,-0.0035866 , 0.81328857]

qacc:
[ 5.72415920e-01, 7.73511559e-01,-1.01206102e+01, 2.30111900e+01,
 -1.56409160e-01, 3.63009673e+00,-1.57075381e+01, 3.66488733e+01,
  2.15278832e-01,-2.01299150e+00, 3.74337960e+00, 5.67072791e+00,
 -3.22159583e-01, 6.22194760e-02, 1.26937212e+01,-2.43168111e+01,
  4.44708293e+00,-2.16820591e+00, 2.76176955e+00, 1.59941124e+02,
 -2.20086185e+02, 5.10594114e+00]

qfrc_actuator:
[ 4.02839593e-03, 7.20731256e-02, 2.02343790e-02, 1.80080463e-03,
 -5.53040990e-05, 3.48469797e-02, 1.09199929e-02, 1.75411146e-03,
 -2.99676808e-03, 3.45862257e-02, 1.08889759e-02, 1.70034155e-03,
  0.00000000e+00, 2.87420809e-03, 0.00000000e+00,-2.17839280e-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: -0.0006939462542303251
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02963710e-01,  8.79262931e-02, -9.48937278e-01, -2.67420483e-02,
        9.96126983e-01,  8.37609447e-02,  9.52626817e-01,  3.46944695e-18,
        3.04141656e-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([ 0.07215711, -0.04287234,  0.22461424])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.34436818,  4.54390063, -7.34436818, 31.51681237,
       36.98197945,  4.54390063, 36.98197945, 68.41083835,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004006478275730405
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.92767406e-15,  2.77106962e-14,  1.00000000e+00,  1.91970671e-28,
        1.00000000e+00, -2.77106962e-14, -1.00000000e+00,  0.00000000e+00,
       -6.92767406e-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([-0.07728446, -0.10028652,  0.06164498])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.21437784e-03, 3.69101176e-02, 9.23944742e-03, 3.41837379e-05,
 -4.50190408e-05, 2.64152025e-05, 8.55117539e-06, 1.03220532e-04,
  6.20067683e-05,-8.11763725e-05, 2.80131676e-05, 3.56141771e-05,
  3.22432005e-03, 4.70799160e-03, 9.31319764e-03, 1.65741254e-03,
 -5.18707881e-06, 9.42260009e-05,-4.90502850e+00, 6.37599118e-03,
  2.18904197e-03, 1.79427860e-04]


--- Step 2626 ---
qpos:
[-0.0161309 , 1.29515666,-0.0321775 , 0.94844763, 0.00434507, 1.331531  ,
 -0.02975284, 0.94626341, 0.01674077, 1.3365909 ,-0.02391475, 0.95497575,
  1.39416188,-0.00599007, 1.19012023, 0.0613989 ,-0.05118742,-0.11083962,
  0.07897343, 0.58167546,-0.01290741,-0.00375611, 0.81330988]

qacc:
[ 4.69814399e-01,-1.87280516e-01,-2.42484538e+00, 2.47903862e+00,
 -9.14847530e-03, 3.72248984e+00,-1.49356996e+01, 3.11191381e+01,
  2.09430655e-01,-6.18655740e+00, 1.89002366e+01,-1.84742312e+01,
 -1.18772427e-01,-1.56203180e-01, 6.90813345e+00,-1.32719363e+01,
 -2.56045669e+00,-3.62144356e+00,-6.94753662e-01,-2.18387540e+02,
 -1.70658237e+02,-2.47756763e+01]

qfrc_actuator:
[ 4.05937372e-03, 7.20833706e-02, 2.02353381e-02, 1.80298152e-03,
 -3.13452009e-05, 3.48639331e-02, 1.09081982e-02, 1.83279228e-03,
 -2.97309943e-03, 3.45295932e-02, 1.09693108e-02, 1.68793297e-03,
  0.00000000e+00, 2.87791492e-03, 0.00000000e+00,-1.09125495e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006936193115085545
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30295029,  0.0879272 , -0.94894148, -0.02674114,  0.9961269 ,
        0.08376218,  0.95263111,  0.        ,  0.30412821])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07215522, -0.04287271,  0.22461464])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0039921426408441735
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.39051022e-14,  2.78102043e-14,  1.00000000e+00,  3.86703732e-28,
        1.00000000e+00, -2.78102043e-14, -1.00000000e+00,  0.00000000e+00,
       -1.39051022e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01965298, -0.08039248,  0.06164625])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17821147e-03, 3.70925156e-02, 9.30562188e-03,-1.58596502e-05,
 -2.60654673e-06, 3.63304735e-05,-2.63214728e-06, 8.21177352e-05,
  6.02737092e-05,-9.49834466e-05, 6.87074543e-05,-1.31684896e-05,
  3.23447258e-03, 4.73377851e-03, 8.84674668e-03, 1.55173906e-03,
  1.33778830e-04, 5.77306660e-05,-4.90504812e+00, 6.38914094e-03,
  2.19670993e-03, 1.59120024e-04]


--- Step 2627 ---
qpos:
[-0.01613263, 1.29516766,-0.032176  , 0.94844698, 0.00434472, 1.33153145,
 -0.02975302, 0.94626553, 0.01674165, 1.33658886,-0.02391384, 0.95497392,
  1.39416979,-0.00599133, 1.19010303, 0.06139751,-0.05119861,-0.11086275,
  0.07897905, 0.58167946,-0.01260166,-0.00441746, 0.81330848]

qacc:
[-1.45894311e-01,-1.69625003e-01, 3.81613929e+00,-1.18336824e+01,
  1.07106757e-01, 1.25513639e+00,-5.69918460e+00, 1.54921957e+01,
  1.70741321e-01, 2.88706775e+00,-6.31257036e+00,-4.98549405e+00,
  2.26525886e-02, 5.31459944e-02,-4.64351480e+00, 9.15474174e+00,
 -2.31155522e+00,-3.22202112e+00,-1.72578514e+00,-1.93437249e+02,
 -1.51822489e+02,-2.14093329e+01]

qfrc_actuator:
[ 4.04234654e-03, 7.21223074e-02, 2.02359743e-02, 1.78657046e-03,
  1.03406761e-06, 3.48738216e-02, 1.09191686e-02, 1.87856920e-03,
 -2.95938768e-03, 3.46394651e-02, 1.09269472e-02, 1.64551786e-03,
  0.00000000e+00, 2.86318810e-03, 0.00000000e+00, 6.96627467e-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: -0.0006934436242016784
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02939713e-01,  8.79277389e-02, -9.48944805e-01, -2.67403733e-02,
        9.96126856e-01,  8.37629972e-02,  9.52634496e-01, -3.46944695e-18,
        3.04117604e-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([ 0.07215379, -0.0428731 ,  0.22461496])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -0.29969602,  8.6311621 , -0.29969602, 55.66792721,
        1.63305613,  8.6311621 ,  1.63305613,  8.69306752,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003967433993003644
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.79834025e-14,  1.39917013e-14,  1.00000000e+00,  3.91535409e-28,
        1.00000000e+00, -1.39917013e-14, -1.00000000e+00,  0.00000000e+00,
       -2.79834025e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01962463, -0.08035398,  0.06164825])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10607163e-03, 3.72320491e-02, 9.35419506e-03,-2.84535181e-05,
  3.08421503e-05, 3.19324846e-05, 2.01835328e-05, 4.86959477e-05,
  4.92927276e-05, 7.03932975e-05,-5.34908835e-05,-4.35285581e-05,
  3.24313493e-03, 4.73887912e-03, 8.59348866e-03, 1.72094111e-03,
 -4.60478686e-06, 1.82461422e-05,-4.90502870e+00, 6.39689296e-03,
  2.18889986e-03, 1.49691991e-04]


--- Step 2628 ---
qpos:
[-0.01613499, 1.29517956,-0.03217462, 0.94844618, 0.00434454, 1.331532  ,
 -0.02975289, 0.94626577, 0.01674255, 1.33658814,-0.02391497, 0.95497262,
  1.39417765,-0.00599225, 1.19008283, 0.06139597,-0.05119864,-0.11089955,
  0.07899894, 0.5816822 ,-0.01184239,-0.00523875, 0.81331306]

qacc:
[-2.70925738e-01, 1.25310324e+00,-2.34038657e+00,-3.16746737e-01,
  6.90480577e-02,-3.92370217e+00, 1.68001410e+01,-3.64283779e+01,
  3.81647439e-03, 8.19471451e+00,-2.57144534e+01, 2.77432647e+01,
 -1.29261169e-01, 3.57585175e-01,-3.96577747e+00, 7.43597695e+00,
  2.78981609e+00,-3.41917860e+00, 3.57145459e+00, 6.68602102e+01,
 -2.30985050e+02, 2.42951750e-01]

qfrc_actuator:
[ 4.01527240e-03, 7.21050501e-02, 2.02001179e-02, 1.77738605e-03,
  2.69464033e-06, 3.48617128e-02, 1.09256989e-02, 1.78036543e-03,
 -2.98726277e-03, 3.47234413e-02, 1.08308729e-02, 1.67457802e-03,
  0.00000000e+00, 2.87251488e-03, 0.00000000e+00, 1.42032061e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006931589267947305
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30292779,  0.0879284 , -0.94894855, -0.02673952,  0.9961268 ,
        0.08376396,  0.95263831,  0.        ,  0.30410565])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07215206, -0.04287346,  0.22461533])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003923294302094543
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.95887847e-15, -1.14835559e-06,  1.00000000e+00, -9.13962259e-21,
        1.00000000e+00,  1.14835559e-06, -1.00000000e+00, -1.50463277e-36,
       -7.95887847e-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([-0.06438165, -0.09572066,  0.06165159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09609598e-03, 3.71551705e-02, 9.30741679e-03,-4.00280208e-06,
  1.98616607e-05, 1.09629602e-05, 1.65003034e-05,-9.55218717e-05,
  1.22927943e-06, 1.11179562e-04,-8.96808444e-05, 2.85634353e-05,
  3.24568612e-03, 4.74052774e-03, 8.75886905e-03, 1.79723361e-03,
  5.19517740e-05, 2.69134089e-04,-4.90510305e+00, 6.39206191e-03,
  2.18900593e-03, 2.18724214e-04]


--- Step 2629 ---
qpos:
[-0.01613776, 1.29519171,-0.03217305, 0.94844566, 0.00434447, 1.33153263,
 -0.02975295, 0.94626486, 0.01674346, 1.33658748,-0.02391683, 0.95497139,
  1.39418515,-0.00599298, 1.19006286, 0.06139451,-0.05118666,-0.11092084,
  0.07902421, 0.581698  ,-0.01113148,-0.00549502, 0.81331011]

qacc:
[-1.76144583e-01, 3.22096425e-01,-1.24001672e+00, 4.22030793e+00,
  4.40670815e-02,-1.35820115e+00, 6.90731898e+00,-1.93606281e+01,
  4.71969738e-03, 2.14614220e+00,-7.00883128e+00, 6.68088447e+00,
 -4.13452603e-01, 5.27700894e-01, 1.34715540e-01, 1.28398149e-01,
  2.99961731e+00, 3.87528098e+00, 1.34162346e+00, 2.15766850e+02,
  1.84076394e+02,-4.02879488e+00]

qfrc_actuator:
[ 4.01810540e-03, 7.20361340e-02, 2.01958761e-02, 1.79003982e-03,
  3.66551073e-06, 3.48541738e-02, 1.09116297e-02, 1.72247622e-03,
 -2.98659982e-03, 3.46668028e-02, 1.07749048e-02, 1.67445182e-03,
  0.00000000e+00, 2.91378229e-03, 0.00000000e+00, 1.15153929e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006927542702525741
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30291512,  0.08792926, -0.94895252, -0.02673867,  0.99612672,
        0.08376514,  0.95264237,  0.        ,  0.30409295])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07215008, -0.04287379,  0.22461574])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0039459457116705204
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.03394766e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -7.03394766e-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([-0.07691275, -0.13712491,  0.06165026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13068748e-03, 3.70409487e-02, 9.30921633e-03, 1.63177164e-05,
  1.26920647e-05,-1.11523057e-06,-1.28477955e-05,-5.92920833e-05,
  1.39228043e-06,-1.18199785e-05,-4.36112161e-05, 1.20452931e-06,
  3.24873218e-03, 4.76497658e-03, 8.90985839e-03, 1.77821518e-03,
 -5.18400896e-05, 4.36251653e-04,-4.90524682e+00, 6.40062934e-03,
  2.19276297e-03, 2.11786535e-04]


--- Step 2630 ---
qpos:
[-0.01614019, 1.29520316,-0.0321716 , 0.9484461 , 0.00434431, 1.33153323,
 -0.02975262, 0.94626394, 0.01674423, 1.33658629,-0.02391845, 0.95496878,
  1.39419252,-0.00599375, 1.1900463 , 0.0613931 ,-0.05116406,-0.11092837,
  0.07904983, 0.58172622,-0.01046274,-0.00524979, 0.81330042]

qacc:
[ 1.46093277e-01, 9.99439772e-01,-6.32741444e+00, 1.69112287e+01,
 -3.36737064e-02,-1.11112768e+00, 3.62764927e+00,-3.33904412e+00,
 -5.85105469e-02,-3.68184007e+00, 1.39137738e+01,-2.75108502e+01,
 -2.46794725e-01, 2.52523979e-01, 4.86862809e+00,-9.70446149e+00,
  2.65853434e+00, 3.44344861e+00, 8.99004615e-02, 1.91717902e+02,
  1.63076678e+02,-4.10463254e+00]

qfrc_actuator:
[ 4.02116208e-03, 7.20252794e-02, 2.02103484e-02, 1.83317201e-03,
 -1.35364306e-05, 3.48671079e-02, 1.09388305e-02, 1.72430174e-03,
 -3.00432472e-03, 3.46152911e-02, 1.07780089e-02, 1.60382660e-03,
  0.00000000e+00, 2.92097174e-03, 0.00000000e+00,-6.95739330e-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: -0.0006923848761623067
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30290203,  0.08793025, -0.9489566 , -0.02673782,  0.99612663,
        0.08376645,  0.95264655,  0.        ,  0.30407984])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07214811, -0.04287411,  0.22461616])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0039334790228631525
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.05624091e-15,  1.41124818e-14,  1.00000000e+00,  9.95810717e-29,
        1.00000000e+00, -1.41124818e-14, -1.00000000e+00,  0.00000000e+00,
       -7.05624091e-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([-0.07693728, -0.13714559,  0.06165157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.15439679e-03, 3.70175528e-02, 9.31457345e-03, 4.52005908e-05,
 -9.71208395e-06, 8.02177445e-06, 2.37819941e-05, 3.94299198e-08,
 -1.69036782e-05,-6.65240546e-05,-4.12411485e-06,-7.22288061e-05,
  3.26649535e-03, 4.76285372e-03, 8.89791972e-03, 1.65188376e-03,
 -1.35383650e-05, 1.77273939e-05,-4.90510435e+00, 6.38924448e-03,
  2.19912991e-03, 7.51585881e-05]


--- Step 2631 ---
qpos:
[-0.01614244, 1.29521434,-0.03216981, 0.94844595, 0.00434417, 1.33153408,
 -0.02975205, 0.94626233, 0.01674483, 1.33658507,-0.02392002, 0.95496669,
  1.39419978,-0.00599468, 1.19003167, 0.06139203,-0.05115922,-0.11092717,
  0.07906815, 0.58172013,-0.01038754,-0.00503074, 0.81330712]

qacc:
[ 7.75226605e-02,-2.26865317e+00, 8.19405784e+00,-1.37124450e+01,
  6.30685249e-03,-1.49222067e+00, 6.65179755e+00,-1.37872841e+01,
 -7.22988524e-02, 6.99819836e-01,-3.36256912e+00, 8.90664136e+00,
 -6.03528897e-02,-6.61175695e-02, 1.86387374e+00,-2.34469817e+00,
 -4.44381980e+00, 2.18172433e+00,-1.82763996e+00,-1.83416722e+02,
  2.33578666e+02, 2.01435973e+01]

qfrc_actuator:
[ 4.02376236e-03, 7.20146156e-02, 2.02362751e-02, 1.80504987e-03,
 -5.99474542e-06, 3.48923927e-02, 1.09547848e-02, 1.69027345e-03,
 -3.01518443e-03, 3.46561927e-02, 1.07981381e-02, 1.63432576e-03,
  0.00000000e+00, 2.92561113e-03, 0.00000000e+00,-2.64364704e-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: -0.0006921633256785423
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30288974,  0.08793112, -0.94896044, -0.026737  ,  0.99612656,
        0.08376763,  0.95265048,  0.        ,  0.30406752])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07214642, -0.04287447,  0.22461654])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003902796642328815
  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([-0.00410396, -0.12503531,  0.06165419])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13985470e-03, 3.70422878e-02, 9.34632358e-03,-3.03754707e-05,
  1.81077115e-06, 3.43677656e-05, 2.02271100e-05,-3.30899629e-05,
 -2.08423418e-05, 1.17487928e-06, 4.55503966e-06, 2.67186299e-05,
  3.27257814e-03, 4.76911531e-03, 8.72855864e-03, 1.62981855e-03,
  2.00698914e-04,-5.89712599e-05,-4.90508572e+00, 6.38405839e-03,
  2.19765282e-03, 3.98416744e-05]


--- Step 2632 ---
qpos:
[-0.01614539, 1.29522693,-0.03216738, 0.94844426, 0.00434407, 1.33153582,
 -0.02975214, 0.94626032, 0.01674585, 1.33658438,-0.02392141, 0.954967  ,
  1.39420689,-0.00599542, 1.190013  , 0.06139116,-0.05117019,-0.11091826,
  0.0790755 , 0.58168401,-0.01083786,-0.00483443, 0.81332827]

qacc:
[-3.00009466e-01,-2.48036771e+00, 1.34450512e+01,-3.02864208e+01,
  1.94100013e-02, 2.26325237e+00,-5.14886381e+00,-7.84962716e-01,
  1.80465509e-01, 4.33617674e+00,-1.81407542e+01, 4.30357769e+01,
 -2.85356105e-02, 1.06270980e-01,-6.57119096e+00, 1.42985802e+01,
 -3.94971231e+00, 1.92699144e+00,-2.74005778e+00,-1.62223504e+02,
  2.06934524e+02, 1.76171217e+01]

qfrc_actuator:
[ 4.02611276e-03, 7.20216478e-02, 2.02331517e-02, 1.73533098e-03,
 -1.42210834e-06, 3.49603325e-02, 1.09284765e-02, 1.67090628e-03,
 -2.95082681e-03, 3.47344914e-02, 1.08285593e-02, 1.75966478e-03,
  0.00000000e+00, 2.92886638e-03, 0.00000000e+00, 1.57383405e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006920508168103551
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02877354e-01,  8.79319438e-02, -9.48964321e-01, -2.67361573e-02,
        9.96126485e-01,  8.37687568e-02,  9.52654442e-01, -3.46944695e-18,
        3.04055116e-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([ 0.07214491, -0.04287483,  0.2246169 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -1.69804834,  8.46778653, -1.69804834, 83.74017609,
       15.06059505,  8.46778653, 15.06059505, 11.65647029,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0039012231423698474
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.42291659e-14,  1.42291659e-14,  1.00000000e+00,  2.02469162e-28,
        1.00000000e+00, -1.42291659e-14, -1.00000000e+00,  0.00000000e+00,
       -1.42291659e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00409478, -0.12504162,  0.06165458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13311506e-03, 3.70619685e-02, 9.32581245e-03,-7.07674912e-05,
  5.64250397e-06, 8.99050881e-05,-1.82599833e-05,-1.85119945e-05,
  5.20515500e-05, 8.06362400e-05, 3.19501137e-05, 1.26122123e-04,
  3.27850792e-03, 4.78064514e-03, 8.63170451e-03, 1.79703552e-03,
  2.99259737e-05, 2.17198262e-05,-4.90501028e+00, 6.38831838e-03,
  2.20014019e-03, 1.19899135e-04]


--- Step 2633 ---
qpos:
[-0.01614877, 1.29524053,-0.03216515, 0.94844252, 0.00434388, 1.33153784,
 -0.02975181, 0.94625878, 0.01674715, 1.33658389,-0.02392139, 0.95496774,
  1.39421397,-0.00599578, 1.18999036, 0.06139006,-0.05119526,-0.1109025 ,
  0.07906873, 0.58162114,-0.01175594,-0.00465808, 0.81336151]

qacc:
[-1.84493694e-01, 1.78272820e+00,-4.08463500e+00, 2.24475297e+00,
 -4.05007792e-02, 7.24121298e-02,-7.40289573e-01, 5.91156034e+00,
  1.15245946e-01,-2.81152945e+00, 8.63058436e+00,-2.69794704e+00,
 -8.36282703e-02, 3.41449077e-01,-5.16814387e+00, 9.60254489e+00,
 -3.52580374e+00, 1.71096012e+00,-3.53271122e+00,-1.44273878e+02,
  1.84292186e+02, 1.54151401e+01]

qfrc_actuator:
[ 4.04687871e-03, 7.20377483e-02, 2.01944238e-02, 1.73060131e-03,
 -1.64208309e-05, 3.49643649e-02, 1.09486317e-02, 1.69583855e-03,
 -2.94838339e-03, 3.47459300e-02, 1.09005196e-02, 1.78004791e-03,
  0.00000000e+00, 2.93100308e-03, 0.00000000e+00, 2.50154603e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006918122311895432
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30286304,  0.087933  , -0.94896879, -0.02673522,  0.99612639,
        0.08377017,  0.95265902,  0.        ,  0.30404077])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07214304, -0.04287514,  0.22461733])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -2.50338374,  8.26558206, -2.50338374, 84.73715418,
       23.04852582,  8.26558206, 23.04852582, 15.61703412,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038507484338936512
  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([-0.0039899 , -0.12507839,  0.06165839])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18906460e-03, 3.70081388e-02, 9.25554537e-03, 1.31101612e-06,
 -1.16657080e-05, 4.96232613e-05, 3.51124909e-05, 2.66629813e-05,
  3.31765410e-05, 6.60154869e-05, 9.50316276e-05, 2.66398614e-05,
  3.28639205e-03, 4.77333815e-03, 8.83455083e-03, 1.88006658e-03,
 -1.26623760e-05, 1.62339020e-05,-4.90503354e+00, 6.37884024e-03,
  2.19723145e-03, 1.05832102e-04]


--- Step 2634 ---
qpos:
[-0.01615191, 1.29525475,-0.03216206, 0.9484414 , 0.00434371, 1.33153862,
 -0.02975005, 0.94625936, 0.01674832, 1.33658328,-0.02391963, 0.95496735,
  1.39422138,-0.00599617, 1.18996862, 0.06138918,-0.05120939,-0.11087092,
  0.07906386, 0.58157969,-0.01270702,-0.00396796, 0.81338051]

qacc:
[ 1.04813038e-01,-4.56205281e-01, 1.17297563e+00, 5.88234786e+00,
  7.26639675e-03,-1.90529178e+00,-1.09963173e-01, 2.54576589e+01,
 -5.22070812e-02,-6.80629174e+00, 2.42718012e+01,-3.39900826e+01,
  2.43876866e-01,-2.23587294e-01, 6.65348494e-01,-4.49110180e-01,
  2.73472752e+00, 3.95702951e+00, 4.77450784e-01, 1.99434855e+02,
  1.62960964e+02,-9.75267258e+00]

qfrc_actuator:
[ 4.04319893e-03, 7.20058509e-02, 2.02414276e-02, 1.76399949e-03,
 -7.53372510e-06, 3.48237785e-02, 1.09958537e-02, 1.79989492e-03,
 -2.98310441e-03, 3.47173620e-02, 1.09783460e-02, 1.72071756e-03,
  0.00000000e+00, 2.89669489e-03, 0.00000000e+00, 1.99872497e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006914044677739754
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02847936e-01,  8.79341969e-02, -9.48973500e-01, -2.67342509e-02,
        9.96126286e-01,  8.37717304e-02,  9.52663848e-01, -3.46944695e-18,
        3.04025645e-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([ 0.07214084, -0.04287542,  0.22461781])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003823471729120509
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.25926006e-15,  1.45185201e-14,  1.00000000e+00,  1.05393713e-28,
        1.00000000e+00, -1.45185201e-14, -1.00000000e+00,  0.00000000e+00,
       -7.25926006e-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([-0.07708287, -0.13731096,  0.0616603 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20700084e-03, 3.69251823e-02, 9.31254721e-03, 3.75180150e-05,
  2.00473028e-06,-1.05488222e-04, 6.16967427e-05, 1.07192907e-04,
 -1.51318951e-05, 2.72926958e-05, 1.02299583e-04,-5.39736052e-05,
  3.28744839e-03, 4.71993022e-03, 9.03293831e-03, 1.84094707e-03,
  3.50981028e-05,-4.94753952e-05,-4.90512567e+00, 6.36048646e-03,
  2.19035852e-03, 2.76473671e-05]


--- Step 2635 ---
qpos:
[-0.01615501, 1.29527039,-0.03215737, 0.94844059, 0.00434374, 1.33153716,
 -0.02974717, 0.94626302, 0.01674939, 1.33658328,-0.023918  , 0.95496628,
  1.39422939,-0.00599662, 1.18994622, 0.06138861,-0.05123515,-0.11085391,
  0.07905776, 0.58156272,-0.01362222,-0.00386267, 0.81337834]

qacc:
[ 1.70955597e-02,-1.92480331e+00, 7.93808765e+00,-4.32871706e+00,
  8.48308531e-02,-6.84878140e-01,-7.62334696e+00, 4.36682926e+01,
 -4.31129611e-02,-4.77635119e-03, 2.35002988e+00,-1.01976848e+01,
  5.67501645e-01,-5.60361394e-01,-1.95771223e+00, 5.35930290e+00,
 -2.90494884e+00,-3.64199055e+00,-3.08332441e-01,-2.27300409e+02,
 -1.84475299e+02,-1.99020228e+01]

qfrc_actuator:
[ 4.02434648e-03, 7.19984106e-02, 2.03033800e-02, 1.78410697e-03,
  1.56109575e-05, 3.46333485e-02, 1.10226148e-02, 1.94958685e-03,
 -2.98657917e-03, 3.47537989e-02, 1.09700373e-02, 1.68595545e-03,
  0.00000000e+00, 2.84077836e-03, 0.00000000e+00, 2.58694275e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25517343,  0.24592253, -0.06808515,  0.24592253,  0.27463267,
        0.07028647, -0.06808515,  0.07028647,  0.50904708,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000691106131323678
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30283143,  0.08793534, -0.94897866, -0.02673314,  0.99612619,
        0.08377328,  0.95266913,  0.        ,  0.3040091 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07213868, -0.04287574,  0.2246183 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038589113002093084
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.43851846e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.43851846e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01948259, -0.0801993 ,  0.0616576 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17585230e-03, 3.68869553e-02, 9.33122496e-03, 2.62133210e-05,
  2.43233934e-05,-2.33508574e-04, 1.62890462e-05, 1.50827997e-04,
 -1.24079598e-05, 6.99103914e-05, 7.06623047e-06,-3.22154634e-05,
  3.27122476e-03, 4.66548215e-03, 8.98877154e-03, 1.88934917e-03,
 -1.06075223e-04, 2.97084738e-04,-4.90523954e+00, 6.36886563e-03,
  2.18973696e-03, 1.51392540e-04]


--- Step 2636 ---
qpos:
[-0.01615814, 1.29528656,-0.03215254, 0.94844052, 0.00434385, 1.33153486,
 -0.02974465, 0.9462677 , 0.01675053, 1.33658417,-0.02391747, 0.95496483,
  1.3942377 ,-0.00599691, 1.18992236, 0.06138795,-0.05124264,-0.11084673,
  0.07906782, 0.58153503,-0.01392867,-0.00374682, 0.81339349]

qacc:
[-1.37878691e-02, 1.55301724e+00,-5.78574964e+00, 1.33746253e+01,
  3.59691619e-02, 1.62762825e+00,-8.74732249e+00, 2.00223489e+01,
  2.74269398e-02, 3.47657720e+00,-9.16204811e+00, 2.99702291e+00,
  1.95311889e-01,-5.24709321e-02,-1.89711931e+00, 3.45675149e+00,
  4.56352924e+00,-2.45802276e+00, 4.04100951e+00, 1.81272807e+02,
 -2.44635082e+02, 8.29408975e+00]

qfrc_actuator:
[ 4.03200335e-03, 7.20045819e-02, 2.02844594e-02, 1.81407363e-03,
  1.16152556e-05, 3.46452886e-02, 1.10190991e-02, 2.00058737e-03,
 -2.97127888e-03, 3.47930426e-02, 1.09112195e-02, 1.66593091e-03,
  0.00000000e+00, 2.84294470e-03, 0.00000000e+00, 2.94025297e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000690895324980647
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02812037e-01,  8.79364951e-02, -9.48984743e-01, -2.67317859e-02,
        9.96126083e-01,  8.37749294e-02,  9.52675329e-01,  3.46944695e-18,
        3.03989667e-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([ 0.07213642, -0.04287611,  0.22461884])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003903951763233854
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.84384411e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.84384411e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07748072, -0.1002714 ,  0.06165421])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18150813e-03, 3.68214516e-02, 9.23237644e-03, 4.13933250e-05,
  1.03487325e-05,-1.09505513e-04,-4.29042547e-05, 4.79824404e-05,
  7.97736515e-06, 7.83259198e-05,-4.53074489e-05,-1.84953051e-05,
  3.24112407e-03, 4.67039563e-03, 9.02183244e-03, 1.90897338e-03,
  7.51849834e-05,-6.97571881e-05,-4.90515736e+00, 6.39110211e-03,
  2.18871968e-03, 4.62757294e-05]


--- Step 2637 ---
qpos:
[-0.01616114, 1.29530211,-0.03214786, 0.94844059, 0.00434384, 1.33153342,
 -0.02974347, 0.94627114, 0.01675163, 1.33658487,-0.02391727, 0.95496355,
  1.39424615,-0.00599724, 1.18989967, 0.06138748,-0.05123395,-0.11084832,
  0.07908782, 0.58149756,-0.01369574,-0.00362098, 0.8134248 ]

qacc:
[ 5.69658329e-02,-1.41271658e-01,-7.83700347e-01, 2.62608454e+00,
 -4.93790541e-02, 2.61248795e+00,-4.57394386e+00,-1.11104198e+01,
 -1.51263715e-02, 9.23822374e-01,-3.66594756e+00, 5.28834750e+00,
  1.06311135e-01,-1.19272929e-01, 1.12973009e+00,-1.44709916e+00,
  4.04630418e+00,-2.19406454e+00, 2.48381653e+00, 1.60860602e+02,
 -2.16593977e+02, 7.73694219e+00]

qfrc_actuator:
[ 4.02011666e-03, 7.19482534e-02, 2.02710831e-02, 1.81387743e-03,
 -8.62984781e-06, 3.47781457e-02, 1.09806931e-02, 1.93993318e-03,
 -2.98034512e-03, 3.47269365e-02, 1.08763751e-02, 1.67247784e-03,
  0.00000000e+00, 2.84426384e-03, 0.00000000e+00, 2.44535104e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006906328058234566
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02792011e-01,  8.79376718e-02, -9.48991024e-01, -2.67303786e-02,
        9.96125979e-01,  8.37766136e-02,  9.52681733e-01,  3.46944695e-18,
        3.03969596e-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([ 0.07213403, -0.0428765 ,  0.2246194 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003912389172572736
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.09427779e-15,  1.41885556e-14,  1.00000000e+00,  1.00657555e-28,
        1.00000000e+00, -1.41885556e-14, -1.00000000e+00,  0.00000000e+00,
       -7.09427779e-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([-0.07747482, -0.10027795,  0.06165374])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17122185e-03, 3.67392559e-02, 9.21153681e-03, 3.68174546e-06,
 -1.41422727e-05, 6.53521251e-05,-6.32889681e-05,-6.40748364e-05,
 -4.35280573e-06,-3.21965427e-05,-2.52414463e-05, 7.11154988e-06,
  3.22641973e-03, 4.66377280e-03, 9.09577728e-03, 1.86429496e-03,
 -3.97245224e-06, 3.74782747e-06,-4.90501410e+00, 6.38658020e-03,
  2.18469760e-03, 1.57159948e-04]


--- Step 2638 ---
qpos:
[-0.01616427, 1.29531766,-0.03214233, 0.94843951, 0.00434381, 1.33153284,
 -0.02974294, 0.94627378, 0.01675223, 1.33658463,-0.02391715, 0.95496276,
  1.3942544 ,-0.00599779, 1.18987775, 0.06138766,-0.05121747,-0.11086443,
  0.07912247, 0.58146389,-0.01304395,-0.00372147, 0.81345913]

qacc:
[-5.71983240e-02,-4.23159043e+00, 1.61450109e+01,-2.72144214e+01,
 -9.42856875e-03, 1.49542679e+00,-1.91866459e+00,-8.01274144e+00,
 -2.13897647e-01,-1.43919123e-01,-1.98312986e+00, 7.91356711e+00,
 -2.58965909e-02,-1.68917128e-01,-8.12809331e-01, 4.49362294e+00,
  1.94990955e+00,-3.62798953e+00, 3.66231039e+00, 2.97584379e+01,
 -2.36172541e+02,-2.97856677e+00]

qfrc_actuator:
[ 4.03185616e-03, 7.19086024e-02, 2.03145399e-02, 1.76039359e-03,
 -2.95238715e-06, 3.48401583e-02, 1.09579819e-02, 1.90292012e-03,
 -3.03946174e-03, 3.46338520e-02, 1.08555816e-02, 1.69456614e-03,
  0.00000000e+00, 2.86297437e-03, 0.00000000e+00, 2.68166446e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006903990389157677
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30277272,  0.0879388 , -0.94899707, -0.02672902,  0.99612588,
        0.08377823,  0.9526879 ,  0.        ,  0.30395026])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07213175, -0.04287692,  0.22461993])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -8.24032751,  -2.58530065,  -8.24032751,
        13.07826086, -14.1580005 ,  -2.58530065, -14.1580005 ,
        53.76324705,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038750113935466946
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.26667482e-07,  2.35026361e-15,  1.00000000e+00, -1.00278105e-21,
        1.00000000e+00, -2.35026361e-15, -1.00000000e+00,  0.00000000e+00,
        4.26667482e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05973367, -0.0940683 ,  0.06165678])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17627038e-03, 3.67300035e-02, 9.26294115e-03,-5.65337032e-05,
 -2.66530518e-06, 8.38773427e-05,-1.90029547e-05,-3.83901573e-05,
 -6.16870907e-05,-1.15613832e-04,-2.97443671e-05, 2.05606116e-05,
  3.21889706e-03, 4.68507167e-03, 9.03749739e-03, 1.87814256e-03,
  3.55810643e-05,-8.34106440e-07,-4.90501957e+00, 6.39438014e-03,
  2.18911775e-03, 1.54578423e-04]


--- Step 2639 ---
qpos:
[-0.01616729, 1.29533233,-0.03213672, 0.94843688, 0.0043438 , 1.33153299,
 -0.02974268, 0.94627526, 0.01675252, 1.33658422,-0.02391758, 0.95496254,
  1.3942622 ,-0.0059986 , 1.18985729, 0.06138846,-0.05121062,-0.11089323,
  0.0791486 , 0.5814548 ,-0.01236874,-0.00428708, 0.81347339]

qacc:
[ 4.89729511e-02,-4.03544538e+00, 1.49366730e+01,-3.03069258e+01,
  6.36183944e-03,-2.70723488e-01, 4.43796200e+00,-1.78057771e+01,
 -1.26069409e-01, 2.22483338e+00,-8.70599987e+00, 1.42861153e+01,
 -2.04157304e-01,-4.33236019e-02, 3.17832893e-01, 2.05955377e+00,
 -2.41079110e+00,-3.17274595e+00,-2.12931603e+00,-1.82246762e+02,
 -1.44574954e+02,-1.89099069e+01]

qfrc_actuator:
[ 4.05798613e-03, 7.18785897e-02, 2.03201426e-02, 1.67616292e-03,
  4.78299522e-07, 3.48770917e-02, 1.09445261e-02, 1.84462331e-03,
 -3.03936155e-03, 3.46674152e-02, 1.08431108e-02, 1.72559538e-03,
  0.00000000e+00, 2.89229854e-03, 0.00000000e+00, 2.46380819e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006902390484682663
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30275262,  0.08793998, -0.94900338, -0.02672761,  0.99612578,
        0.08377992,  0.95269433,  0.        ,  0.30393011])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07212955, -0.04287732,  0.22462046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.32934934, -2.28226125, -8.32934934, 11.16992128,
       -9.24648162, -2.28226125, -9.24648162, 42.38235816,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038197261902928326
  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([-0.01942489, -0.08013038,  0.06166136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20911828e-03, 3.66997639e-02, 9.22611614e-03,-8.35064668e-05,
  1.86106202e-06, 7.84703358e-05,-3.35916838e-07,-5.72257537e-05,
 -3.63241535e-05,-3.55714065e-05,-3.78287966e-05, 2.72105314e-05,
  3.22973395e-03, 4.72489218e-03, 8.99937457e-03, 1.82418468e-03,
  3.55097340e-05,-2.31276020e-05,-4.90510614e+00, 6.40947463e-03,
  2.19377344e-03, 9.88024512e-05]


--- Step 2640 ---
qpos:
[-0.01617018, 1.29534558,-0.03213218, 0.94843442, 0.00434381, 1.33153373,
 -0.02974253, 0.94627534, 0.01675294, 1.33658402,-0.02391816, 0.95496368,
  1.3942697 ,-0.00599932, 1.1898384 , 0.06138921,-0.05120027,-0.11093651,
  0.07918297, 0.58145446,-0.01137754,-0.00513117, 0.81348321]

qacc:
[ 5.27811931e-02, 1.31008274e+00,-6.85857743e+00, 8.67957402e+00,
  1.09033491e-02,-1.32996212e+00, 8.12681612e+00,-2.35887678e+01,
  4.90999641e-02, 3.02950023e+00,-1.22468769e+01, 2.60551787e+01,
 -3.86295030e-01, 4.42249536e-01, 2.45692898e+00,-5.17759138e+00,
  8.77062121e-01,-3.62119196e+00, 2.05752657e+00,-2.13539408e+01,
 -2.09438876e+02,-7.24819795e+00]

qfrc_actuator:
[ 4.03929716e-03, 7.18197358e-02, 2.02679462e-02, 1.68086276e-03,
  2.53257743e-06, 3.48987490e-02, 1.09365173e-02, 1.77424757e-03,
 -3.00373689e-03, 3.47233376e-02, 1.08538813e-02, 1.79721221e-03,
  0.00000000e+00, 2.91036988e-03, 0.00000000e+00, 1.97116853e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006901234653039906
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30273327,  0.08794111, -0.94900945, -0.02672625,  0.99612568,
        0.08378154,  0.95270052,  0.        ,  0.30391072])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07212752, -0.04287767,  0.22462096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00375067397337428
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.96006273e-14,  1.48003137e-14,  1.00000000e+00, -4.38098569e-28,
        1.00000000e+00, -1.48003137e-14, -1.00000000e+00,  0.00000000e+00,
        2.96006273e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05329149, -0.09170594,  0.06166687])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18468895e-03, 3.66847790e-02, 9.16938904e-03,-1.30291247e-06,
  3.15553077e-06, 6.32826500e-05, 5.62320299e-06,-6.93578588e-05,
  1.41772354e-05, 2.96722005e-05, 3.21477222e-07, 7.00878640e-05,
  3.25149445e-03, 4.75584779e-03, 8.92638794e-03, 1.74423859e-03,
 -4.84407224e-05, 2.06090203e-04,-4.90516226e+00, 6.40406636e-03,
  2.19061187e-03, 1.62243495e-04]


--- Step 2641 ---
qpos:
[-0.01617261, 1.29535783,-0.03212884, 0.94843372, 0.00434385, 1.33153482,
 -0.02974264, 0.94627357, 0.01675345, 1.33658301,-0.02391792, 0.95496605,
  1.39427724,-0.00599985, 1.189821  , 0.06138946,-0.05117913,-0.11096515,
  0.0792196 , 0.58146949,-0.01042781,-0.00544454, 0.81348316]

qacc:
[ 1.97835198e-01, 4.92341060e+00,-2.12559536e+01, 3.95065301e+01,
  1.06418176e-02,-1.98961414e+00, 1.08498276e+01,-3.10769028e+01,
  4.09618786e-02,-1.15187923e+00,-1.06308028e-02, 1.47410249e+01,
 -1.99481866e-01, 3.88720268e-01, 3.73208657e+00,-9.82716878e+00,
  2.69687741e+00, 3.65917942e+00, 5.67982138e-01, 2.03872142e+02,
  1.71256314e+02,-5.99275073e+00]

qfrc_actuator:
[ 4.04691948e-03, 7.18332372e-02, 2.02354610e-02, 1.77333611e-03,
  3.74430942e-06, 3.48933449e-02, 1.09139638e-02, 1.67956916e-03,
 -3.00035009e-03, 3.46325675e-02, 1.08784192e-02, 1.85666984e-03,
  0.00000000e+00, 2.90369851e-03, 0.00000000e+00, 1.31775525e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006899861620751624
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30271631,  0.08794218, -0.94901476, -0.02672508,  0.99612558,
        0.08378304,  0.95270594,  0.        ,  0.30389372])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07212565, -0.04287803,  0.2246214 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003745669672976723
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.48200872e-14,  4.44602616e-14,  1.00000000e+00,  6.58904955e-28,
        1.00000000e+00, -4.44602616e-14, -1.00000000e+00,  0.00000000e+00,
       -1.48200872e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07719898, -0.13745752,  0.06166777])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18610254e-03, 3.67694091e-02, 9.19080547e-03, 8.31753477e-05,
  3.07634295e-06, 2.86158898e-05,-1.15717211e-05,-9.42240624e-05,
  1.17575627e-05,-7.22176827e-05, 3.24222877e-05, 6.19778695e-05,
  3.26708207e-03, 4.74498922e-03, 8.84864781e-03, 1.68099770e-03,
 -1.09200259e-04, 4.59157915e-04,-4.90533920e+00, 6.40766016e-03,
  2.19501714e-03, 1.72601143e-04]


--- Step 2642 ---
qpos:
[-0.01617349, 1.29536749,-0.03212712, 0.94843396, 0.00434406, 1.33153612,
 -0.02974328, 0.94627105, 0.01675389, 1.33658145,-0.02391763, 0.95496844,
  1.39428495,-0.00600078, 1.18980975, 0.06138955,-0.05117577,-0.11098546,
  0.07924789, 0.58145361,-0.01005487,-0.00578139, 0.81349688]

qacc:
[ 6.61100101e-01, 2.56127995e+00,-1.43815916e+01, 2.48912428e+01,
  7.03022939e-02, 4.10022429e-01, 5.09688640e-01,-9.22043329e+00,
 -3.13045215e-02,-8.21141639e-01, 1.75293535e+00,-9.16948780e-01,
  6.45141365e-02,-2.82999649e-01, 9.57752743e+00,-2.02924200e+01,
 -4.44542031e+00, 2.08504530e+00,-2.08514713e+00,-1.77367280e+02,
  2.27620805e+02, 1.80203810e+01]

qfrc_actuator:
[ 4.08769111e-03, 7.18547864e-02, 2.02153479e-02, 1.81028328e-03,
  2.21934449e-05, 3.48894503e-02, 1.08828809e-02, 1.64233309e-03,
 -3.01633270e-03, 3.45967456e-02, 1.08748010e-02, 1.85515033e-03,
  0.00000000e+00, 2.89979388e-03, 0.00000000e+00,-1.02506341e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006898375728760717
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02701436e-01,  8.79430847e-02, -9.49019417e-01, -2.67240402e-02,
        9.96125501e-01,  8.37843172e-02,  9.52710694e-01,  3.46944695e-18,
        3.03878814e-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([ 0.07212391, -0.04287843,  0.22462181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037295004079872934
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.48843398e-14,  1.48843398e-14,  1.00000000e+00,  2.21543570e-28,
        1.00000000e+00, -1.48843398e-14, -1.00000000e+00,  0.00000000e+00,
       -1.48843398e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00368155, -0.1251742 ,  0.0616695 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20363977e-03, 3.68405878e-02, 9.23029700e-03, 3.16079469e-05,
  2.02658860e-05, 6.83632193e-06,-2.95676436e-05,-3.89043568e-05,
 -9.04460051e-06,-6.75787175e-05,-1.22196907e-05,-1.26621761e-06,
  3.26457604e-03, 4.73155755e-03, 8.77474333e-03, 1.47198184e-03,
 -1.27624504e-05, 1.62387190e-05,-4.90518756e+00, 6.39005641e-03,
  2.20257889e-03, 2.31714222e-05]


--- Step 2643 ---
qpos:
[-0.01617258, 1.29537443,-0.03212729, 0.94843467, 0.00434459, 1.33153703,
 -0.02974369, 0.94627227, 0.0167542 , 1.33658039,-0.02391819, 0.95497248,
  1.39429271,-0.00600225, 1.18980478, 0.06138938,-0.05118823,-0.11099836,
  0.0792644 , 0.58141047,-0.01019392,-0.00613922, 0.81352336]

qacc:
[ 7.62094904e-01, 2.33240208e+00,-1.28663925e+01, 1.82572286e+01,
  1.41011845e-01, 5.23982075e+00,-2.53417337e+01, 6.54134222e+01,
 -5.24641225e-02, 5.76891775e+00,-2.13298908e+01, 3.71235999e+01,
  6.89188064e-02,-4.14979508e-01, 1.00271480e+01,-2.16375507e+01,
 -3.95538103e+00, 1.85089723e+00,-2.94614559e+00,-1.57478544e+02,
  2.02010764e+02, 1.61757581e+01]

qfrc_actuator:
[ 4.12932727e-03, 7.18831641e-02, 2.01858139e-02, 1.83179473e-03,
  5.08340091e-05, 3.48687231e-02, 1.09003093e-02, 1.83447750e-03,
 -3.02605247e-03, 3.46827260e-02, 1.08547334e-02, 1.94203121e-03,
  0.00000000e+00, 2.89806073e-03, 0.00000000e+00,-2.96272784e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006898449761270874
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30269059,  0.08794347, -0.94902284, -0.0267232 ,  0.99612547,
        0.08378499,  0.95271416,  0.        ,  0.30386794])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07212273, -0.04287889,  0.2246221 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003730258636603312
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.48813143e-14,  2.97626286e-14,  1.00000000e+00,  4.42907031e-28,
        1.00000000e+00, -2.97626286e-14, -1.00000000e+00,  0.00000000e+00,
       -1.48813143e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00367104, -0.12517806,  0.06166987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16771276e-03, 3.69987193e-02, 9.28195348e-03, 6.38321732e-06,
  4.06000219e-05,-2.39053591e-05, 1.42575788e-05, 1.90577755e-04,
 -1.50632712e-05, 4.61995554e-05,-3.46862499e-05, 8.44929609e-05,
  3.25661220e-03, 4.74969532e-03, 8.46686193e-03, 1.28631218e-03,
 -1.32155199e-05, 7.40758544e-05,-4.90505615e+00, 6.39831986e-03,
  2.20193247e-03, 1.17114848e-04]


--- Step 2644 ---
qpos:
[-0.0161721 , 1.29538332,-0.03212724, 0.94843475, 0.00434517, 1.33153719,
 -0.02974365, 0.94627579, 0.01675439, 1.33658017,-0.02392007, 0.95497752,
  1.39430028,-0.00600354, 1.18979449, 0.06138877,-0.05118984,-0.11099568,
  0.07928291, 0.58138926,-0.0103662 ,-0.00597901, 0.81353754]

qacc:
[-1.82180668e-01, 9.14000929e-01, 1.38698094e+00,-9.65379655e+00,
  1.82368205e-02, 1.78873174e+00,-1.17679921e+01, 3.74868494e+01,
 -5.15598507e-02, 6.42014367e+00,-2.16156105e+01, 2.97740566e+01,
 -3.18549470e-02, 9.63511826e-02,-6.51117897e+00, 1.13640542e+01,
  2.71419195e+00, 3.89477758e+00, 4.99404666e-01, 2.01123106e+02,
  1.64243462e+02,-9.75785463e+00]

qfrc_actuator:
[ 4.13511946e-03, 7.18990417e-02, 2.01692961e-02, 1.82638415e-03,
  3.20983475e-05, 3.48028948e-02, 1.09107877e-02, 1.94704143e-03,
 -3.03193552e-03, 3.47344401e-02, 1.07901644e-02, 1.99155920e-03,
  0.00000000e+00, 2.89793596e-03, 0.00000000e+00,-3.95059900e-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: -0.0006900022722766928
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30268414,  0.08794328, -0.94902492, -0.02672257,  0.99612548,
        0.08378499,  0.95271623,  0.        ,  0.30386146])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07212213, -0.0428794 ,  0.22462227])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003736875064801068
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.48549658e-14,  1.48549658e-14,  1.00000000e+00,  2.20670008e-28,
        1.00000000e+00, -1.48549658e-14, -1.00000000e+00,  0.00000000e+00,
       -1.48549658e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07722649, -0.13750109,  0.06166963])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08409452e-03, 3.71502103e-02, 9.35994641e-03,-2.24676319e-05,
  5.22112734e-06,-7.05518637e-05, 1.30105525e-05, 1.16688840e-04,
 -1.47762318e-05, 7.30048417e-05,-5.70087596e-05, 5.18519424e-05,
  3.25391328e-03, 4.77678843e-03, 8.15338411e-03, 1.55596964e-03,
  8.82583228e-05, 5.31907844e-05,-4.90502667e+00, 6.39454525e-03,
  2.19720137e-03, 1.19675384e-04]


--- Step 2645 ---
qpos:
[-0.01617285, 1.29539509,-0.03212601, 0.94843463, 0.00434539, 1.33153706,
 -0.0297435 , 0.9462782 , 0.01675434, 1.33657997,-0.02392204, 0.9549807 ,
  1.39430751,-0.00600438, 1.18977778, 0.0613879 ,-0.05118174,-0.11097919,
  0.07929892, 0.58138692,-0.01056901,-0.00535585, 0.81354094]

qacc:
[-5.26757879e-01, 2.16245917e-01, 4.26849140e+00,-7.89783145e+00,
 -1.52487518e-01,-2.62443819e+00, 1.04117225e+01,-2.18277081e+01,
 -1.04065076e-01,-2.94721521e+00, 1.33572778e+01,-3.29462900e+01,
 -2.50973686e-01, 4.94017041e-01,-8.65391618e+00, 1.65440795e+01,
  2.42572663e+00, 3.45536758e+00,-6.21892240e-01, 1.79512369e+02,
  1.47107474e+02,-8.31953050e+00]

qfrc_actuator:
[ 4.12090523e-03, 7.18328309e-02, 2.01592376e-02, 1.82347872e-03,
 -1.49061924e-05, 3.47992903e-02, 1.09167988e-02, 1.88751179e-03,
 -3.05322213e-03, 3.46940383e-02, 1.07707245e-02, 1.89439011e-03,
  0.00000000e+00, 2.91601713e-03, 0.00000000e+00, 1.50570025e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006899772828291156
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30267563,  0.08794323, -0.94902764, -0.02672181,  0.99612549,
        0.08378518,  0.95271896,  0.        ,  0.30385291])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07212105, -0.04287983,  0.22462254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037065871000555514
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.48817574e-15,  2.99527030e-14,  1.00000000e+00,  2.24291104e-28,
        1.00000000e+00, -2.99527030e-14, -1.00000000e+00,  0.00000000e+00,
       -7.48817574e-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([-0.07726589, -0.13754873,  0.06167214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09122919e-03, 3.69864432e-02, 9.33907622e-03, 5.85606500e-06,
 -4.39264723e-05,-3.65835776e-05,-2.88209316e-06,-5.85513975e-05,
 -3.00089715e-05,-9.61753861e-06,-1.01348442e-05,-9.54629243e-05,
  3.26367862e-03, 4.78561414e-03, 8.41946895e-03, 1.76827858e-03,
 -4.10737221e-06, 1.66790014e-05,-4.90500719e+00, 6.38835534e-03,
  2.20212854e-03, 1.13570426e-04]


--- Step 2646 ---
qpos:
[-0.01617432, 1.29540822,-0.03212408, 0.94843498, 0.00434546, 1.33153688,
 -0.02974251, 0.94627982, 0.01675403, 1.33657903,-0.02392305, 0.95498271,
  1.39431474,-0.00600491, 1.18975857, 0.06138691,-0.05118911,-0.1109551 ,
  0.07930199, 0.58135411,-0.01125898,-0.00475589, 0.81355886]

qacc:
[-3.07507104e-01, 7.21106422e-01,-1.13963430e+00, 5.57181313e+00,
 -6.40872123e-02,-3.64838701e+00, 1.34127856e+01,-2.07087864e+01,
 -1.04933847e-01,-5.57443181e+00, 1.93888420e+01,-2.99189681e+01,
 -8.56628748e-02, 3.03723115e-01,-3.33289303e+00, 6.31934174e+00,
 -3.86570922e+00, 1.89613150e+00,-3.23911678e+00,-1.51178454e+02,
  1.91263292e+02, 1.77998157e+01]

qfrc_actuator:
[ 4.09566654e-03, 7.17866776e-02, 2.01519984e-02, 1.83966222e-03,
 -7.47573380e-06, 3.48328496e-02, 1.09735239e-02, 1.85150325e-03,
 -3.06582508e-03, 3.46343689e-02, 1.08131578e-02, 1.83592618e-03,
  0.00000000e+00, 2.90918159e-03, 0.00000000e+00, 1.76361972e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000689784718072569
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02663240e-01,  8.79435984e-02, -9.49031552e-01, -2.67208255e-02,
        9.96125456e-01,  8.37858818e-02,  9.52722919e-01,  3.46944695e-18,
        3.03840484e-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([ 0.07211937, -0.04288018,  0.22462293])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0036376751035742394
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.52600630e-14,  1.52600630e-14,  1.00000000e+00,  2.32869523e-28,
        1.00000000e+00, -1.52600630e-14, -1.00000000e+00,  0.00000000e+00,
       -1.52600630e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00345792, -0.12525601,  0.06167746])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12776549e-03, 3.67966929e-02, 9.27251260e-03, 3.24458799e-05,
 -1.84919573e-05, 1.10061152e-05, 4.75308384e-05,-3.85448898e-05,
 -3.03210066e-05,-6.97889425e-05, 3.66170339e-05,-6.12656931e-05,
  3.28047308e-03, 4.75646755e-03, 8.74060818e-03, 1.80740055e-03,
  7.38260285e-05, 2.32205273e-04,-4.90508265e+00, 6.39069697e-03,
  2.19797842e-03, 1.81739254e-04]


--- Step 2647 ---
qpos:
[-0.01617652, 1.29542273,-0.03212101, 0.94843515, 0.00434562, 1.33153718,
 -0.02974163, 0.9462803 , 0.01675353, 1.33657814,-0.02392413, 0.95498433,
  1.3943222 ,-0.00600527, 1.18973728, 0.06138613,-0.0511872 ,-0.11091755,
  0.07930061, 0.58133969,-0.01197664,-0.00371699, 0.81356433]

qacc:
[-3.08941550e-01,-1.58464475e+00, 7.69884807e+00,-9.54163845e+00,
  3.94146964e-02,-1.04013805e+00, 6.49014345e+00,-1.90988871e+01,
 -8.74083279e-02,-4.24045767e-01, 2.24307387e+00,-6.43856851e+00,
  1.83380668e-01,-4.48763079e-02,-3.72979576e+00, 8.55507321e+00,
  2.31938922e+00, 3.36842208e+00,-1.10869753e+00, 1.70580208e+02,
  1.38965156e+02,-8.56036227e+00]

qfrc_actuator:
[ 4.06379317e-03, 7.17706611e-02, 2.01819698e-02, 1.83119874e-03,
  1.47986470e-05, 3.48708508e-02, 1.09711681e-02, 1.79421744e-03,
 -3.07311699e-03, 3.46703914e-02, 1.08206953e-02, 1.81850293e-03,
  0.00000000e+00, 2.88735612e-03, 0.00000000e+00, 2.45559864e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006895455249891734
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30264888,  0.08794421, -0.94903608, -0.02671974,  0.9961254 ,
        0.08378687,  0.95272751,  0.        ,  0.30382608])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07211745, -0.04288052,  0.22462337])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   8.48407893,   1.61467695,   8.48407893,
        11.46018632, -14.83735465,   1.61467695, -14.83735465,
        86.59702816,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003591653853815463
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.54555961e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.54555961e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07740599, -0.13770669,  0.06168092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13195189e-03, 3.67119592e-02, 9.26757388e-03, 4.83306894e-07,
  1.13625991e-05, 5.22301824e-05, 4.07521487e-06,-5.64540308e-05,
 -2.51966962e-05, 2.77450671e-06,-3.71816839e-06,-1.98454841e-05,
  3.28045736e-03, 4.71925637e-03, 8.86586066e-03, 1.88240591e-03,
 -5.96073866e-05, 2.31207580e-04,-4.90514402e+00, 6.37555447e-03,
  2.19632988e-03, 1.52311362e-04]


--- Step 2648 ---
qpos:
[-0.01617849, 1.29543658,-0.03211802, 0.94843581, 0.00434566, 1.3315381 ,
 -0.02974177, 0.94628117, 0.01675286, 1.33657736,-0.02392598, 0.95498473,
  1.39432998,-0.00600568, 1.18971808, 0.06138547,-0.05119819,-0.11089546,
  0.07929963, 0.58134747,-0.01265265,-0.00329017, 0.81355037]

qacc:
[ 9.74694727e-02, 2.21290195e-01,-2.75344783e+00, 8.46707251e+00,
 -5.42401502e-02, 4.22513803e+00,-1.35868280e+01, 1.58207614e+01,
 -6.57375656e-02, 1.21424277e-01, 2.24592918e+00,-1.61457874e+01,
  1.94748164e-01,-1.86344412e-01, 2.70346176e+00,-5.01205471e+00,
 -3.22501025e+00,-3.86831660e+00, 9.83070221e-02,-2.36781210e+02,
 -1.94702644e+02,-1.84213935e+01]

qfrc_actuator:
[ 4.06373639e-03, 7.17544261e-02, 2.01802833e-02, 1.84390949e-03,
 -7.46258427e-06, 3.48932411e-02, 1.09162032e-02, 1.81359254e-03,
 -3.07716486e-03, 3.46568238e-02, 1.07724296e-02, 1.75437458e-03,
  0.00000000e+00, 2.87429529e-03, 0.00000000e+00, 1.45240088e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25466376,  0.24977527, -0.04965829,  0.24977527,  0.26503186,
        0.05215033, -0.04965829,  0.05215033,  0.51697369,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000689297602760968
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02632114e-01,  8.79450657e-02, -9.49041342e-01, -2.67185268e-02,
        9.96125326e-01,  8.37881550e-02,  9.52732871e-01, -3.46944695e-18,
        3.03809276e-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([ 0.07211532, -0.04288086,  0.22462387])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0036625683391807995
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.57817276e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.57817276e-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([-0.0191728 , -0.07989532,  0.06167559])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16813311e-03, 3.66270380e-02, 9.20860144e-03, 2.19624248e-05,
 -1.55540179e-05, 5.03837892e-05,-4.59422621e-05, 1.97529939e-05,
 -1.89246788e-05,-1.33392537e-05,-4.87226844e-05,-6.46171309e-05,
  3.26892938e-03, 4.69725616e-03, 8.97036898e-03, 1.77150033e-03,
  1.09915040e-05, 6.87316299e-04,-4.90530595e+00, 6.38711690e-03,
  2.18769766e-03, 3.02371491e-04]


--- Step 2649 ---
qpos:
[-0.01618016, 1.29544879,-0.03211629, 0.94843747, 0.00434551, 1.33153893,
 -0.02974177, 0.94628261, 0.01675209, 1.33657587,-0.02392756, 0.95498541,
  1.39433759,-0.00600607, 1.18970193, 0.06138461,-0.05122063,-0.11088716,
  0.07929458, 0.58137606,-0.01329268,-0.00340452, 0.81351926]

qacc:
[ 1.28071018e-01, 2.89447760e+00,-1.40843948e+01, 2.47166283e+01,
 -7.80230199e-02, 4.82136345e-01,-2.87193663e+00, 9.16670667e+00,
 -4.58304477e-02,-1.16315276e+00, 2.09296901e+00, 1.89736894e+00,
 -3.29776622e-01, 3.84507327e-01, 5.14474142e+00,-1.13923961e+01,
 -2.86388870e+00,-3.44546594e+00,-1.01811640e+00,-2.09575497e+02,
 -1.71790716e+02,-1.69379429e+01]

qfrc_actuator:
[ 4.06435336e-03, 7.17572843e-02, 2.01426246e-02, 1.88648206e-03,
 -2.07565081e-05, 3.48704323e-02, 1.09193996e-02, 1.84239436e-03,
 -3.07923513e-03, 3.45956708e-02, 1.07801799e-02, 1.76973253e-03,
  0.00000000e+00, 2.91992333e-03, 0.00000000e+00, 3.19815740e-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: -0.0006891266898858307
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02616054e-01,  8.79458454e-02, -9.49046391e-01, -2.67173475e-02,
        9.96125257e-01,  8.37893493e-02,  9.52738006e-01,  3.46944695e-18,
        3.03793174e-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([ 0.07211338, -0.04288126,  0.22462433])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.63549656,  0.12237683, -8.63549656,  8.64806665,
        0.8258207 ,  0.12237683,  0.8258207 , 66.91023629,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0036951337019506952
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.51138602e-15,  3.00455441e-14,  1.00000000e+00,  2.25683680e-28,
        1.00000000e+00, -3.00455441e-14, -1.00000000e+00,  0.00000000e+00,
       -7.51138602e-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([-0.01921674, -0.07994458,  0.06167315])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.15731001e-03, 3.66622165e-02, 9.17533089e-03, 4.00380103e-05,
 -2.24706231e-05,-3.33645409e-06, 8.40229296e-06, 2.94269993e-05,
 -1.32442342e-05,-7.99525798e-05,-2.27900955e-06, 1.20302834e-05,
  3.25303923e-03, 4.74613255e-03, 8.86655332e-03, 1.65235452e-03,
 -4.13563947e-05, 1.11175010e-04,-4.90513442e+00, 6.39965196e-03,
  2.18892031e-03, 1.39182323e-04]


--- Step 2650 ---
qpos:
[-0.01618255, 1.29546173,-0.03211466, 0.94843969, 0.00434548, 1.33153951,
 -0.02974102, 0.94628367, 0.01675125, 1.33657402,-0.02392862, 0.95498691,
  1.39434491,-0.00600607, 1.18968346, 0.06138347,-0.0512533 ,-0.1108912 ,
  0.07928158, 0.58142363,-0.01390151,-0.0040002 , 0.81347238]

qacc:
[-3.04828518e-01, 2.21927937e+00,-7.24130568e+00, 1.24009880e+01,
  5.02877728e-02,-2.98596631e+00, 1.00936160e+01,-1.28996432e+01,
 -3.00547864e-02,-4.73130500e-01,-6.88968195e-01, 1.03185831e+01,
 -3.88788290e-01, 6.38214512e-01,-2.52593137e+00, 3.94786815e+00,
 -2.55531012e+00,-3.08503240e+00,-1.98606926e+00,-1.86612785e+02,
 -1.52470650e+02,-1.55556831e+01]

qfrc_actuator:
[ 4.04745842e-03, 7.17906097e-02, 2.01378365e-02, 1.92851978e-03,
  6.94289474e-06, 3.48564605e-02, 1.09567344e-02, 1.82325193e-03,
 -3.08010342e-03, 3.46132610e-02, 1.08208107e-02, 1.81401040e-03,
  0.00000000e+00, 2.94743296e-03, 0.00000000e+00, 1.42019490e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000688997978775932
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02602755e-01,  8.79465024e-02, -9.49050570e-01, -2.67163746e-02,
        9.96125199e-01,  8.37903492e-02,  9.52742257e-01, -3.46944695e-18,
        3.03779841e-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([ 0.07211172, -0.04288169,  0.22462473])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.63567835,  0.10879469, -8.63567835,  8.64660641,
        0.81302977,  0.10879469,  0.81302977, 73.17134955,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003676019708760303
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.51008851e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.51008851e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01919086, -0.07992442,  0.0616745 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12537256e-03, 3.67778459e-02, 9.23296478e-03, 3.24186242e-05,
  1.44391041e-05,-1.32966332e-05, 3.85013250e-05,-1.83103164e-05,
 -8.69164404e-06,-2.66996490e-05, 2.51138132e-05, 4.21188624e-05,
  3.26156805e-03, 4.77190051e-03, 8.71434059e-03, 1.77265509e-03,
  1.21920511e-04,-5.08213039e-05,-4.90509781e+00, 6.40267877e-03,
  2.19405811e-03, 9.17681620e-05]


--- Step 2651 ---
qpos:
[-0.01618574, 1.29547687,-0.03211223, 0.94844257, 0.0043458 , 1.33154006,
 -0.0297403 , 0.94628763, 0.01675036, 1.33657244,-0.0239294 , 0.95498785,
  1.3943525 ,-0.00600564, 1.18966007, 0.06138207,-0.05131738,-0.11092019,
  0.07927597, 0.58127081,-0.01382454,-0.00433767, 0.81358116]

qacc:
[-3.45741531e-01, 1.84403492e+00,-3.86194744e+00, 9.47148530e+00,
  1.48708745e-01, 4.98658727e+00,-2.22360127e+01, 5.27838597e+01,
 -1.82765216e-02,-1.37082768e+00, 6.02380163e+00,-1.18560856e+01,
  1.55172067e-01, 1.69951526e-01,-6.52235215e+00, 1.22263400e+01,
 -7.85531502e+00,-6.23726237e+00, 1.84675971e+00, 3.03312066e+02,
 -2.05362954e+02, 1.27185006e+02]

qfrc_actuator:
[ 4.03870430e-03, 7.18404932e-02, 2.01521275e-02, 1.97026271e-03,
  4.12567584e-05, 3.48657537e-02, 1.09606359e-02, 1.97133736e-03,
 -3.08024441e-03, 3.46602784e-02, 1.08452985e-02, 1.78622339e-03,
  0.00000000e+00, 2.91045508e-03, 0.00000000e+00, 2.97432519e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006887756173965358
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30258886,  0.08794738, -0.94905492, -0.02671542,  0.99612512,
        0.08379158,  0.9527467 ,  0.        ,  0.30376591])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07210985, -0.04288208,  0.22462515])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -0.42837911,  8.62573291, -0.42837911,  2.96089836,
       -0.2818602 ,  8.62573291, -0.2818602 ,  8.62236564,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007781413435369256
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.86780646e-01, -3.93390323e-01,  4.75626185e-01, -3.36655938e-01,
        9.19371554e-01,  2.03515910e-01, -5.17338374e-01,  2.77555756e-17,
       -8.55780934e-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([-0.07779382, -0.10021185,  0.06167249])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.15235515e-03, 3.67909502e-02, 9.25254268e-03, 4.56828577e-05,
  4.28339897e-05, 8.91536895e-06, 5.14427211e-06, 1.48393269e-04,
 -5.27502342e-06, 3.84202898e-05, 2.33651148e-05,-2.68649431e-05,
  3.27635795e-03, 4.71593773e-03, 8.83019838e-03, 1.94228817e-03,
  4.33239875e-04, 7.87208214e-05,-4.90515554e+00, 6.39873717e-03,
  2.20240912e-03, 1.25545413e-04]


--- Step 2652 ---
qpos:
[-0.01618927, 1.29549366,-0.03210857, 0.94844663, 0.00434634, 1.33154112,
 -0.02973992, 0.94629088, 0.0167496 , 1.33657159,-0.02393006, 0.95498739,
  1.39436046,-0.00600501, 1.18963496, 0.0613807 ,-0.05140435,-0.11096984,
  0.07927327, 0.58095897,-0.01314776,-0.00447083, 0.81381437]

qacc:
[-1.42673540e-01, 8.71763543e-01,-2.67456888e+00, 1.50907553e+01,
  9.63658232e-02, 3.83056485e-01, 1.01341581e+00,-9.38854508e+00,
  5.17703452e-02,-1.78054401e+00, 9.82238248e+00,-2.52326724e+01,
  2.63407149e-01,-9.09094590e-02,-2.62738700e+00, 5.45775994e+00,
 -5.71909694e+00,-5.16547443e+00, 7.26919861e-01, 2.56605252e+02,
 -1.85819928e+02, 1.00959362e+02]

qfrc_actuator:
[ 4.03521666e-03, 7.18452987e-02, 2.01947607e-02, 2.02927492e-03,
  4.37539111e-05, 3.49066331e-02, 1.09449551e-02, 1.93260337e-03,
 -3.06219584e-03, 3.47244669e-02, 1.08601357e-02, 1.71625304e-03,
  0.00000000e+00, 2.88782957e-03, 0.00000000e+00, 3.20378651e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00068841899606489
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3025721 ,  0.08794854, -0.94906015, -0.02671429,  0.99612502,
        0.08379315,  0.95275205,  0.        ,  0.30374912])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07210752, -0.04288247,  0.22462567])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -6.55650706,  -5.62129808,  -6.55650706,
        37.09894489, -33.19786858,  -5.62129808, -33.19786858,
        47.35732391,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.007723535419028973
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.84662240e-01, -3.92331120e-01,  4.79980688e-01, -3.34680762e-01,
        9.19824055e-01,  2.04725415e-01, -5.21817934e-01,  2.77555756e-17,
       -8.53056882e-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([-0.07784874, -0.10024297,  0.06167197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18940441e-03, 3.66858802e-02, 9.25543465e-03, 7.22966236e-05,
  2.77735684e-05, 5.12686911e-05,-9.00014384e-06,-3.48659252e-05,
  1.49345096e-05, 8.92137994e-05, 2.42134136e-05,-6.87754041e-05,
  3.26280460e-03, 4.67125138e-03, 9.07702158e-03, 1.97791036e-03,
  5.91227666e-05, 7.60425811e-05,-4.90504484e+00, 6.42229463e-03,
  2.17425544e-03, 1.81015382e-04]


--- Step 2653 ---
qpos:
[-0.01619252, 1.29551005,-0.03210458, 0.94844954, 0.00434674, 1.33154279,
 -0.02973999, 0.94629122, 0.016749  , 1.33657186,-0.02393157, 0.95498576,
  1.39436873,-0.0060047 , 1.18961098, 0.06137994,-0.05150703,-0.11103651,
  0.07926959, 0.58052219,-0.01194362,-0.00444426, 0.8141447 ]

qacc:
[ 1.21118488e-01,-3.40233044e+00, 1.28528327e+01,-2.43426524e+01,
 -6.24908732e-02,-2.97743616e+00, 1.66290840e+01,-4.84865521e+01,
  6.87494475e-02, 1.74337602e+00,-1.60086080e+00,-1.26829773e+01,
  4.25735742e-01,-6.46436620e-01,-2.17123072e-01, 3.12672127e+00,
 -3.93087154e+00,-4.25761195e+00,-2.44983870e-01, 2.17578969e+02,
 -1.69105521e+02, 7.89251617e+01]

qfrc_actuator:
[ 4.05248976e-03, 7.18227281e-02, 2.02003864e-02, 1.95582420e-03,
  9.39145193e-06, 3.49304269e-02, 1.09178463e-02, 1.78421873e-03,
 -3.05113440e-03, 3.47806226e-02, 1.08159715e-02, 1.65755172e-03,
  0.00000000e+00, 2.87388977e-03, 0.00000000e+00, 2.81424096e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006880895778720274
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02552606e-01,  8.79498274e-02, -9.49066251e-01, -2.67129647e-02,
        9.96124906e-01,  8.37949262e-02,  9.52758279e-01, -3.46944695e-18,
        3.03729586e-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([ 0.072105  , -0.04288289,  0.22462625])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -5.36711552,  -6.76615458,  -5.36711552,
        29.67463527, -16.68818425,  -6.76615458, -16.68818425,
        21.87392889,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.007591437921549873
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.78315919, -0.39157959,  0.48303945, -0.33328379,  0.92014424,
        0.20556385, -0.52496057,  0.        , -0.85112654])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07800938, -0.10027882,  0.06167491])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.22340562e-03, 3.65808621e-02, 9.19946272e-03,-6.07499082e-05,
 -1.79711147e-05, 4.93453598e-05,-1.91256128e-05,-1.47913725e-04,
  1.98816817e-05, 1.08186777e-04,-2.60011639e-05,-5.69527267e-05,
  3.24374443e-03, 4.64777675e-03, 9.16367772e-03, 1.93795410e-03,
  1.44673289e-04, 7.72681370e-05,-4.90527542e+00, 6.54002417e-03,
  2.22174152e-03, 9.81528185e-05]


--- Step 2654 ---
qpos:
[-0.01619547, 1.29552496,-0.0321015 , 0.94844963, 0.00434674, 1.33154439,
 -0.02974052, 0.94629157, 0.01674855, 1.33657288,-0.02393362, 0.95498552,
  1.39437709,-0.00600477, 1.18958757, 0.06137988,-0.05159617,-0.11110753,
  0.07925603, 0.5802052 ,-0.01080476,-0.00499312, 0.81438336]

qacc:
[ 1.28476980e-01,-4.24132573e+00, 1.72407217e+01,-4.64776023e+01,
 -1.70388734e-01, 1.16579341e+00,-3.92385221e+00, 3.53071338e+00,
  6.40566126e-02, 4.85101154e+00,-1.74237553e+01, 3.07135434e+01,
  3.58806558e-01,-6.60671786e-01,-1.27247879e+00, 5.60014650e+00,
  3.38884359e+00,-1.08407262e+00,-2.46933070e+00,-2.52675707e+02,
 -1.39637409e+02,-7.86661004e+01]

qfrc_actuator:
[ 4.06398194e-03, 7.17851136e-02, 2.01487059e-02, 1.80477507e-03,
 -2.90501845e-05, 3.48904154e-02, 1.08841222e-02, 1.78555934e-03,
 -3.04435466e-03, 3.48135497e-02, 1.07905871e-02, 1.73019538e-03,
  0.00000000e+00, 2.86559230e-03, 0.00000000e+00, 2.93488582e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25424653,  0.24520759, -0.06719031,  0.24520759,  0.2940761 ,
        0.14535596, -0.06719031,  0.14535596,  0.78471566,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006878198795967176
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02533166e-01,  8.79510301e-02, -9.49072336e-01, -2.67116165e-02,
        9.96124800e-01,  8.37966183e-02,  9.52764490e-01,  3.46944695e-18,
        3.03710103e-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([ 0.07210259, -0.04288332,  0.2246268 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -0.40148382,  8.62702658, -0.40148382,  4.7004422 ,
       -0.18316957,  8.62702658, -0.18316957,  8.62783931,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003619597670680416
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.53362766e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.53362766e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01949046, -0.07987832,  0.06167836])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.22069250e-03, 3.65628050e-02, 9.13098631e-03,-1.53577181e-04,
 -4.90441925e-05,-2.09028286e-05,-3.05853652e-05,-1.16936534e-06,
  1.85222252e-05, 8.59859492e-05,-8.87858939e-06, 7.37590921e-05,
  3.22923647e-03, 4.65529945e-03, 9.10724150e-03, 1.91927126e-03,
  4.93370182e-04, 6.17869904e-05,-4.90571064e+00, 6.71006706e-03,
  2.30931048e-03,-7.78380298e-05]


--- Step 2655 ---
qpos:
[-0.01619857, 1.2955385 ,-0.03209932, 0.94844895, 0.00434646, 1.33154584,
 -0.02974108, 0.94629088, 0.01674836, 1.33657413,-0.02393576, 0.95498653,
  1.39438499,-0.00600488, 1.18956616, 0.06138012,-0.0516871 ,-0.11117286,
  0.07923389, 0.57983041,-0.01036468,-0.00558698, 0.8146521 ]

qacc:
[-6.59141996e-02,-7.27631768e-01, 1.77777416e+00,-9.70839266e+00,
 -1.18095056e-01,-1.85347407e+00, 7.93659219e+00,-1.88067603e+01,
  1.13876608e-01, 2.68587080e+00,-1.08968061e+01, 2.36102438e+01,
 -4.29478667e-01, 3.70302822e-01, 2.04316053e+00,-2.79465539e+00,
 -4.51619011e-01, 1.42150541e+00,-2.14481009e+00,-2.21278917e+02,
  2.71176793e+02, 3.37667217e+01]

qfrc_actuator:
[ 4.03636932e-03, 7.17042032e-02, 2.01170163e-02, 1.76904822e-03,
 -3.41204426e-05, 3.48835606e-02, 1.08821266e-02, 1.73296162e-03,
 -3.02244531e-03, 3.47969363e-02, 1.07764968e-02, 1.79079091e-03,
  0.00000000e+00, 2.91412888e-03, 0.00000000e+00, 2.47082999e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006874895418322452
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.302516  ,  0.08795212, -0.94907771, -0.02671043,  0.9961247 ,
        0.08379813,  0.95276997,  0.        ,  0.3036929 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0721003 , -0.04288374,  0.22462731])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003667652879722094
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.02706679e-14,  3.02706679e-14,  1.00000000e+00,  9.16313338e-28,
        1.00000000e+00, -3.02706679e-14, -1.00000000e+00,  0.00000000e+00,
       -3.02706679e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00391147, -0.12523655,  0.0616746 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17800328e-03, 3.65553715e-02, 9.14504734e-03,-4.89839470e-05,
 -3.40122452e-05,-2.44454529e-05,-9.59739642e-06,-5.41456367e-05,
  3.28481493e-05, 3.13829259e-05, 3.85192119e-06, 6.45985076e-05,
  3.22390322e-03, 4.72286650e-03, 9.07930466e-03, 1.83853863e-03,
  9.22941671e-05, 2.70012949e-04,-4.90565287e+00, 6.69425490e-03,
  2.22442943e-03, 3.83035828e-05]


--- Step 2656 ---
qpos:
[-0.01620237, 1.29555244,-0.03209714, 0.94844798, 0.00434628, 1.33154722,
 -0.02974147, 0.94629024, 0.01674845, 1.33657525,-0.02393752, 0.95498688,
  1.39439238,-0.00600473, 1.18954322, 0.06138046,-0.0517535 ,-0.11120991,
  0.07922258, 0.57946948,-0.00996865,-0.00565015, 0.81491339]

qacc:
[-2.98047326e-01, 3.64836445e-02, 1.11673868e+00,-4.55235401e+00,
  4.40401733e-02,-4.98912300e-01, 1.41541539e+00,-6.34706619e-01,
  1.12650781e-01,-2.33210044e+00, 8.72152964e+00,-1.50371009e+01,
 -4.91941744e-01, 6.27920241e-01,-2.52485672e+00, 5.63507264e+00,
  6.13596536e+00, 7.07092905e+00, 2.70514200e+00, 2.03438485e+02,
  1.71873452e+02,-4.93492947e+00]

qfrc_actuator:
[ 4.03888712e-03, 7.16333207e-02, 2.00976686e-02, 1.76610642e-03,
 -1.37765405e-06, 3.48967083e-02, 1.08989352e-02, 1.73780614e-03,
 -3.00938889e-03, 3.47685797e-02, 1.07867060e-02, 1.75499040e-03,
  0.00000000e+00, 2.94331600e-03, 0.00000000e+00, 3.43225331e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006871770095376387
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30250101,  0.08795322, -0.94908238, -0.02670945,  0.99612461,
        0.08379961,  0.95277476,  0.        ,  0.30367788])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07209823, -0.04288415,  0.22462777])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.15153753,  2.85293054,  8.15153753, 11.30684361,
       -7.63023054,  2.85293054, -7.63023054, 30.43784448,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037192816356912267
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.46261734e-15,  3.73130867e-15,  1.00000000e+00, -2.78453288e-29,
        1.00000000e+00, -3.73130867e-15, -1.00000000e+00,  0.00000000e+00,
        7.46261734e-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([-0.07764254, -0.13781   ,  0.06167047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18824212e-03, 3.65535463e-02, 9.17050800e-03,-1.28807341e-05,
  1.26712670e-05,-3.88645212e-06, 9.34791659e-06, 2.57445066e-06,
  3.24512978e-05,-8.33947160e-06, 1.86680733e-05,-3.32543663e-05,
  3.24742480e-03, 4.75387034e-03, 8.97986688e-03, 1.91929784e-03,
  1.80556667e-04, 3.18258669e-04,-4.90529203e+00, 6.58521233e-03,
  2.17021486e-03, 1.64346167e-04]


--- Step 2657 ---
qpos:
[-0.0162067 , 1.29556768,-0.03209437, 0.94844618, 0.00434648, 1.33154875,
 -0.02974235, 0.94629002, 0.01674846, 1.33657585,-0.02393842, 0.95498819,
  1.39439972,-0.00600438, 1.18951689, 0.06138104,-0.05182571,-0.11124197,
  0.0792004 , 0.57907185,-0.01019037,-0.00574296, 0.8151926 ]

qacc:
[-2.29177279e-01,-1.29729049e+00, 7.98700526e+00,-1.73581025e+01,
  1.55791864e-01, 2.22162970e+00,-7.87742864e+00, 1.16315861e+01,
 -3.00418684e-02,-1.33847872e+00, 1.60080465e+00, 1.00126460e+01,
  1.62871199e-02, 8.39754288e-02,-5.73161755e+00, 1.27632794e+01,
 -1.45467623e+00, 1.24627522e+00,-2.71504254e+00,-1.91187310e+02,
  2.42924078e+02, 2.17462381e+01]

qfrc_actuator:
[ 4.06008957e-03, 7.16382270e-02, 2.01029370e-02, 1.72939703e-03,
  3.60291616e-05, 3.49040886e-02, 1.08735633e-02, 1.75869371e-03,
 -3.03725390e-03, 3.47334413e-02, 1.08288092e-02, 1.80477355e-03,
  0.00000000e+00, 2.92510309e-03, 0.00000000e+00, 4.71723047e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006868062141561562
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02485625e-01,  8.79545445e-02, -9.49087164e-01, -2.67084944e-02,
        9.96124489e-01,  8.38013020e-02,  9.52779672e-01,  3.46944695e-18,
        3.03662472e-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([ 0.07209603, -0.04288451,  0.22462825])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.61416172,  0.61886563, -8.61416172,  8.80645229,
        2.36751095,  0.61886563,  2.36751095, 41.590403  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003769615227522574
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.47259463e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.47259463e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00427678, -0.12514468,  0.06166658])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.24439359e-03, 3.65379188e-02, 9.17556584e-03,-3.51921046e-05,
  4.48840491e-05, 7.12610830e-06,-2.49952296e-05, 2.11051089e-05,
 -8.70549059e-06,-3.70936939e-05, 4.16242333e-05, 4.93077612e-05,
  3.27276829e-03, 4.72248189e-03, 9.05668881e-03, 2.04283625e-03,
  1.43200663e-04, 9.96932360e-05,-4.90515185e+00, 6.48440377e-03,
  2.22515980e-03, 8.87390631e-05]


--- Step 2658 ---
qpos:
[-0.01621054, 1.29558239,-0.03209158, 0.94844414, 0.00434677, 1.33155045,
 -0.02974382, 0.94628971, 0.0167483 , 1.33657611,-0.02393965, 0.95498979,
  1.39440735,-0.00600422, 1.18949273, 0.06138202,-0.05190423,-0.11126932,
  0.07916438, 0.57864215,-0.01095596,-0.00586215, 0.81548689]

qacc:
[ 2.12071951e-01,-1.14441430e+00, 3.37736576e+00,-5.28938041e+00,
  4.54951242e-02, 1.67665959e+00,-5.02933355e+00, 3.23223715e+00,
 -7.57143305e-02, 9.44800856e-01,-4.19093816e+00, 7.14312280e+00,
  2.72583614e-01,-3.72569195e-01, 1.99638085e+00,-2.35444932e+00,
 -1.57659441e+00, 1.17732823e+00,-3.46027013e+00,-1.68343594e+02,
  2.13877542e+02, 1.88625419e+01]

qfrc_actuator:
[ 4.05711572e-03, 7.16520511e-02, 2.01223910e-02, 1.70859221e-03,
  2.26708779e-05, 3.49078161e-02, 1.08412266e-02, 1.75330745e-03,
 -3.05393571e-03, 3.46946807e-02, 1.08006616e-02, 1.81578955e-03,
  0.00000000e+00, 2.89616777e-03, 0.00000000e+00, 3.70919675e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006863405939548997
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30246844,  0.08795605, -0.9490925 , -0.02670744,  0.99612436,
        0.08380322,  0.95278516,  0.        ,  0.30364526])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07209354, -0.04288483,  0.22462879])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  1.9888569 ,  8.40423852,  1.9888569 ,  9.78795692,
       -0.27252371,  8.40423852, -0.27252371,  8.70085617,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003763263500942929
  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([-0.00432317, -0.12513398,  0.06166673])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.26829288e-03, 3.64868450e-02, 9.16567428e-03,-1.43561607e-05,
  1.31283277e-05, 3.40576221e-06,-3.31691818e-05,-5.41484753e-06,
 -2.18229836e-05,-4.96847330e-05,-2.92166151e-05, 1.22837250e-05,
  3.27565089e-03, 4.68387570e-03, 9.22691168e-03, 1.93023803e-03,
  1.45975604e-04, 7.30473031e-05,-4.90494725e+00, 6.35208000e-03,
  2.17507323e-03, 1.00766742e-04]


--- Step 2659 ---
qpos:
[-0.01621307, 1.29559488,-0.03208953, 0.94844241, 0.00434678, 1.33155211,
 -0.02974535, 0.94628968, 0.01674809, 1.33657611,-0.02394035, 0.95499077,
  1.39441528,-0.00600456, 1.18947537, 0.06138335,-0.05196411,-0.11126984,
  0.07913819, 0.5782509 ,-0.01173981,-0.00544445, 0.81575636]

qacc:
[ 5.58673386e-01,-3.79865561e-01,-2.91067466e+00, 7.48305697e+00,
 -1.24891085e-01, 6.12265302e-01,-2.58979707e+00, 5.40985197e+00,
 -1.71202910e-02,-2.84781783e+00, 1.01276134e+01,-1.57906924e+01,
  2.46547019e-01,-5.26662398e-01, 8.96359498e+00,-1.68114341e+01,
  4.65951088e+00, 6.70894757e+00, 2.45677499e+00, 2.13768686e+02,
  1.63026167e+02,-1.98641237e+01]

qfrc_actuator:
[ 4.05656871e-03, 7.16370225e-02, 2.01329336e-02, 1.71481637e-03,
 -2.10333164e-05, 3.49092776e-02, 1.08405244e-02, 1.76800417e-03,
 -3.04601899e-03, 3.47070278e-02, 1.08377226e-02, 1.78608262e-03,
  0.00000000e+00, 2.87885789e-03, 0.00000000e+00, 1.50034251e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006859755400309454
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30245174,  0.0879574 , -0.9490977 , -0.02670638,  0.99612424,
        0.08380497,  0.95279049,  0.        ,  0.30362853])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07209125, -0.0428852 ,  0.2246293 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.32705399,  2.29062189,  8.32705399, 10.66261189,
       -7.36598157,  2.29062189, -7.36598157, 35.4137757 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038200109633307056
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.63291832e-14,  2.90633466e-14,  1.00000000e+00, -1.05584764e-27,
        1.00000000e+00, -2.90633466e-14, -1.00000000e+00,  0.00000000e+00,
        3.63291832e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07762364, -0.13784713,  0.06166203])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.24286406e-03, 3.64979250e-02, 9.17509405e-03, 3.54042742e-06,
 -3.59568762e-05,-3.31337374e-06,-3.96862361e-06, 1.37011487e-05,
 -4.96948500e-06,-2.04689621e-05, 2.44004189e-05,-3.17471142e-05,
  3.26107466e-03, 4.67607342e-03, 9.11849850e-03, 1.68960819e-03,
  2.65726805e-04,-3.25379070e-05,-4.90486268e+00, 6.22080655e-03,
  2.12529709e-03, 2.00124914e-05]


--- Step 2660 ---
qpos:
[-0.01621344, 1.2956035 ,-0.03208947, 0.94844133, 0.00434654, 1.33155356,
 -0.02974595, 0.94628979, 0.0167479 , 1.33657611,-0.02393954, 0.95499027,
  1.39442364,-0.00600565, 1.18946832, 0.06138475,-0.05200816,-0.11124757,
  0.07911593, 0.57789101,-0.01254394,-0.004546  , 0.81600488]

qacc:
[ 9.18787608e-01, 1.35269795e+00,-1.18955148e+01, 2.02675525e+01,
 -1.02346078e-01,-2.59034066e+00, 7.79609953e+00,-4.97206539e+00,
  6.91148460e-03,-6.63464595e+00, 2.46104984e+01,-3.83418411e+01,
  3.15401724e-01,-7.46322407e-01, 1.49907691e+01,-3.03624047e+01,
  3.95782291e+00, 5.69577412e+00, 9.82879971e-01, 1.90349856e+02,
  1.47473531e+02,-1.59714627e+01]

qfrc_actuator:
[ 4.05646569e-03, 7.16598450e-02, 2.01211349e-02, 1.73680953e-03,
 -2.93278236e-05, 3.49095000e-02, 1.08940148e-02, 1.77667302e-03,
 -3.04116235e-03, 3.47500967e-02, 1.09309318e-02, 1.71498353e-03,
  0.00000000e+00, 2.85114899e-03, 0.00000000e+00,-1.78515926e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006858526580429299
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02437871e-01,  8.79583193e-02, -9.49102032e-01, -2.67054330e-02,
        9.96124156e-01,  8.38062396e-02,  9.52794917e-01, -3.46944695e-18,
        3.03614634e-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([ 0.07208956, -0.04288565,  0.2246297 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.16892579,  2.80275371, -8.16892579,  9.87311424,
        3.60464207,  2.80275371,  3.60464207, 19.14247894,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003819420283578026
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.90678412e-14,  1.45339206e-14,  1.00000000e+00, -4.22469697e-28,
        1.00000000e+00, -1.45339206e-14, -1.00000000e+00,  0.00000000e+00,
        2.90678412e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07763912, -0.13789369,  0.06166167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17722308e-03, 3.66316273e-02, 9.20052514e-03, 1.01220933e-05,
 -2.95130749e-05,-1.98693534e-06, 5.27923036e-05, 8.77137416e-06,
  1.92182313e-06, 3.55760668e-05, 9.10579156e-05,-7.17301551e-05,
  3.24571454e-03, 4.67299646e-03, 8.77897502e-03, 1.34370691e-03,
 -3.80708561e-06, 1.59371017e-04,-4.90487076e+00, 6.14750656e-03,
  2.18270800e-03, 9.71930315e-05]


--- Step 2661 ---
qpos:
[-0.01621308, 1.2956113 ,-0.03209018, 0.94844054, 0.00434641, 1.33155456,
 -0.02974491, 0.94628998, 0.01674789, 1.33657628,-0.02393907, 0.95498935,
  1.39443184,-0.006007  , 1.18946392, 0.06138583,-0.05206863,-0.11124309,
  0.07910361, 0.57740277,-0.01266621,-0.00348437, 0.81635377]

qacc:
[ 3.12045462e-01, 1.52266181e+00,-6.81594962e+00, 9.64047040e+00,
  4.66511952e-02,-4.85509678e+00, 1.49740298e+01,-1.17301764e+01,
  7.58031400e-02, 4.37725517e-01,-3.34536063e-01,-4.63696462e+00,
 -1.06776562e-01,-7.98314271e-02, 4.86509524e+00,-1.13298978e+01,
 -4.10407027e+00,-4.44578688e+00, 2.48706920e+00, 2.63018155e+02,
 -2.31969273e+02, 8.08439083e+01]

qfrc_actuator:
[ 4.07301245e-03, 7.16724219e-02, 2.01152170e-02, 1.76779743e-03,
  1.44119355e-06, 3.48914424e-02, 1.09790431e-02, 1.78174673e-03,
 -3.02042924e-03, 3.47226749e-02, 1.08968576e-02, 1.69116185e-03,
  0.00000000e+00, 2.87092124e-03, 0.00000000e+00,-1.80967719e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006860397993209977
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02429598e-01,  8.79585270e-02, -9.49104650e-01, -2.67047659e-02,
        9.96124138e-01,  8.38066700e-02,  9.52797562e-01,  3.46944695e-18,
        3.03606334e-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([ 0.07208879, -0.04288623,  0.22462992])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006909215780453142
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.74822256, -0.37411128,  0.54790853, -0.30183673,  0.92738382,
        0.22102905, -0.59081097,  0.        , -0.80681002])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07852528, -0.10080891,  0.06166381])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08598296e-03, 3.68381687e-02, 9.29358751e-03, 8.53123297e-06,
  1.33529406e-05,-8.58018927e-06, 9.09012662e-05, 6.76590709e-06,
  2.18692193e-05, 7.90726366e-06,-1.88786622e-05,-2.17722969e-05,
  3.22466653e-03, 4.73070554e-03, 8.26342282e-03, 1.33779160e-03,
 -6.01676678e-05, 5.95891791e-04,-4.90498029e+00, 6.09324506e-03,
  2.22067937e-03, 2.44160705e-04]


--- Step 2662 ---
qpos:
[-0.01621324, 1.29562065,-0.03209   , 0.94843947, 0.00434664, 1.33155569,
 -0.0297435 , 0.94628886, 0.0167478 , 1.3365761 ,-0.02393968, 0.95498893,
  1.39443937,-0.00600829, 1.18945758, 0.06138673,-0.05212692,-0.11125146,
  0.07909225, 0.57701631,-0.01282236,-0.00309915, 0.81662608]

qacc:
[-2.18960013e-01,-8.42586998e-01, 5.74518588e+00,-9.09230767e+00,
  1.53148551e-01,-3.05479589e+00, 1.28432008e+01,-2.63391426e+01,
 -3.56984903e-02, 3.28565326e+00,-1.22546481e+01, 1.65456560e+01,
 -4.80806652e-01, 4.34462517e-01,-2.28798626e+00, 3.91308702e+00,
  5.43120929e-01,-3.21553225e+00, 2.37461677e-01,-2.85357041e+02,
 -1.80790015e+02,-6.78784798e+01]

qfrc_actuator:
[ 4.08235752e-03, 7.16773290e-02, 2.01479254e-02, 1.76878803e-03,
  3.76410543e-05, 3.48982205e-02, 1.09931532e-02, 1.71365374e-03,
 -3.04359787e-03, 3.46528043e-02, 1.08231818e-02, 1.71299285e-03,
  0.00000000e+00, 2.91898653e-03, 0.00000000e+00,-7.61659015e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25381922,  0.25300657, -0.02029464,  0.25300657,  0.26360839,
        0.12203838, -0.02029464,  0.12203838,  1.77523159,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006863089656587926
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30242284,  0.0879585 , -0.94910681, -0.02670416,  0.99612414,
        0.08380683,  0.95279972,  0.        ,  0.30359955])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07208826, -0.04288681,  0.22463011])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -6.93333278,  5.14933719, -6.93333278, 30.40753276,
       29.31382331,  5.14933719, 29.31382331, 48.106005  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003876739920201412
  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([-0.02068253, -0.08027658,  0.06165687])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05870939e-03, 3.68833127e-02, 9.36531221e-03,-4.46810433e-06,
  4.40790333e-05, 2.00036441e-05, 2.29685940e-05,-6.55267805e-05,
 -1.02563785e-05,-6.98320715e-05,-7.49160417e-05, 2.10057460e-05,
  3.23258105e-03, 4.79176335e-03, 8.13118855e-03, 1.45840059e-03,
  4.31160292e-04, 8.49393652e-04,-4.90505269e+00, 6.13312785e-03,
  2.31436239e-03, 3.34830765e-04]


--- Step 2663 ---
qpos:
[-0.01621392, 1.29563167,-0.03208918, 0.94843807, 0.00434697, 1.33155717,
 -0.02974285, 0.94628663, 0.0167474 , 1.33657596,-0.02394042, 0.95498696,
  1.39444665,-0.0060094 , 1.18944771, 0.06138737,-0.05218473,-0.11127161,
  0.07907741, 0.57671359,-0.01300082,-0.00330746, 0.81683626]

qacc:
[-2.22536004e-01,-1.12870120e-01, 3.69697506e+00,-8.05945003e+00,
  4.12641137e-02, 6.03938583e-01, 8.59562529e-01,-1.38479219e+01,
 -1.30496841e-01,-2.23248373e+00, 1.04571547e+01,-2.68915901e+01,
 -1.54280606e-01, 2.29860533e-01,-4.40680025e+00, 7.84727247e+00,
  1.21119954e-01,-2.94170668e+00,-8.69574701e-01,-2.48350683e+02,
 -1.61598981e+02,-5.58885535e+01]

qfrc_actuator:
[ 4.08833471e-03, 7.17111168e-02, 2.01491937e-02, 1.75222106e-03,
  2.35458760e-05, 3.49017576e-02, 1.09475770e-02, 1.65627464e-03,
 -3.07516346e-03, 3.46999240e-02, 1.08331167e-02, 1.63720011e-03,
  0.00000000e+00, 2.91279976e-03, 0.00000000e+00, 2.19677748e-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: -0.0006865802340186265
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02413765e-01,  8.79586476e-02, -9.49109683e-01, -2.67034048e-02,
        9.96124127e-01,  8.38072304e-02,  9.52802625e-01, -3.46944695e-18,
        3.03590443e-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([ 0.07208753, -0.04288731,  0.22463036])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  0.31513588,  8.63061216,  0.31513588,  9.95563193,
       -0.04817141,  8.63061216, -0.04817141,  8.63812255,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003925959067876253
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.06975675e-15,  1.41395135e-14,  1.00000000e+00,  9.99629210e-29,
        1.00000000e+00, -1.41395135e-14, -1.00000000e+00,  0.00000000e+00,
       -7.06975675e-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([-0.0208424 , -0.08033887,  0.06165308])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09036747e-03, 3.68400702e-02, 9.32207960e-03,-7.38219988e-06,
  1.19170962e-05, 1.71194979e-05,-4.09762697e-05,-5.76248546e-05,
 -3.76234476e-05,-5.50403824e-06,-1.16016328e-05,-7.95666227e-05,
  3.26605736e-03, 4.78251039e-03, 8.22821118e-03, 1.56554422e-03,
  1.03001467e-04, 1.95713808e-04,-4.90495017e+00, 6.28784372e-03,
  2.21564970e-03, 1.79676303e-04]


--- Step 2664 ---
qpos:
[-0.01621458, 1.29564287,-0.03208839, 0.94843631, 0.004347  , 1.33155888,
 -0.02974302, 0.94628341, 0.01674695, 1.33657637,-0.02394076, 0.95498368,
  1.39445387,-0.00601053, 1.18943742, 0.06138789,-0.05224329,-0.11130253,
  0.0790552 , 0.57647953,-0.01319302,-0.00403947, 0.81699509]

qacc:
[ 4.23328294e-03,-2.78305006e-01, 1.92410242e+00,-5.95323511e+00,
 -1.29039319e-01, 8.06451703e-01,-2.17897703e-01,-1.15533838e+01,
 -1.83629442e-02,-2.63494342e+00, 1.21110346e+01,-2.59769227e+01,
 -1.98407344e-02,-1.03741264e-03,-2.62862406e-01, 4.32280989e-02,
 -1.88269865e-01,-2.69335268e+00,-1.84336806e+00,-2.17485167e+02,
 -1.44954190e+02,-4.62277725e+01]

qfrc_actuator:
[ 4.09250492e-03, 7.16904705e-02, 2.01314819e-02, 1.72528500e-03,
 -2.06072014e-05, 3.49030791e-02, 1.09026740e-02, 1.60565254e-03,
 -3.05825148e-03, 3.47814829e-02, 1.08749624e-02, 1.57568523e-03,
  0.00000000e+00, 2.90942359e-03, 0.00000000e+00,-8.00913194e-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: -0.0006867633894260504
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30240247,  0.08795898, -0.94911325, -0.02670251,  0.9961241 ,
        0.08380787,  0.95280624,  0.        ,  0.30357911])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07208647, -0.04288774,  0.22463068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  0.31505184,  8.63061523,  0.31505184, 10.5111802 ,
       -0.06843827,  8.63061523, -0.06843827,  8.63886191,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003916262595392947
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.41745222e-14,  1.41745222e-14,  1.00000000e+00, -2.00917081e-28,
        1.00000000e+00, -1.41745222e-14, -1.00000000e+00,  0.00000000e+00,
        1.41745222e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02090494, -0.08032471,  0.06165358])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12063074e-03, 3.67355566e-02, 9.27185489e-03,-1.78478209e-05,
 -3.71198214e-05, 1.03647471e-06,-4.79103746e-05,-5.26466045e-05,
 -5.30074269e-06, 7.38892437e-05, 3.71226563e-05,-6.38730305e-05,
  3.27864457e-03, 4.77012498e-03, 8.40523479e-03, 1.54893556e-03,
  1.23209799e-04, 5.06105643e-05,-4.90498474e+00, 6.38172765e-03,
  2.15929956e-03, 1.52668869e-04]


--- Step 2665 ---
qpos:
[-0.01621431, 1.29565263,-0.03208791, 0.9484351 , 0.00434678, 1.33156049,
 -0.0297431 , 0.94627992, 0.01674642, 1.33657717,-0.02394095, 0.95498213,
  1.39446142,-0.00601202, 1.1894323 , 0.06138839,-0.05228596,-0.11134707,
  0.07905411, 0.57627771,-0.01293944,-0.00506075, 0.81713583]

qacc:
[ 3.99575424e-01,-1.41390265e-01,-2.92865898e+00, 9.73271954e+00,
 -1.05799601e-01,-8.02812600e-01, 2.99288459e+00,-5.49453365e+00,
 -3.65803885e-02, 3.10520032e+00,-1.30123048e+01, 3.10234797e+01,
  2.39477591e-01,-4.33419506e-01, 7.67135014e+00,-1.58023501e+01,
  3.97236647e+00,-3.40583286e+00, 5.28223108e+00, 1.05022295e+01,
 -2.65295927e+02,-2.11981167e+01]

qfrc_actuator:
[ 4.07751515e-03, 7.16202410e-02, 2.01383165e-02, 1.74554878e-03,
 -2.91742084e-05, 3.49030518e-02, 1.09117997e-02, 1.59492373e-03,
 -3.06565232e-03, 3.47944146e-02, 1.08822073e-02, 1.66514483e-03,
  0.00000000e+00, 2.87235064e-03, 0.00000000e+00,-2.03662827e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006869319179844159
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30239105,  0.08795931, -0.94911686, -0.0267016 ,  0.99612407,
        0.0838085 ,  0.95280989,  0.        ,  0.30356766])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07208537, -0.04288817,  0.22463101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038813969720961697
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.69459384e-07,  1.74303778e-14,  1.00000000e+00, -8.18285441e-21,
        1.00000000e+00, -1.74303778e-14, -1.00000000e+00,  1.50463277e-36,
        4.69459384e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06090463, -0.09460196,  0.06165582])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10513440e-03, 3.66564619e-02, 9.28063327e-03, 2.04740711e-05,
 -3.04713884e-05,-1.04193029e-05, 2.32959944e-06,-1.33252194e-05,
 -1.05270116e-05, 5.91414548e-05, 2.40201754e-05, 9.12442041e-05,
  3.28139974e-03, 4.73376051e-03, 8.42586502e-03, 1.35895690e-03,
  3.72600653e-04, 2.55141403e-04,-4.90511219e+00, 6.43511365e-03,
  2.13055983e-03, 2.14238642e-04]


--- Step 2666 ---
qpos:
[-0.01621299, 1.29566145,-0.0320877 , 0.94843547, 0.00434665, 1.33156217,
 -0.0297432 , 0.94627736, 0.01674565, 1.33657839,-0.02394164, 0.95498239,
  1.39446944,-0.0060138 , 1.18943126, 0.06138843,-0.05230722,-0.11138524,
  0.07907328, 0.57608458,-0.01234425,-0.00577693, 0.81727645]

qacc:
[ 4.47114683e-01, 2.19700258e+00,-1.19101370e+01, 2.92967013e+01,
  4.38124703e-02, 1.70061149e+00,-7.34732935e+00, 1.70508258e+01,
 -9.77749144e-02, 4.99137758e+00,-1.92364627e+01, 3.72016024e+01,
  3.16799025e-01,-4.33375357e-01, 7.37317426e+00,-1.70703865e+01,
  5.35278073e+00, 1.59199480e+00, 5.06354289e+00, 2.23143472e+02,
 -5.16375629e+01,-2.47242011e+00]

qfrc_actuator:
[ 4.08560331e-03, 7.15750612e-02, 2.01424063e-02, 1.82887728e-03,
  1.43026634e-06, 3.49201988e-02, 1.09172539e-02, 1.64329099e-03,
 -3.08758067e-03, 3.48016266e-02, 1.08510418e-02, 1.75390469e-03,
  0.00000000e+00, 2.83317359e-03, 0.00000000e+00,-3.21240139e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000687297025155801
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30238129,  0.08795934, -0.94911997, -0.02670075,  0.99612407,
        0.08380881,  0.95281301,  0.        ,  0.30355786])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07208471, -0.04288867,  0.22463127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -0.19337789,  8.63419839, -0.19337789, 69.17253655,
        1.35581289,  8.63419839,  1.35581289,  8.66672942,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038828785642243883
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.28891738e-14, -4.14664113e-07,  1.00000000e+00, -1.77846012e-20,
        1.00000000e+00,  4.14664113e-07, -1.00000000e+00,  0.00000000e+00,
       -4.28891738e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07826944, -0.11692241,  0.06165574])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.06634960e-03, 3.66830228e-02, 9.29988053e-03, 7.66193491e-05,
  1.26227393e-05, 1.14225244e-05, 3.28471580e-06, 4.78113612e-05,
 -2.81411136e-05, 4.73032017e-05,-1.42190823e-05, 9.33374634e-05,
  3.26503815e-03, 4.71309544e-03, 8.16797250e-03, 1.24258454e-03,
  3.22624049e-04, 6.20925643e-04,-4.90530337e+00, 6.51300090e-03,
  2.13837224e-03, 3.22744391e-04]


--- Step 2667 ---
qpos:
[-0.0162118 , 1.29567178,-0.0320868 , 0.94843588, 0.00434689, 1.33156404,
 -0.0297441 , 0.9462744 , 0.0167448 , 1.33657997,-0.02394197, 0.95498125,
  1.39447773,-0.00601555, 1.18942661, 0.06138802,-0.05231505,-0.11140485,
  0.07909798, 0.57591163,-0.01179082,-0.00595091, 0.81740526]

qacc:
[-5.32229662e-02, 2.11200731e-01, 1.65183536e+00,-2.00961835e+00,
  1.51125315e-01, 1.72258781e+00,-4.47588190e+00,-9.62829769e-01,
 -4.01054561e-02,-2.86729527e+00, 1.27185738e+01,-2.73015104e+01,
  3.53963686e-01,-3.43842348e-01,-3.96409422e+00, 6.05357533e+00,
  3.35963516e+00, 4.64286946e+00, 1.38261816e+00, 2.09621016e+02,
  1.73376587e+02,-8.17837849e+00]

qfrc_actuator:
[ 4.10705163e-03, 7.15804962e-02, 2.01449367e-02, 1.84226565e-03,
  3.75316484e-05, 3.49120283e-02, 1.08673158e-02, 1.61952156e-03,
 -3.08254145e-03, 3.48229646e-02, 1.08684169e-02, 1.68170742e-03,
  0.00000000e+00, 2.81054877e-03, 0.00000000e+00,-1.60751033e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006878198404999293
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02372686e-01,  8.79590459e-02, -9.49122734e-01, -2.66998993e-02,
        9.96124092e-01,  8.38087653e-02,  9.52815761e-01,  3.46944695e-18,
        3.03549215e-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([ 0.07208438, -0.04288925,  0.22463147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -2.90375122,  8.13357275, -2.90375122, 10.24710029,
        0.57504601,  8.13357275,  0.57504601,  8.84165971,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003919237094441599
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.54094113e-14,  1.41637645e-14,  1.00000000e+00, -5.01530562e-28,
        1.00000000e+00, -1.41637645e-14, -1.00000000e+00,  0.00000000e+00,
        3.54094113e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07768458, -0.13801074,  0.06165339])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.03534136e-03, 3.67354681e-02, 9.31587915e-03, 1.05433334e-05,
  4.35503982e-05, 2.09057797e-07,-4.59351976e-05,-2.22227787e-05,
 -1.15733014e-05, 4.74765167e-05, 2.77278126e-05,-6.90380252e-05,
  3.24185004e-03, 4.70470112e-03, 7.96360430e-03, 1.42560564e-03,
  5.12479722e-05, 3.61453920e-04,-4.90529597e+00, 6.52720522e-03,
  2.17631689e-03, 2.08088220e-04]


--- Step 2668 ---
qpos:
[-0.01621254, 1.29568616,-0.03208412, 0.94843512, 0.00434737, 1.33156548,
 -0.02974515, 0.94627292, 0.0167442 , 1.33658121,-0.02394182, 0.95497966,
  1.39448578,-0.0060167 , 1.18941065, 0.06138728,-0.05231113,-0.11140822,
  0.07912314, 0.57575663,-0.01127507,-0.00564172, 0.81752392]

qacc:
[-8.26081045e-01,-1.48618542e+00, 1.36487174e+01,-2.78690678e+01,
  1.01756470e-01, 2.38123352e+00,-1.14997066e+01, 2.74751574e+01,
  1.11462491e-01,-2.56311851e+00, 8.75438437e+00,-1.26506056e+01,
 -3.01192618e-02, 3.48323782e-01,-1.57112931e+01, 3.07048682e+01,
  2.93494344e+00, 4.05581799e+00, 1.14809351e-01, 1.86701286e+02,
  1.54640757e+02,-7.30211321e+00]

qfrc_actuator:
[ 4.10176499e-03, 7.15964642e-02, 2.01456884e-02, 1.79685896e-03,
  4.11309805e-05, 3.48707560e-02, 1.08559462e-02, 1.69545367e-03,
 -3.04361256e-03, 3.47639120e-02, 1.08787697e-02, 1.65743207e-03,
  0.00000000e+00, 2.83316349e-03, 0.00000000e+00, 2.20027775e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006882346716753779
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02361988e-01,  8.79588092e-02, -9.49126164e-01, -2.66988823e-02,
        9.96124113e-01,  8.38088408e-02,  9.52819184e-01, -6.93889390e-18,
        3.03538469e-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([ 0.0720837 , -0.04288979,  0.22463174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.16340949,  4.82414152, -7.16340949, 28.98873169,
       30.22140746,  4.82414152, 30.22140746, 53.51239312,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0039023990845953593
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.55621952e-14,  2.84497562e-14,  1.00000000e+00, -1.01173578e-27,
        1.00000000e+00, -2.84497562e-14, -1.00000000e+00,  0.00000000e+00,
        3.55621952e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07771868, -0.13805234,  0.061655  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.03628790e-03, 3.66754343e-02, 9.28255317e-03,-3.64504845e-05,
  2.92989480e-05,-5.08204630e-05,-1.72105385e-05, 7.40739448e-05,
  3.20989456e-05,-2.94420548e-05, 2.07527983e-05,-2.36637699e-05,
  3.22827661e-03, 4.72600906e-03, 8.14430756e-03, 1.82952035e-03,
  4.28292555e-05, 3.90692038e-05,-4.90515120e+00, 6.46689260e-03,
  2.20838196e-03, 1.00348144e-04]


--- Step 2669 ---
qpos:
[-0.01621502, 1.29570314,-0.03207985, 0.94843361, 0.00434786, 1.33156652,
 -0.02974608, 0.94627338, 0.01674395, 1.33658144,-0.02394149, 0.95497856,
  1.3944933 ,-0.00601732, 1.18938762, 0.06138664,-0.05229689,-0.11139732,
  0.07914441, 0.5756173 ,-0.01079338,-0.00489928, 0.81763331]

qacc:
[-7.40760275e-01,-2.17607471e+00, 1.27332869e+01,-2.12805944e+01,
  4.74652501e-03, 2.48807718e+00,-1.27125507e+01, 3.37368715e+01,
  1.47166971e-01,-9.57393764e-01, 5.18548035e-01, 5.84344782e+00,
 -3.95573370e-01, 6.59638131e-01,-1.07015942e+01, 2.23105960e+01,
  2.58153650e+00, 3.57052612e+00,-9.72328765e-01, 1.67351318e+02,
  1.38745657e+02,-6.53289253e+00]

qfrc_actuator:
[ 4.10005315e-03, 7.15801124e-02, 2.01617511e-02, 1.75286808e-03,
  2.52030632e-05, 3.48634287e-02, 1.08673860e-02, 1.79396938e-03,
 -3.02017501e-03, 3.46571695e-02, 1.08668677e-02, 1.67928366e-03,
  0.00000000e+00, 2.88233218e-03, 0.00000000e+00, 3.77973453e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006882852730505651
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30234573,  0.08795922, -0.94913131, -0.02669757,  0.99612408,
        0.08380969,  0.95282438,  0.        ,  0.30352215])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07208201, -0.04289021,  0.2246322 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.01611004,  5.0359683 , -7.01611004, 33.48634632,
       34.62099096,  5.0359683 , 34.62099096, 56.87032139,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003842821624628366
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.16681218e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.16681218e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07780105, -0.13814281,  0.06165973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13146772e-03, 3.64566941e-02, 9.20942375e-03,-2.20041648e-05,
  1.35959042e-06,-3.65932279e-05, 1.71173255e-06, 9.82046537e-05,
  4.23887890e-05,-1.19682128e-04,-1.59896411e-05, 2.10353256e-05,
  3.24006209e-03, 4.74489529e-03, 8.70980862e-03, 2.00369265e-03,
  2.04867986e-04, 2.56774257e-05,-4.90512324e+00, 6.42068408e-03,
  2.22870996e-03, 8.38345980e-05]


--- Step 2670 ---
qpos:
[-0.01621808, 1.29572068,-0.03207479, 0.94843181, 0.00434827, 1.33156773,
 -0.02974735, 0.94627465, 0.01674359, 1.33658071,-0.02394095, 0.95497703,
  1.39450075,-0.00601779, 1.18936273, 0.06138629,-0.05229853,-0.11137994,
  0.0791573 , 0.5754565 ,-0.01091188,-0.00417597, 0.81774893]

qacc:
[-2.45904506e-01,-1.83994665e+00, 7.49245450e+00,-1.01611417e+01,
 -3.11916424e-02, 2.49842194e+00,-9.55180849e+00, 1.75176270e+01,
 -4.93947458e-02,-2.55603885e+00, 7.68740999e+00,-1.10001873e+01,
 -5.22773360e-02, 1.48483004e-01,-3.64231813e+00, 8.76377944e+00,
 -3.97057084e+00, 1.61901482e+00,-2.09488876e+00,-1.80659932e+02,
  2.39773832e+02, 1.19316320e+01]

qfrc_actuator:
[ 4.10106145e-03, 7.15974611e-02, 2.01864719e-02, 1.72752481e-03,
  1.54443861e-05, 3.48943550e-02, 1.08568007e-02, 1.83397785e-03,
 -3.05947970e-03, 3.46113980e-02, 1.08772444e-02, 1.65703552e-03,
  0.00000000e+00, 2.87626939e-03, 0.00000000e+00, 3.84179782e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006881256235261521
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02325460e-01,  8.79602003e-02, -9.49137671e-01, -2.66960823e-02,
        9.96123990e-01,  8.38111927e-02,  9.52830853e-01, -3.46944695e-18,
        3.03501836e-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([ 0.07207969, -0.04289052,  0.22463279])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037833693158433115
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.46724114e-14,  1.46724114e-14,  1.00000000e+00,  2.15279657e-28,
        1.00000000e+00, -1.46724114e-14, -1.00000000e+00,  0.00000000e+00,
       -1.46724114e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00474416, -0.12490601,  0.06166439])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.21936796e-03, 3.63442560e-02, 9.15419045e-03,-9.99733635e-06,
 -8.95802487e-06, 1.39583348e-05,-1.46687222e-05, 4.12406999e-05,
 -1.42822349e-05,-1.14456034e-04,-1.42002804e-05,-2.57736509e-05,
  3.26663634e-03, 4.71298675e-03, 9.06414785e-03, 2.00535430e-03,
  4.85328338e-04, 2.33468337e-04,-4.90517987e+00, 6.38501931e-03,
  2.24013232e-03, 1.33078974e-04]


--- Step 2671 ---
qpos:
[-0.01622008, 1.29573492,-0.03207134, 0.94843055, 0.00434859, 1.33156946,
 -0.02974946, 0.94627569, 0.01674296, 1.3365801 ,-0.02394141, 0.95497728,
  1.39450823,-0.00601855, 1.18934446, 0.06138614,-0.05231431,-0.11136708,
  0.07917232, 0.57529975,-0.01139048,-0.00381717, 0.81785444]

qacc:
[ 4.53924023e-01, 9.03142068e-01,-9.27884610e+00, 1.62963234e+01,
 -3.92901365e-02, 2.59139859e+00,-7.14220674e+00, 3.21609992e+00,
 -1.10512952e-01, 5.92557325e+00,-2.27291232e+01, 4.02072691e+01,
 -1.03290263e-01,-4.87859832e-02, 9.19163582e+00,-1.79349079e+01,
 -3.53542226e+00,-1.12938722e+00, 5.32330199e-01,-2.52647636e+02,
  4.24180256e+01,-5.79526089e+00]

qfrc_actuator:
[ 4.10323612e-03, 7.16182623e-02, 2.01633096e-02, 1.73096201e-03,
  9.46740461e-06, 3.49300877e-02, 1.08156558e-02, 1.82148711e-03,
 -3.08284652e-03, 3.46735602e-02, 1.08476230e-02, 1.75107065e-03,
  0.00000000e+00, 2.89047034e-03, 0.00000000e+00, 1.03820212e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006879145183856031
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30230391,  0.08796137, -0.94914443, -0.02669454,  0.99612389,
        0.08381291,  0.95283774,  0.        ,  0.30348023])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07207721, -0.04289081,  0.2246334 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  5.10428996, -6.96656306,  5.10428996, 51.90550347,
       31.70261061, -6.96656306, 31.70261061, 31.86436224,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037855529163656875
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.21780171e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.21780171e-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([-0.0135978 , -0.10043349,  0.06166439])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.25038674e-03, 3.63363676e-02, 9.09203317e-03, 7.82514098e-06,
 -1.12628075e-05, 4.18163810e-05,-3.88736053e-05,-1.15434736e-05,
 -3.18031735e-05,-4.66636823e-06,-5.43436282e-05, 8.96259739e-05,
  3.27023212e-03, 4.71891311e-03, 9.15754688e-03, 1.71015001e-03,
  1.41445992e-04, 3.29573147e-04,-4.90506229e+00, 6.32773301e-03,
  2.22137943e-03, 2.12211291e-04]


--- Step 2672 ---
qpos:
[-0.0162204 , 1.2957448 ,-0.0320702 , 0.94842983, 0.00434883, 1.33157154,
 -0.02975228, 0.94627555, 0.01674222, 1.33657935,-0.02394159, 0.95497793,
  1.39451554,-0.00601985, 1.1893356 , 0.06138605,-0.0523383 ,-0.11136785,
  0.07918198, 0.57518121,-0.01184902,-0.0039823 , 0.81793051]

qacc:
[ 7.13352579e-01, 1.39160520e+00,-1.25519656e+01, 1.98027014e+01,
 -3.59014395e-02, 3.19184434e-01, 1.92905317e+00,-1.56053924e+01,
 -5.07333761e-02,-2.48664695e-01,-2.00500771e-01, 4.75234008e+00,
 -2.57623545e-01,-7.06019039e-02, 1.37365633e+01,-2.78070109e+01,
 -2.05237460e+00,-3.40736832e+00,-1.34023041e+00,-2.08322525e+02,
 -1.58672737e+02,-2.71186884e+01]

qfrc_actuator:
[ 4.12245201e-03, 7.15915246e-02, 2.01312438e-02, 1.75095979e-03,
  5.80773679e-06, 3.49327609e-02, 1.07745705e-02, 1.76045558e-03,
 -3.07870763e-03, 3.46755253e-02, 1.08661371e-02, 1.77081292e-03,
  0.00000000e+00, 2.91722706e-03, 0.00000000e+00,-1.88719576e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006878453761427067
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30228704,  0.08796216, -0.94914973, -0.02669329,  0.99612382,
        0.08381414,  0.95284312,  0.        ,  0.30346332])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07207535, -0.04289117,  0.22463387])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.39508863, -4.46087895,  7.39508863, 14.87858315,
       10.34813252, -4.46087895, 10.34813252, 25.79113469,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037998108571609124
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.46089248e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.46089248e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02099778, -0.08008207,  0.06166356])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.21634315e-03, 3.64747593e-02, 9.14025134e-03, 1.07499246e-06,
 -1.03043411e-05, 1.78473206e-05,-3.76662438e-05,-6.11836122e-05,
 -1.46385314e-05,-8.56906577e-06, 1.40508179e-05, 2.00989708e-05,
  3.26864275e-03, 4.76059247e-03, 8.82704626e-03, 1.40799904e-03,
 -2.91423348e-05, 9.17659370e-05,-4.90499846e+00, 6.32201715e-03,
  2.19433699e-03, 1.36236437e-04]


--- Step 2673 ---
qpos:
[-0.01621972, 1.29575259,-0.03207037, 0.9484291 , 0.004349  , 1.33157363,
 -0.02975435, 0.94627462, 0.01674157, 1.33657752,-0.02394048, 0.95497676,
  1.39452252,-0.00602147, 1.18933103, 0.06138578,-0.05236989,-0.11138083,
  0.07918259, 0.57509526,-0.01228821,-0.00461401, 0.81798114]

qacc:
[ 4.23427269e-01, 7.98880990e-01,-5.90090323e+00, 6.30693224e+00,
 -2.87782814e-02,-3.33557799e+00, 1.24972847e+01,-1.98460459e+01,
  4.18417692e-02,-8.06184022e+00, 2.82259950e+01,-4.46757637e+01,
 -2.73431338e-01, 3.68024788e-02, 6.86838764e+00,-1.47836196e+01,
 -1.90121001e+00,-3.05270912e+00,-2.26136692e+00,-1.85103889e+02,
 -1.41877805e+02,-2.34466661e+01]

qfrc_actuator:
[ 4.15085793e-03, 7.15741498e-02, 2.01129272e-02, 1.76292607e-03,
  3.56753111e-06, 3.49510797e-02, 1.08224781e-02, 1.72460470e-03,
 -3.05810170e-03, 3.45705754e-02, 1.09126632e-02, 1.67565069e-03,
  0.00000000e+00, 2.93412268e-03, 0.00000000e+00,-2.57727193e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000687997359893746
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30227653,  0.08796238, -0.94915305, -0.02669243,  0.9961238 ,
        0.08381464,  0.95284648,  0.        ,  0.30345277])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07207437, -0.0428916 ,  0.22463416])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -0.33195081,  8.62998178, -0.33195081, 34.64774508,
        1.00052345,  8.62998178,  1.00052345,  8.6748486 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003764753696690812
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.10587217e-14,  1.47449623e-14,  1.00000000e+00,  1.63060434e-28,
        1.00000000e+00, -1.47449623e-14, -1.00000000e+00,  0.00000000e+00,
       -1.10587217e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02096432, -0.08002845,  0.0616663 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16105687e-03, 3.66754925e-02, 9.23703580e-03,-1.37677705e-05,
 -8.31996962e-06, 1.89788334e-05, 4.53210459e-05,-3.78401448e-05,
  1.19624044e-05,-1.06343683e-04, 4.70393165e-05,-9.45375403e-05,
  3.27732346e-03, 4.80436695e-03, 8.35638756e-03, 1.33601838e-03,
  9.92525279e-05,-2.97017682e-05,-4.90500716e+00, 6.36535772e-03,
  2.17797314e-03, 1.02390303e-04]


--- Step 2674 ---
qpos:
[-0.01621895, 1.29576055,-0.03207047, 0.94842754, 0.00434912, 1.33157579,
 -0.02975554, 0.94627292, 0.01674109, 1.33657484,-0.02393917, 0.95497658,
  1.39452928,-0.0060232 , 1.18932602, 0.06138542,-0.05239594,-0.11140971,
  0.07919881, 0.57502526,-0.01236083,-0.00557495, 0.81802328]

qacc:
[ 4.12184194e-02,-1.38179268e+00, 6.48464577e+00,-1.52718232e+01,
 -2.16809650e-02,-3.62373276e+00, 1.35175280e+01,-2.07910116e+01,
  6.81640043e-02, 7.20061938e-02,-3.55750947e+00, 1.49125176e+01,
 -7.95380973e-02,-3.89333936e-02,-3.53340174e-01, 2.79258873e-01,
  1.38698412e+00,-3.97509064e+00, 3.90145455e+00,-2.91709975e+01,
 -2.44503398e+02,-1.18324775e+01]

qfrc_actuator:
[ 4.14928328e-03, 7.15618657e-02, 2.01205519e-02, 1.73489928e-03,
  2.19652801e-06, 3.49612242e-02, 1.08693513e-02, 1.68617640e-03,
 -3.04553819e-03, 3.45267373e-02, 1.09215965e-02, 1.72662227e-03,
  0.00000000e+00, 2.92734934e-03, 0.00000000e+00,-1.92407623e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000688236178515586
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02269278e-01,  8.79622605e-02, -9.49155374e-01, -2.66917514e-02,
        9.96123808e-01,  8.38147343e-02,  9.52848799e-01, -3.46944695e-18,
        3.03445491e-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([ 0.07207378, -0.04289204,  0.22463437])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003707435141806839
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.48646289e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -7.48646289e-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([-0.05475416, -0.09218004,  0.06167058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10980007e-03, 3.67677135e-02, 9.31067816e-03,-4.13243324e-05,
 -6.27995957e-06, 2.83571729e-05, 5.46301211e-05,-3.74104392e-05,
  1.96218103e-05,-9.62504000e-05,-9.25611662e-06, 4.69938962e-05,
  3.29370587e-03, 4.81375509e-03, 8.14196613e-03, 1.40994476e-03,
  3.73444507e-04, 1.22109097e-04,-4.90509473e+00, 6.39114190e-03,
  2.17084348e-03, 1.42611675e-04]


--- Step 2675 ---
qpos:
[-0.01621779, 1.2957687 ,-0.03206989, 0.94842631, 0.00434934, 1.33157812,
 -0.02975703, 0.94627117, 0.01674076, 1.3365721 ,-0.02393813, 0.95497799,
  1.39453625,-0.00602513, 1.18932278, 0.06138495,-0.05241001,-0.11142117,
  0.07922192, 0.57497675,-0.0124792 ,-0.0059554 , 0.81805289]

qacc:
[ 1.65924980e-01,-9.90089056e-01, 2.83566944e+00, 1.28174748e+00,
  4.58133571e-02, 9.64878168e-01,-2.77446807e+00, 1.72494168e+00,
  6.65891816e-02, 3.38832851e+00,-1.43653428e+01, 3.09370146e+01,
  1.90720767e-01,-2.99782047e-01, 2.93813357e+00,-6.49759750e+00,
  2.99420379e+00, 4.35522042e+00, 1.72275981e+00, 2.24378564e+02,
  1.85747026e+02,-8.67673726e+00]

qfrc_actuator:
[ 4.13021974e-03, 7.15334450e-02, 2.01606205e-02, 1.75470629e-03,
  1.91102491e-05, 3.49486584e-02, 1.08441649e-02, 1.68202048e-03,
 -3.03790212e-03, 3.45730294e-02, 1.09263251e-02, 1.80994904e-03,
  0.00000000e+00, 2.88853950e-03, 0.00000000e+00,-2.59524992e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006884618875797992
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30226178,  0.08796211, -0.94915778, -0.02669104,  0.99612382,
        0.08381481,  0.9528512 ,  0.        ,  0.30343796])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07207316, -0.04289244,  0.22463458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037747147578153922
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.14711817e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.14711817e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07790739, -0.13831569,  0.06166588])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08589732e-03, 3.67300473e-02, 9.34667610e-03, 1.97230534e-05,
  1.32089124e-05, 1.26653703e-05,-1.45262412e-05,-2.57391216e-06,
  1.92158725e-05,-7.33173467e-06,-1.37442064e-05, 8.12953943e-05,
  3.30459966e-03, 4.78052969e-03, 8.16447072e-03, 1.34791816e-03,
  4.15115404e-04, 4.75671926e-04,-4.90518803e+00, 6.41893443e-03,
  2.17082788e-03, 2.69531451e-04]


--- Step 2676 ---
qpos:
[-0.01621629, 1.29577675,-0.0320689 , 0.94842606, 0.00434972, 1.33158057,
 -0.02975887, 0.94627112, 0.01674056, 1.33656984,-0.0239375 , 0.95497793,
  1.39454333,-0.00602716, 1.18932168, 0.06138417,-0.05241345,-0.11141724,
  0.07924674, 0.57494737,-0.0126389 ,-0.00582041, 0.81807207]

qacc:
[ 1.44297123e-01, 3.82183824e-01,-3.40842840e+00, 1.43081750e+01,
  6.16839435e-02, 3.98601685e+00,-1.62916193e+01, 3.37142426e+01,
  5.52912124e-02,-8.14778112e-01, 6.38672822e+00,-2.28002712e+01,
  3.70794571e-02,-7.94078999e-02, 4.08758703e+00,-9.70721479e+00,
  2.65716522e+00, 3.84475218e+00, 4.29498556e-01, 1.99029271e+02,
  1.65207865e+02,-7.48436101e+00]

qfrc_actuator:
[ 4.11808442e-03, 7.15130242e-02, 2.01840337e-02, 1.80238667e-03,
  2.91029969e-05, 3.49578375e-02, 1.08298337e-02, 1.76901995e-03,
 -3.03328344e-03, 3.46196904e-02, 1.09111515e-02, 1.73415042e-03,
  0.00000000e+00, 2.88389232e-03, 0.00000000e+00,-3.35045722e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006888093954413171
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30225347,  0.08796186, -0.94916045, -0.02669023,  0.99612384,
        0.0838148 ,  0.95285386,  0.        ,  0.30342961])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07207266, -0.04289287,  0.22463479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037868032094472356
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.19886596e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.19886596e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07789863, -0.13831287,  0.06166535])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05430158e-03, 3.67005121e-02, 9.33681606e-03, 5.08075049e-05,
  1.77879409e-05, 1.32505889e-05,-1.35857040e-05, 8.68925853e-05,
  1.59615764e-05, 4.23513610e-05,-1.57851041e-05,-7.45263940e-05,
  3.29453567e-03, 4.78558529e-03, 8.07568112e-03, 1.27786657e-03,
  9.12773772e-05, 6.44397742e-05,-4.90502952e+00, 6.39959572e-03,
  2.18805719e-03, 1.54337715e-04]


--- Step 2677 ---
qpos:
[-0.01621606, 1.29578641,-0.03206741, 0.94842588, 0.00435022, 1.33158307,
 -0.02975996, 0.94627137, 0.01674046, 1.3365683 ,-0.02393799, 0.95497526,
  1.39454999,-0.00602868, 1.18931551, 0.06138284,-0.0524074 ,-0.11139965,
  0.07926884, 0.5749346 ,-0.01283607,-0.00522484, 0.81808199]

qacc:
[-5.39369151e-01, 9.23755085e-01,-5.96548622e-01, 3.14391135e-01,
  5.65488510e-02,-1.42156391e+00, 4.11929408e+00,-1.37391339e-01,
  4.21276087e-02,-4.95677828e-01, 8.03222655e+00,-3.75758418e+01,
 -4.54472114e-01, 7.70027054e-01,-5.81838581e+00, 9.55353994e+00,
  2.37295895e+00, 3.41854446e+00,-6.83002842e-01, 1.77698239e+02,
  1.47841612e+02,-6.43936266e+00]

qfrc_actuator:
[ 4.09224843e-03, 7.15153694e-02, 2.01619243e-02, 1.81275714e-03,
  3.48623073e-05, 3.49800469e-02, 1.08754337e-02, 1.78471708e-03,
 -3.03051146e-03, 3.46482997e-02, 1.08487754e-02, 1.60081380e-03,
  0.00000000e+00, 2.93524241e-03, 0.00000000e+00,-1.49077340e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006892718021433326
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02244860e-01,  8.79615091e-02, -9.49163219e-01, -2.66893654e-02,
        9.96123874e-01,  8.38147055e-02,  9.52856612e-01, -3.46944695e-18,
        3.03420958e-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([ 0.07207231, -0.04289333,  0.22463499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037520737482769975
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.47947921e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.47947921e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07794504, -0.1383664 ,  0.06166827])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01153876e-03, 3.67080266e-02, 9.29353028e-03, 1.24243006e-05,
  1.62563443e-05, 2.94733112e-05, 4.91910084e-05, 1.77131190e-05,
  1.21962420e-05, 4.67531694e-05,-5.80779974e-05,-1.34280396e-04,
  3.28861560e-03, 4.84249685e-03, 7.96858890e-03, 1.47919616e-03,
 -3.80042258e-06, 1.20877515e-05,-4.90500402e+00, 6.39128568e-03,
  2.19386613e-03, 1.43465971e-04]


--- Step 2678 ---
qpos:
[-0.01621742, 1.29579765,-0.03206555, 0.94842549, 0.00435083, 1.3315855 ,
 -0.02976032, 0.94627009, 0.01674058, 1.33656713,-0.02393985, 0.95497313,
  1.39455614,-0.00602953, 1.18930351, 0.06138112,-0.05239282,-0.11136981,
  0.07928438, 0.57493594,-0.01306737,-0.004215  , 0.81808322]

qacc:
[-6.79416956e-01, 6.82083861e-01, 7.12426407e-01,-4.06853571e+00,
  4.44798739e-02,-4.67693756e+00, 1.82607356e+01,-3.34697113e+01,
  9.20191569e-02, 5.06975287e+00,-1.70418814e+01, 2.07609276e+01,
 -5.86722966e-01, 9.99145847e-01,-7.34311497e+00, 1.32687457e+01,
  2.13228091e+00, 3.06109027e+00,-1.63823271e+00, 1.59713641e+02,
  1.33140049e+02,-5.51604925e+00]

qfrc_actuator:
[ 4.07741303e-03, 7.14941911e-02, 2.01300199e-02, 1.80125672e-03,
  3.80357980e-05, 3.49568280e-02, 1.09027821e-02, 1.70509388e-03,
 -3.01111631e-03, 3.46478915e-02, 1.07767230e-02, 1.62996714e-03,
  0.00000000e+00, 2.98410131e-03, 0.00000000e+00,-1.13886925e-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: -0.0006895423736069661
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30223424,  0.08796156, -0.9491666 , -0.02668844,  0.99612387,
        0.08381505,  0.95286001,  0.        ,  0.3034103 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0720715 , -0.04289372,  0.22463527])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003679765976439882
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.26282670e-14,  4.52565339e-14,  1.00000000e+00, -1.02407693e-27,
        1.00000000e+00, -4.52565339e-14, -1.00000000e+00,  0.00000000e+00,
        2.26282670e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07803506, -0.13846453,  0.06167392])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05996225e-03, 3.66060200e-02, 9.23720789e-03,-2.56874959e-06,
  1.27674288e-05, 3.21976805e-06, 3.92254815e-05,-7.68849152e-05,
  2.65974325e-05, 1.01324317e-05,-7.34524101e-05, 2.57076454e-05,
  3.30960289e-03, 4.86547768e-03, 8.22215259e-03, 1.65415784e-03,
  6.37586070e-05, 2.14446765e-04,-4.90507282e+00, 6.39039701e-03,
  2.19138199e-03, 2.07075670e-04]


--- Step 2679 ---
qpos:
[-0.01622002, 1.29581064,-0.03206305, 0.94842597, 0.00435181, 1.33158764,
 -0.02976078, 0.94626792, 0.01674078, 1.33656543,-0.0239417 , 0.95497206,
  1.39456226,-0.0060297 , 1.18928624, 0.06137894,-0.05236369,-0.11134778,
  0.07930488, 0.57492613,-0.01280664,-0.00319098, 0.81809887]

qacc:
[-5.28480422e-01, 2.08463012e+00,-5.79756224e+00, 1.40104423e+01,
  1.55060994e-01,-1.62930123e+00, 6.65312915e+00,-1.57813836e+01,
  3.26730579e-02, 1.13576733e+00,-6.68837865e+00, 1.83940783e+01,
 -2.40989499e-01, 7.31997176e-01,-6.40437911e+00, 1.11499569e+01,
  3.63981457e+00,-1.95198528e+00, 1.23819838e+00, 1.47203751e+02,
 -1.97303158e+02, 7.75837194e+00]

qfrc_actuator:
[ 4.07001269e-03, 7.14405365e-02, 2.01099026e-02, 1.84789893e-03,
  7.51383510e-05, 3.49064668e-02, 1.08833944e-02, 1.65874832e-03,
 -3.01741048e-03, 3.45946401e-02, 1.07705519e-02, 1.68349467e-03,
  0.00000000e+00, 2.97785197e-03, 0.00000000e+00, 1.24063379e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006895755207734083
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02221746e-01,  8.79621144e-02, -9.49170523e-01, -2.66875094e-02,
        9.96123821e-01,  8.38159318e-02,  9.52863995e-01,  3.46944695e-18,
        3.03397771e-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([ 0.07207018, -0.04289403,  0.22463563])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0036466699725211937
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.61121128e-15,  1.52224226e-14,  1.00000000e+00,  1.15861074e-28,
        1.00000000e+00, -1.52224226e-14, -1.00000000e+00,  0.00000000e+00,
       -7.61121128e-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([-0.0791887 , -0.10107247,  0.06167656])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13224816e-03, 3.64733457e-02, 9.19800105e-03, 5.47177885e-05,
  4.46370486e-05,-4.32326267e-05,-1.65530192e-05,-4.68825074e-05,
  9.40879942e-06,-6.12233263e-05,-1.17873072e-05, 5.22696545e-05,
  3.33566784e-03, 4.82591315e-03, 8.51411636e-03, 1.79970150e-03,
  2.46838253e-04, 5.97072325e-04,-4.90520981e+00, 6.39432014e-03,
  2.18286599e-03, 3.23922735e-04]


--- Step 2680 ---
qpos:
[-0.01622348, 1.29582564,-0.03205954, 0.94842765, 0.00435303, 1.3315895 ,
 -0.02976148, 0.94626558, 0.01674084, 1.33656342,-0.02394248, 0.95497018,
  1.39456869,-0.00602929, 1.18926385, 0.06137644,-0.0523472 ,-0.11134187,
  0.07932556, 0.57494233,-0.01250439,-0.00276853, 0.81809369]

qacc:
[-3.62344752e-01, 1.94354340e+00,-5.61979916e+00, 1.75287109e+01,
  1.05019441e-01,-3.45973393e-02, 5.85950046e-02,-2.04133346e+00,
 -5.56544247e-02,-4.68259268e+00, 1.64102363e+01,-2.33484178e+01,
  1.10838792e-01, 3.21648174e-01,-6.56758679e+00, 1.19790827e+01,
 -3.16344647e+00,-4.03031514e+00, 4.60705233e-02,-2.34008159e+02,
 -1.89734561e+02,-2.05437144e+01]

qfrc_actuator:
[ 4.08510943e-03, 7.14198435e-02, 2.01142055e-02, 1.91067435e-03,
  7.90372887e-05, 3.48933246e-02, 1.08720038e-02, 1.65008607e-03,
 -3.03906463e-03, 3.46169481e-02, 1.08386012e-02, 1.64439018e-03,
  0.00000000e+00, 2.95600412e-03, 0.00000000e+00, 2.53580294e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006894171382465265
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02206966e-01,  8.79630671e-02, -9.49175141e-01, -2.66864955e-02,
        9.96123737e-01,  8.38172544e-02,  9.52868711e-01, -3.46944695e-18,
        3.03382959e-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([ 0.07206837, -0.04289432,  0.22463607])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037073165591789276
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.48670236e-15, -1.49734047e-14,  1.00000000e+00, -1.12101424e-28,
        1.00000000e+00,  1.49734047e-14, -1.00000000e+00,  0.00000000e+00,
       -7.48670236e-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([-0.02088706, -0.07992215,  0.06167232])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20932367e-03, 3.63646629e-02, 9.17060811e-03, 7.39031909e-05,
  3.02383519e-05,-4.17151511e-05,-2.31067735e-05,-1.15321542e-05,
 -1.61025400e-05,-1.22886660e-05, 5.62849221e-05,-4.00535689e-05,
  3.33694691e-03, 4.76975218e-03, 8.77790261e-03, 1.95166169e-03,
  5.82716331e-04, 5.01038654e-04,-4.90521465e+00, 6.38376451e-03,
  2.18782466e-03, 2.72916130e-04]


--- Step 2681 ---
qpos:
[-0.01622684, 1.29583961,-0.03205625, 0.948428  , 0.00435398, 1.33159142,
 -0.02976248, 0.94626312, 0.01674087, 1.33656135,-0.02394169, 0.95496814,
  1.39457535,-0.00602901, 1.18924199, 0.06137443,-0.05234196,-0.11135028,
  0.07934199, 0.57498217,-0.01216533,-0.0028787 , 0.81807043]

qacc:
[ 3.72407461e-02,-3.03320044e+00, 1.09818174e+01,-2.43333533e+01,
 -1.17136350e-01, 7.09972943e-01,-1.98235764e+00, 3.67224752e-01,
 -1.60563948e-02,-4.61255780e+00, 1.52608064e+01,-1.50098019e+01,
  2.56055422e-01,-3.29925664e-01,-7.15879360e-01, 3.60468283e+00,
 -2.80987384e+00,-3.58059723e+00,-1.06290842e+00,-2.07157379e+02,
 -1.68030036e+02,-1.82517139e+01]

qfrc_actuator:
[ 4.09605798e-03, 7.14002231e-02, 2.00970197e-02, 1.82267661e-03,
  2.74804491e-05, 3.49203658e-02, 1.08655929e-02, 1.64593975e-03,
 -3.03425132e-03, 3.46490730e-02, 1.09323608e-02, 1.63991626e-03,
  0.00000000e+00, 2.96014619e-03, 0.00000000e+00, 1.90468451e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006891008972470178
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02189302e-01,  8.79643086e-02, -9.49180650e-01, -2.66853152e-02,
        9.96123627e-01,  8.38189331e-02,  9.52874346e-01, -3.46944695e-18,
        3.03365259e-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([ 0.07206608, -0.04289461,  0.22463659])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037361623123044058
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.71444992e-15,  2.97155994e-14,  1.00000000e+00,  1.10377106e-28,
        1.00000000e+00, -2.97155994e-14, -1.00000000e+00,  0.00000000e+00,
       -3.71444992e-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([-0.02092016, -0.07995737,  0.06167047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.26276425e-03, 3.62446024e-02, 9.10261375e-03,-7.42048290e-05,
 -3.37142858e-05,-9.12551889e-07,-1.75395876e-05,-6.34348639e-06,
 -4.69509210e-06, 3.51459492e-05, 9.65845461e-05,-4.12993815e-06,
  3.32102475e-03, 4.74547609e-03, 9.03444063e-03, 1.90514465e-03,
  1.66118265e-04, 5.60734180e-05,-4.90504958e+00, 6.38553593e-03,
  2.18504095e-03, 1.51033193e-04]


--- Step 2682 ---
qpos:
[-0.01622946, 1.29585015,-0.03205485, 0.94842794, 0.00435465, 1.331593  ,
 -0.02976287, 0.94626096, 0.0167409 , 1.3365594 ,-0.02394103, 0.95496856,
  1.3945822 ,-0.00602896, 1.18922598, 0.06137268,-0.05234675,-0.11137149,
  0.07935032, 0.57504304,-0.01179342,-0.0034633 , 0.81803082]

qacc:
[ 3.15060500e-01,-7.54292630e-02,-4.34972209e+00, 1.24781542e+00,
 -1.15495623e-01,-1.59257278e+00, 4.03242604e+00, 2.22991279e-01,
  3.56557305e-04, 4.74516372e+00,-2.02150872e+01, 4.57097092e+01,
  2.96711184e-02,-1.28634084e-01, 7.84560849e+00,-1.48998997e+01,
 -2.50939565e+00,-3.19987578e+00,-2.02259719e+00,-1.84513415e+02,
 -1.49693715e+02,-1.62299930e+01]

qfrc_actuator:
[ 4.05066254e-03, 7.13657368e-02, 2.00500232e-02, 1.78829529e-03,
  1.40858025e-05, 3.49002769e-02, 1.08978350e-02, 1.66225668e-03,
 -3.03135085e-03, 3.46337073e-02, 1.09163422e-02, 1.76240965e-03,
  0.00000000e+00, 2.96258887e-03, 0.00000000e+00,-2.44148055e-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: -0.0006887537692303013
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30217284,  0.08796551, -0.94918578, -0.02668423,  0.99612352,
        0.08382054,  0.9528796 ,  0.        ,  0.30334877])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07206387, -0.04289492,  0.22463708])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037143651315829918
  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([-0.0208862 , -0.07992471,  0.06167232])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.21300013e-03, 3.62619657e-02, 9.06687725e-03,-4.16824073e-05,
 -3.32897861e-05,-2.42307577e-05, 2.98781359e-05, 1.56264701e-05,
  1.28654786e-07, 2.28197536e-05, 1.69906563e-06, 1.26259993e-04,
  3.31020990e-03, 4.75382714e-03, 9.00825064e-03, 1.66581325e-03,
 -3.12533320e-06, 1.34683799e-06,-4.90501385e+00, 6.37695558e-03,
  2.18781195e-03, 1.35360746e-04]


--- Step 2683 ---
qpos:
[-0.0162318 , 1.29585923,-0.0320539 , 0.94842826, 0.0043551 , 1.33159409,
 -0.02976249, 0.94625936, 0.01674094, 1.33655815,-0.02394164, 0.95497114,
  1.3945891 ,-0.00602902, 1.18921402, 0.06137103,-0.05236055,-0.11140421,
  0.07934726, 0.57512221,-0.01139208,-0.00447312, 0.81797595]

qacc:
[ 1.24019447e-01,-8.41293519e-02,-2.81287240e+00, 7.70352825e+00,
 -9.63565576e-02,-1.75313029e+00, 3.78656816e+00, 3.54643310e+00,
  5.94994493e-03, 8.08933401e+00,-2.96300837e+01, 5.02001791e+01,
 -8.90730112e-02, 6.41325255e-02, 5.67732413e+00,-1.11469457e+01,
 -2.25274872e+00,-2.87567214e+00,-2.85120226e+00,-1.65377441e+02,
 -1.34179755e+02,-1.44403071e+01]

qfrc_actuator:
[ 4.02403168e-03, 7.13428792e-02, 2.00756590e-02, 1.82118870e-03,
  5.94289274e-06, 3.48700440e-02, 1.09347188e-02, 1.69048140e-03,
 -3.02962219e-03, 3.46784514e-02, 1.08532887e-02, 1.86977353e-03,
  0.00000000e+00, 2.96418118e-03, 0.00000000e+00,-9.95418926e-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: -0.0006884925513882915
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30216145,  0.08796643, -0.94918932, -0.0266835 ,  0.99612344,
        0.08382174,  0.95288323,  0.        ,  0.30333736])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07206223, -0.0428953 ,  0.22463743])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003651749927494674
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.60062331e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -7.60062331e-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([-0.02079916, -0.0798383 ,  0.06167709])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14940049e-03, 3.64099814e-02, 9.18704592e-03, 1.13366759e-05,
 -2.77885491e-05,-3.73397003e-05, 3.59976501e-05, 2.87349733e-05,
  1.80383908e-06, 6.14494602e-05,-5.47077837e-05, 1.11027094e-04,
  3.30051551e-03, 4.76743155e-03, 8.71626474e-03, 1.57777210e-03,
  3.81338332e-06, 2.20990233e-04,-4.90506947e+00, 6.36157860e-03,
  2.19471836e-03, 1.93814966e-04]


--- Step 2684 ---
qpos:
[-0.01623385, 1.29586819,-0.03205252, 0.9484288 , 0.00435523, 1.33159496,
 -0.02976175, 0.94625881, 0.016741  , 1.33655751,-0.02394239, 0.95497355,
  1.39459614,-0.00602921, 1.18920369, 0.06136943,-0.05238249,-0.11144731,
  0.07932993, 0.57521698,-0.01096418,-0.00586653, 0.81790635]

qacc:
[ 1.19055989e-01,-9.38547276e-01, 2.42058574e+00, 5.33352393e-01,
 -1.35668493e-01, 5.08528415e-01,-4.14510813e+00, 1.57712714e+01,
  7.12072308e-03, 8.88449673e-01,-1.59566615e+00,-9.11205995e-01,
  1.12637677e-01,-1.80263126e-01, 2.24321003e+00,-4.36866284e+00,
 -2.03241037e+00,-2.59803576e+00,-3.56507387e+00,-1.49193805e+02,
 -1.21051490e+02,-1.28512045e+01]

qfrc_actuator:
[ 4.04431749e-03, 7.13264098e-02, 2.01086778e-02, 1.84057180e-03,
 -1.67375622e-05, 3.48695159e-02, 1.09562370e-02, 1.74322214e-03,
 -3.02861075e-03, 3.47231324e-02, 1.08519725e-02, 1.86085062e-03,
  0.00000000e+00, 2.94747040e-03, 0.00000000e+00,-1.08515369e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006883620494010159
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30215187,  0.08796724, -0.94919229, -0.02668291,  0.99612337,
        0.08382278,  0.95288628,  0.        ,  0.30332776])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07206096, -0.04289574,  0.22463771])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003556639902477003
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.95096892e-15, -3.90193784e-15,  1.00000000e+00, -7.61255944e-30,
        1.00000000e+00,  3.90193784e-15, -1.00000000e+00,  0.00000000e+00,
       -1.95096892e-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([-0.02067024, -0.07970947,  0.06168416])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.15513626e-03, 3.64665655e-02, 9.24222499e-03, 1.19365065e-05,
 -3.90802904e-05,-1.32928250e-05, 1.91490469e-05, 5.33425017e-05,
  2.07720924e-06, 7.12807907e-05, 7.72128407e-06,-6.11771265e-06,
  3.29773542e-03, 4.75591680e-03, 8.51392901e-03, 1.56368958e-03,
  1.36500852e-04, 6.33119509e-04,-4.90518799e+00, 6.34197665e-03,
  2.20466987e-03, 3.03686117e-04]


--- Step 2685 ---
qpos:
[-0.01623536, 1.29587698,-0.03205149, 0.94843099, 0.0043552 , 1.33159547,
 -0.02976043, 0.94625992, 0.01674093, 1.3365569 ,-0.02394206, 0.95497548,
  1.39460338,-0.00602935, 1.18919409, 0.0613673 ,-0.05238997,-0.111473  ,
  0.07932471, 0.57531803,-0.01060794,-0.00659844, 0.8178344 ]

qacc:
[ 2.35048525e-01, 3.53294136e+00,-1.51849215e+01, 3.23880939e+01,
 -6.51198558e-02, 8.18024305e-01,-6.65762832e+00, 2.53671152e+01,
 -5.51748726e-02,-3.71616211e+00, 1.31455140e+01,-1.69910798e+01,
  4.32648425e-02, 3.90157249e-02, 2.70755274e+00,-7.89707520e+00,
  3.61313203e+00, 4.35481752e+00, 3.02593863e+00, 2.49945566e+02,
  2.19590432e+02, 5.89247035e-01]

qfrc_actuator:
[ 4.07489605e-03, 7.13307679e-02, 2.00921733e-02, 1.92286456e-03,
 -1.24515880e-05, 3.48512360e-02, 1.09863885e-02, 1.82772389e-03,
 -3.04579039e-03, 3.47143253e-02, 1.09048243e-02, 1.83687847e-03,
  0.00000000e+00, 2.93759565e-03, 0.00000000e+00,-1.48796239e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25438921,  0.25346265, -0.02169233,  0.25346265,  0.25636945,
        0.023138  , -0.02169233,  0.023138  ,  0.52474361,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006883249436340604
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30214201,  0.08796797, -0.94919537, -0.02668226,  0.9961233 ,
        0.08382375,  0.95288943,  0.        ,  0.30331788])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0720598 , -0.0428962 ,  0.22463797])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0036512187228795387
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.32121037e-14, -1.52034582e-14,  1.00000000e+00, -8.09007994e-28,
        1.00000000e+00,  1.52034582e-14, -1.00000000e+00,  0.00000000e+00,
       -5.32121037e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07811598, -0.13848945,  0.06167692])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17175083e-03, 3.64768225e-02, 9.20424846e-03, 8.32308391e-05,
 -1.87764481e-05,-2.02977138e-05, 3.12907185e-05, 8.59034489e-05,
 -1.59514853e-05, 3.19458366e-05, 6.74757891e-05,-2.17750191e-05,
  3.29095443e-03, 4.75242439e-03, 8.43265455e-03, 1.52090756e-03,
  3.59211620e-04, 1.18002404e-03,-4.90534831e+00, 6.31999895e-03,
  2.21682766e-03, 4.48958113e-04]


--- Step 2686 ---
qpos:
[-0.01623691, 1.29588566,-0.03205037, 0.94843308, 0.00435525, 1.33159567,
 -0.02975898, 0.94626171, 0.01674069, 1.33655632,-0.02394015, 0.95497674,
  1.39460989,-0.0060295 , 1.18918474, 0.0613651 ,-0.05238478,-0.11148322,
  0.07932571, 0.57542692,-0.01031316,-0.00674731, 0.81776034]

qacc:
[-2.11453538e-02,-5.30713421e-01, 1.75743674e+00,-2.55945249e+00,
  3.24996616e-02, 4.07262507e-01,-3.20277454e+00, 1.08263967e+01,
 -6.78188235e-02,-5.39347020e+00, 1.89714441e+01,-2.42058284e+01,
 -5.70155691e-01, 4.82469976e-01, 5.94976550e-01,-1.45876857e+00,
  3.16767781e+00, 3.86598485e+00, 1.55643315e+00, 2.20769471e+02,
  1.92887643e+02,-5.21103844e-01]

qfrc_actuator:
[ 4.11126606e-03, 7.13299748e-02, 2.00998224e-02, 1.91711337e-03,
  7.97593260e-06, 3.48225251e-02, 1.09858473e-02, 1.85922297e-03,
 -3.05599117e-03, 3.47270147e-02, 1.09890100e-02, 1.80426079e-03,
  0.00000000e+00, 3.02045741e-03, 0.00000000e+00,-1.54035291e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006882999877068745
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02132643e-01,  8.79685338e-02, -9.49198295e-01, -2.66816034e-02,
        9.96123254e-01,  8.38245488e-02,  9.52892417e-01, -3.46944695e-18,
        3.03308493e-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([ 0.07205869, -0.0428967 ,  0.22463823])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.7301185 ,   3.85123939,   7.7301185 ,
        18.87001973, -20.54075746,   3.85123939, -20.54075746,
        49.8652962 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003716631582107957
  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([-0.07804684, -0.13839952,  0.06167203])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18053041e-03, 3.64847868e-02, 9.22949669e-03,-5.17841502e-06,
  9.34623227e-06,-3.12480524e-05, 1.56529778e-06, 3.38045091e-05,
 -1.96180340e-05, 4.28933412e-05, 9.74586391e-05,-3.02012385e-05,
  3.28136580e-03, 4.83269972e-03, 8.39610588e-03, 1.54260546e-03,
  4.38577234e-05, 3.44365920e-04,-4.90508250e+00, 6.34437915e-03,
  2.21265037e-03, 2.02546063e-04]


--- Step 2687 ---
qpos:
[-0.01623876, 1.2958945 ,-0.03204902, 0.94843334, 0.00435515, 1.33159567,
 -0.02975781, 0.94626354, 0.01674046, 1.33655669,-0.02393869, 0.95497727,
  1.39461591,-0.00602972, 1.18917387, 0.06136316,-0.05236841,-0.11147964,
  0.07932786, 0.57554411,-0.01007143,-0.00637904, 0.81768383]

qacc:
[-1.27054421e-01,-3.55538331e+00, 1.56375339e+01,-3.49833585e+01,
 -6.18374555e-02, 5.71313808e-01,-2.25150189e+00, 2.45160142e+00,
  6.79047869e-04, 1.21514564e+00,-9.95181189e-01,-8.06284132e+00,
 -2.60064023e-01, 1.30775372e-01,-3.00925804e+00, 7.29670347e+00,
  2.79451577e+00, 3.45331378e+00, 2.87276915e-01, 1.96214639e+02,
  1.70520206e+02,-1.24545811e+00]

qfrc_actuator:
[ 4.11598637e-03, 7.13438442e-02, 2.01039151e-02, 1.82411822e-03,
 -1.53384994e-05, 3.48054006e-02, 1.09671104e-02, 1.85924545e-03,
 -3.04416968e-03, 3.47881075e-02, 1.09668004e-02, 1.76683794e-03,
  0.00000000e+00, 3.03474086e-03, 0.00000000e+00,-8.52520044e-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: -0.0006882845864374793
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3021233 ,  0.08796911, -0.94920122, -0.02668095,  0.9961232 ,
        0.08382536,  0.9528954 ,  0.        ,  0.30329913])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07205761, -0.04289713,  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([  8.63636364,   7.84672602,   3.60772334,   7.84672602,
        18.53700004, -21.53368591,   3.60772334, -21.53368591,
        55.47169927,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0037249915910841994
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.45117806e-15,  1.49023561e-14,  1.00000000e+00, -1.11040109e-28,
        1.00000000e+00, -1.49023561e-14, -1.00000000e+00,  0.00000000e+00,
        7.45117806e-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([-0.07804444, -0.13838286,  0.06167143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18772837e-03, 3.65039147e-02, 9.22934566e-03,-9.33789371e-05,
 -1.78003565e-05,-3.30901320e-05,-2.36785927e-05,-7.95980316e-08,
  2.40111049e-07, 1.02953398e-04,-3.64061942e-06,-3.39995552e-05,
  3.31718231e-03, 4.84784242e-03, 8.38374816e-03, 1.61453828e-03,
 -4.92020422e-06, 1.59137602e-05,-4.90499195e+00, 6.36863563e-03,
  2.20201681e-03, 1.03434770e-04]


--- Step 2688 ---
qpos:
[-0.01624068, 1.29590392,-0.03204766, 0.94843279, 0.00435471, 1.3315957 ,
 -0.02975726, 0.946265  , 0.01674029, 1.33655795,-0.02393779, 0.95497702,
  1.39462226,-0.00602984, 1.18916042, 0.06136113,-0.05234212,-0.11146363,
  0.07932678, 0.57566924,-0.00987581,-0.00554916, 0.81760418]

qacc:
[-2.87914456e-02,-6.32188985e-01, 4.59199498e+00,-1.35343002e+01,
 -1.46363538e-01, 1.05864058e+00,-2.67059044e+00,-1.89999216e+00,
  2.52652230e-02, 1.32128551e+00,-1.32274921e+00,-8.45784262e+00,
  3.36888146e-01,-2.64598933e-01,-3.57522603e+00, 6.90740933e+00,
  2.48068941e+00, 3.10306074e+00,-8.06622480e-01, 1.75491165e+02,
  1.51728127e+02,-1.68364921e+00]

qfrc_actuator:
[ 4.10198531e-03, 7.13485247e-02, 2.00879353e-02, 1.78707927e-03,
 -4.69535852e-05, 3.48130002e-02, 1.09378245e-02, 1.84075675e-03,
 -3.03698579e-03, 3.48240422e-02, 1.09354049e-02, 1.72685160e-03,
  0.00000000e+00, 2.97242219e-03, 0.00000000e+00,-7.85584564e-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: -0.0006882047455478331
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30211357,  0.08796978, -0.94920425, -0.0266803 ,  0.99612314,
        0.08382627,  0.9528985 ,  0.        ,  0.30328938])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07205642, -0.04289749,  0.22463876])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.92673898,   3.42835034,   7.92673898,
        18.58563227, -23.00384955,   3.42835034, -23.00384955,
        61.82390067,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0036871290928681133
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.52769293e-15,  1.50553859e-14,  1.00000000e+00,  1.13332322e-28,
        1.00000000e+00, -1.50553859e-14, -1.00000000e+00,  0.00000000e+00,
       -7.52769293e-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([-0.07809515, -0.13842431,  0.06167424])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18863442e-03, 3.65000314e-02, 9.20150915e-03,-3.81974043e-05,
 -4.21204365e-05,-1.53367570e-05,-3.84516348e-05,-2.01723874e-05,
  7.32969527e-06, 9.11450281e-05,-1.26991919e-05,-3.78301337e-05,
  3.34236438e-03, 4.78854372e-03, 8.45995977e-03, 1.67908674e-03,
  1.33665804e-04, 4.40959554e-05,-4.90502373e+00, 6.39308239e-03,
  2.18628094e-03, 1.08375020e-04]


--- Step 2689 ---
qpos:
[-0.01624302, 1.29591492,-0.03204549, 0.94843133, 0.0043542 , 1.33159587,
 -0.02975718, 0.94626656, 0.01674005, 1.33655968,-0.02393767, 0.95497565,
  1.39462918,-0.00602983, 1.18914256, 0.06135915,-0.05233424,-0.11143793,
  0.07931773, 0.57574844,-0.01025077,-0.00475915, 0.81754878]

qacc:
[-1.81117453e-01,-1.65233463e+00, 9.77723761e+00,-2.00886634e+01,
 -2.76461094e-02, 1.63548466e+00,-5.29450033e+00, 5.58882450e+00,
 -3.16282915e-02, 8.09491753e-01, 3.59342042e-01,-1.34990390e+01,
  5.81611933e-01,-4.61450222e-01,-6.67442299e+00, 1.37993688e+01,
 -4.60418891e+00, 2.42613509e+00,-1.99375782e+00,-1.80689589e+02,
  2.21534943e+02, 2.71456259e+01]

qfrc_actuator:
[ 4.09439259e-03, 7.12762131e-02, 2.00777966e-02, 1.74779722e-03,
 -3.00334227e-05, 3.48352870e-02, 1.09203974e-02, 1.84704825e-03,
 -3.05039595e-03, 3.48090626e-02, 1.08810361e-02, 1.66792627e-03,
  0.00000000e+00, 2.91727872e-03, 0.00000000e+00, 1.45960789e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006880113121173412
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30210329,  0.08797047, -0.94920746, -0.0266796 ,  0.99612308,
        0.08382722,  0.95290178,  0.        ,  0.30327907])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07205501, -0.04289785,  0.22463907])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   8.46443244,   1.7146896 ,   8.46443244,
        11.60621092, -14.66042118,   1.7146896 , -14.66042118,
        81.00639778,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003678552914394881
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.50904860e-14,  1.50904860e-14,  1.00000000e+00,  2.27722768e-28,
        1.00000000e+00, -1.50904860e-14, -1.00000000e+00,  0.00000000e+00,
       -1.50904860e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00451265, -0.12502958,  0.06167482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18440885e-03, 3.63991334e-02, 9.19085162e-03,-3.77194358e-05,
 -7.93601986e-06, 5.67853082e-06,-2.53900235e-05, 4.23989132e-06,
 -9.07847474e-06, 3.18120960e-05,-3.91215097e-05,-5.74738895e-05,
  3.32552606e-03, 4.72913660e-03, 8.58944887e-03, 1.83734035e-03,
  4.03187529e-04, 3.22129504e-04,-4.90514233e+00, 6.41761836e-03,
  2.16659230e-03, 1.86800878e-04]


--- Step 2690 ---
qpos:
[-0.01624582, 1.2959279 ,-0.03204194, 0.94843073, 0.00435389, 1.33159586,
 -0.02975723, 0.94626854, 0.01673984, 1.33656189,-0.02393857, 0.95497464,
  1.39463679,-0.00602956, 1.1891213 , 0.06135707,-0.05234268,-0.11140377,
  0.07929714, 0.57578818,-0.01113289,-0.00400266, 0.81751331]

qacc:
[-1.92091734e-01, 3.23659416e-01, 3.37246967e-01, 8.34826010e+00,
  8.14837575e-02, 8.26343553e-01,-3.84068183e+00, 8.30128924e+00,
  1.53747602e-02, 4.01877593e+00,-1.30433529e+01, 1.50686568e+01,
  5.48555672e-01,-3.17280167e-01,-4.78876831e+00, 9.37870791e+00,
 -4.07688641e+00, 2.11322686e+00,-2.88620082e+00,-1.59860761e+02,
  1.97471378e+02, 2.28970115e+01]

qfrc_actuator:
[ 4.07327674e-03, 7.12274762e-02, 2.01058708e-02, 1.79637449e-03,
 -1.88685174e-06, 3.48129961e-02, 1.09101944e-02, 1.86789616e-03,
 -3.04054687e-03, 3.48346059e-02, 1.08310848e-02, 1.68704804e-03,
  0.00000000e+00, 2.86634528e-03, 0.00000000e+00, 2.39019246e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006876806213863863
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02090725e-01,  8.79713205e-02, -9.49211378e-01, -2.66787533e-02,
        9.96123008e-01,  8.38283803e-02,  9.52905786e-01,  3.46944695e-18,
        3.03266487e-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([ 0.07205319, -0.04289822,  0.22463945])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.27910224,  2.45830082, -8.27910224, 10.67069124,
        6.85123889,  2.45830082,  6.85123889, 31.71006833,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003676243474857774
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.54998297e-15,  3.01999319e-14,  1.00000000e+00,  2.28008971e-28,
        1.00000000e+00, -3.01999319e-14, -1.00000000e+00,  0.00000000e+00,
       -7.54998297e-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([-0.00451248, -0.12504457,  0.06167484])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18453431e-03, 3.62711690e-02, 9.17874404e-03, 5.68206984e-05,
  2.34636670e-05,-2.39873888e-05,-1.18545984e-05, 2.03751163e-05,
  4.49174948e-06, 3.37776531e-05,-4.98700378e-05, 1.75828974e-05,
  3.29709448e-03, 4.67088014e-03, 8.81015332e-03, 1.92837420e-03,
  9.03109294e-05, 3.89371500e-04,-4.90518830e+00, 6.43537836e-03,
  2.18409897e-03, 2.19322584e-04]


--- Step 2691 ---
qpos:
[-0.01624848, 1.29594046,-0.03203863, 0.94843101, 0.00435368, 1.33159561,
 -0.02975795, 0.94627113, 0.01673985, 1.33656449,-0.02393984, 0.95497452,
  1.39464498,-0.00602925, 1.1891009 , 0.06135494,-0.05236407,-0.11138483,
  0.07927627, 0.57584555,-0.01196464,-0.00384816, 0.81746189]

qacc:
[ 5.38393942e-02, 1.57046288e+00,-7.62040875e+00, 1.71464904e+01,
  4.50413506e-02, 2.53530585e+00,-9.91685725e+00, 1.58672363e+01,
  9.13849916e-02, 3.03308970e+00,-1.11040094e+01, 1.97845352e+01,
  3.76388819e-01,-2.64385386e-01, 1.40975824e+00,-3.16017527e+00,
 -3.23916739e+00,-3.80516869e+00,-6.83602870e-02,-2.31497888e+02,
 -1.93782497e+02,-1.52454211e+01]

qfrc_actuator:
[ 4.04424279e-03, 7.12806162e-02, 2.01027132e-02, 1.82525212e-03,
 -2.74110474e-06, 3.47819798e-02, 1.08686641e-02, 1.89711512e-03,
 -3.01682367e-03, 3.48665067e-02, 1.08198450e-02, 1.73422160e-03,
  0.00000000e+00, 2.85328406e-03, 0.00000000e+00, 1.53714615e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006873014019001603
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02074956e-01,  8.79723417e-02, -9.49216302e-01, -2.66776728e-02,
        9.96122918e-01,  8.38297959e-02,  9.52910816e-01,  6.93889390e-18,
        3.03250684e-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([ 0.07205104, -0.04289861,  0.2246399 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0036596652676560842
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.03367369e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.03367369e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02077075, -0.07992235,  0.06167575])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17802994e-03, 3.62251628e-02, 9.10638927e-03, 4.30532423e-05,
  1.29910176e-05,-4.59886582e-05,-4.69699596e-05, 2.86276420e-05,
  2.63777107e-05, 4.13458425e-05,-9.79908158e-06, 4.71249725e-05,
  3.26257247e-03, 4.64545983e-03, 8.98051752e-03, 1.84754914e-03,
 -7.81945921e-05, 3.77461691e-04,-4.90530603e+00, 6.43362672e-03,
  2.19168302e-03, 1.69819756e-04]


--- Step 2692 ---
qpos:
[-0.01625092, 1.29595165,-0.03203653, 0.94843108, 0.00435368, 1.33159552,
 -0.02975934, 0.94627367, 0.01673995, 1.33656665,-0.02394033, 0.95497464,
  1.39465341,-0.00602901, 1.18908166, 0.06135281,-0.0523969 ,-0.11137946,
  0.07925072, 0.57591983,-0.01275329,-0.00422617, 0.81739577]

qacc:
[ 9.87021177e-02, 1.17112990e+00,-5.54674591e+00, 3.26806041e+00,
  8.64496069e-02, 1.93212643e+00,-5.94454636e+00, 4.45905833e+00,
  4.15167609e-02,-2.28204223e+00, 6.29147923e+00,-2.50784067e+00,
  1.75490172e-01,-1.83558150e-01, 1.71789329e+00,-3.52855443e+00,
 -2.86204583e+00,-3.39184626e+00,-1.17001821e+00,-2.05170219e+02,
 -1.70809951e+02,-1.44110684e+01]

qfrc_actuator:
[ 4.04556641e-03, 7.13254899e-02, 2.00641247e-02, 1.80642831e-03,
  1.45183015e-05, 3.48168752e-02, 1.08444352e-02, 1.89548869e-03,
 -3.02047526e-03, 3.48133707e-02, 1.08493317e-02, 1.74427813e-03,
  0.00000000e+00, 2.86304941e-03, 0.00000000e+00, 1.03419825e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006869349694795246
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30205982,  0.08797332, -0.94922103, -0.02667663,  0.99612283,
        0.08383115,  0.95291564,  0.        ,  0.30323551])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07204895, -0.04289908,  0.22464032])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -8.14706966,  -2.86566445,  -8.14706966,
        13.58818094, -14.07799175,  -2.86566445, -14.07799175,
        48.66002354,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0036813918146188784
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.76971225e-15,  1.50788490e-14,  1.00000000e+00, -5.68429217e-29,
        1.00000000e+00, -1.50788490e-14, -1.00000000e+00,  0.00000000e+00,
        3.76971225e-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([-0.02080094, -0.07996472,  0.06167384])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17302538e-03, 3.62914124e-02, 9.07930970e-03,-2.01692298e-05,
  2.49238844e-05, 1.13626936e-06,-3.77218698e-05,-3.71525360e-06,
  1.19245518e-05,-3.08049070e-05, 3.78248496e-05, 1.20933342e-05,
  3.23377688e-03, 4.65296574e-03, 8.93844167e-03, 1.80031155e-03,
  4.75552872e-05,-2.31831240e-05,-4.90518431e+00, 6.42803635e-03,
  2.20197071e-03, 5.45507424e-05]


--- Step 2693 ---
qpos:
[-0.01625364, 1.29596286,-0.03203506, 0.94843181, 0.00435388, 1.3315955 ,
 -0.02976046, 0.94627578, 0.0167401 , 1.33656806,-0.02394023, 0.95497491,
  1.39466174,-0.00602855, 1.18906144, 0.06135043,-0.0524255 ,-0.11139273,
  0.07924699, 0.57600423,-0.01312909,-0.00495891, 0.81732623]

qacc:
[-1.21786560e-01, 2.79944794e+00,-1.04616387e+01, 1.66556930e+01,
  8.66627620e-02,-1.37337733e+00, 5.46244479e+00,-9.71935852e+00,
  1.66347513e-02,-2.29357374e+00, 5.95729393e+00,-2.85051656e+00,
 -1.92478450e-01, 3.41764425e-01,-6.71964520e-01, 3.02580299e-01,
  1.06157155e+00,-4.66006284e+00, 5.45429421e+00,-2.60353818e+01,
 -2.70843909e+02,-8.25742538e+00]

qfrc_actuator:
[ 4.04719599e-03, 7.13309959e-02, 2.00408686e-02, 1.84848510e-03,
  2.47528722e-05, 3.48377531e-02, 1.08663615e-02, 1.87577481e-03,
 -3.02276716e-03, 3.47453761e-02, 1.08667477e-02, 1.75012577e-03,
  0.00000000e+00, 2.88660011e-03, 0.00000000e+00, 1.45107599e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006865264479432136
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30204714,  0.0879742 , -0.94922498, -0.02667578,  0.99612275,
        0.08383234,  0.95291969,  0.        ,  0.30322281])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.072047  , -0.04289957,  0.2246407 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0036663665939550213
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.57032198e-15,  4.16367709e-14,  1.00000000e+00,  3.15203762e-28,
        1.00000000e+00, -4.16367709e-14, -1.00000000e+00,  0.00000000e+00,
       -7.57032198e-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([-0.0547447 , -0.09214968,  0.06167461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16305789e-03, 3.63645827e-02, 9.11723391e-03, 3.21686043e-05,
  2.49425719e-05, 1.40249399e-05, 1.77538656e-05,-2.08699222e-05,
  4.74837025e-06,-7.72976342e-05, 1.60507241e-05, 6.32545320e-06,
  3.22152499e-03, 4.67962656e-03, 8.88040837e-03, 1.84217467e-03,
  3.55253056e-04,-3.78908553e-05,-4.90518972e+00, 6.41775586e-03,
  2.21399777e-03, 4.66917545e-05]


--- Step 2694 ---
qpos:
[-0.01625579, 1.29597245,-0.03203425, 0.94843181, 0.0043541 , 1.33159533,
 -0.02976117, 0.94627662, 0.0167404 , 1.33656912,-0.02394035, 0.95497596,
  1.39467025,-0.00602849, 1.18904539, 0.06134845,-0.05243683,-0.11141623,
  0.07925542, 0.57607058,-0.01294488,-0.00566878, 0.81727779]

qacc:
[ 2.43212872e-01,-1.57459069e+00, 4.08727361e+00,-1.10531429e+01,
  1.01832304e-02,-3.44305165e+00, 1.36252042e+01,-2.65167579e+01,
  6.62375389e-02, 1.44867942e+00,-6.80265387e+00, 1.49159069e+01,
  2.25593648e-01,-4.75587510e-01, 4.91636897e+00,-8.32717997e+00,
  4.31395779e+00,-2.55847972e+00, 3.03998167e+00, 1.70562640e+02,
 -2.22446673e+02, 1.22136354e+01]

qfrc_actuator:
[ 4.03168103e-03, 7.13298123e-02, 2.00444489e-02, 1.80202098e-03,
  1.29380379e-05, 3.48147428e-02, 1.08798012e-02, 1.81009904e-03,
 -3.00647095e-03, 3.47399763e-02, 1.08590560e-02, 1.78893279e-03,
  0.00000000e+00, 2.86491762e-03, 0.00000000e+00,-6.30601477e-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: -0.0006860467851698068
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30203504,  0.08797515, -0.94922874, -0.02667501,  0.99612267,
        0.08383359,  0.95292354,  0.        ,  0.30321069])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07204498, -0.04290006,  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,  -7.93441308,  -3.41055214,  -7.93441308,
        14.89465168, -14.55947319,  -3.41055214, -14.55947319,
        42.50796847,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0037007842327271695
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.49991728e-15,  1.87497932e-14,  1.00000000e+00, -1.40621898e-28,
        1.00000000e+00, -1.87497932e-14, -1.00000000e+00,  0.00000000e+00,
        7.49991728e-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([-0.07910232, -0.10103072,  0.06167204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16180775e-03, 3.63628810e-02, 9.15174308e-03,-4.71625971e-05,
  2.90461574e-06,-1.24009376e-05, 1.75945968e-05,-6.52180094e-05,
  1.90976824e-05,-4.48317171e-05,-2.07793614e-05, 3.71358560e-05,
  3.22693981e-03, 4.64747244e-03, 8.92934908e-03, 1.70320555e-03,
  4.05374811e-04, 2.32670509e-04,-4.90513984e+00, 6.38598176e-03,
  2.21361757e-03, 1.82645705e-04]


--- Step 2695 ---
qpos:
[-0.01625722, 1.29598041,-0.03203384, 0.94843089, 0.00435443, 1.33159502,
 -0.02976167, 0.94627598, 0.01674073, 1.33656935,-0.02393977, 0.95497711,
  1.39467869,-0.00602896, 1.18903446, 0.06134691,-0.0524361 ,-0.11142431,
  0.0792688 , 0.57614742,-0.01281718,-0.00581346, 0.81722461]

qacc:
[ 3.09257829e-01,-2.62441468e+00, 7.83450246e+00,-1.63011527e+01,
  4.27008999e-02,-3.31007405e+00, 1.35840543e+01,-2.87569925e+01,
  1.08911206e-02,-2.80995397e+00, 7.61618843e+00,-4.83878942e+00,
  6.32285282e-02,-4.39157387e-01, 6.20935918e+00,-1.07360959e+01,
  3.01752932e+00, 3.85460145e+00, 1.23834222e+00, 2.14737059e+02,
  1.85947246e+02,-1.83374680e+00]

qfrc_actuator:
[ 4.04064282e-03, 7.13084796e-02, 2.00644261e-02, 1.75683345e-03,
  2.34976854e-05, 3.48010864e-02, 1.08879134e-02, 1.73561981e-03,
 -3.01466023e-03, 3.46832573e-02, 1.08901224e-02, 1.79358937e-03,
  0.00000000e+00, 2.86987231e-03, 0.00000000e+00,-1.32103648e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006856991732211194
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02025113e-01,  8.79759130e-02, -9.49231831e-01, -2.66743622e-02,
        9.96122602e-01,  8.38345971e-02,  9.52926707e-01, -6.93889390e-18,
        3.03200743e-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([ 0.07204334, -0.04290059,  0.22464138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00373544287867264
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.71516531e-14,  2.97213225e-14,  1.00000000e+00, -1.10419626e-27,
        1.00000000e+00, -2.97213225e-14, -1.00000000e+00,  0.00000000e+00,
        3.71516531e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07805845, -0.13832724,  0.06166962])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14223601e-03, 3.64220807e-02, 9.20501557e-03,-5.55048144e-05,
  1.22734445e-05,-1.90275676e-05, 5.77991272e-06,-7.58487707e-05,
  3.08481304e-06,-8.44729809e-05, 2.10365956e-05, 3.58714048e-06,
  3.21758273e-03, 4.67210879e-03, 8.72202139e-03, 1.55768164e-03,
  1.05920148e-04, 3.04664627e-04,-4.90508327e+00, 6.36964339e-03,
  2.20035605e-03, 2.31380880e-04]


--- Step 2696 ---
qpos:
[-0.01625877, 1.29598949,-0.03203285, 0.94843053, 0.00435486, 1.33159439,
 -0.02976147, 0.94627548, 0.01674103, 1.33656903,-0.02393943, 0.95497798,
  1.39468673,-0.00602938, 1.18902233, 0.06134516,-0.05242468,-0.11141864,
  0.07928225, 0.57623447,-0.01273885,-0.00545583, 0.81716693]

qacc:
[-5.26776891e-02, 8.48263739e-01,-2.11165025e+00, 7.45736656e+00,
  4.66253043e-02,-2.05611554e+00, 5.91975183e+00,-3.32513455e+00,
 -1.12091867e-02,-5.12171036e-01, 1.35635956e+00,-3.99725455e+00,
 -2.95225333e-01, 2.75499575e-01,-1.10181061e+00, 1.33155377e+00,
  2.67242166e+00, 3.43976974e+00, 1.58638562e-02, 1.91079833e+02,
  1.64934791e+02,-2.10542434e+00]

qfrc_actuator:
[ 4.08166023e-03, 7.12757236e-02, 2.00764864e-02, 1.80164427e-03,
  2.96430564e-05, 3.47931052e-02, 1.09283524e-02, 1.74532923e-03,
 -3.01971963e-03, 3.46496393e-02, 1.08726033e-02, 1.77810635e-03,
  0.00000000e+00, 2.89110175e-03, 0.00000000e+00,-2.97103653e-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: -0.0006855452245507418
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02017127e-01,  8.79764331e-02, -9.49234324e-01, -2.66738158e-02,
        9.96122556e-01,  8.38353167e-02,  9.52929254e-01, -3.46944695e-18,
        3.03192740e-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([ 0.07204216, -0.04290115,  0.22464161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00373329000102518
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.97384619e-14,  2.97384619e-14,  1.00000000e+00, -8.84376116e-28,
        1.00000000e+00, -2.97384619e-14, -1.00000000e+00,  0.00000000e+00,
        2.97384619e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07806907, -0.13832984,  0.06166998])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14697909e-03, 3.64709291e-02, 9.23692965e-03, 3.48763690e-05,
  1.33876405e-05,-1.96480186e-05, 3.51531378e-05, 7.54640513e-06,
 -3.24111284e-06,-7.61165563e-05,-3.15196936e-05,-1.72844233e-05,
  3.22132057e-03, 4.71978126e-03, 8.46580738e-03, 1.63773266e-03,
 -3.54981031e-07, 1.70564848e-05,-4.90499686e+00, 6.38544429e-03,
  2.19425754e-03, 1.47047694e-04]


--- Step 2697 ---
qpos:
[-0.01626018, 1.29599897,-0.03203134, 0.9484318 , 0.00435539, 1.33159383,
 -0.02976119, 0.94627476, 0.01674129, 1.33656903,-0.02393967, 0.95497791,
  1.39469433,-0.00602978, 1.1890118 , 0.06134315,-0.05240372,-0.11140061,
  0.07929155, 0.57633085,-0.01270394,-0.00464888, 0.81710449]

qacc:
[ 6.03924946e-02, 1.91738025e+00,-8.96560966e+00, 2.64700547e+01,
  3.94151028e-02,-5.22741141e-01, 2.28051277e+00,-4.66388980e+00,
 -1.76335567e-02, 3.48882005e-01, 1.27694419e+00,-1.21830543e+01,
 -4.63641776e-01, 4.55847526e-01, 3.18609161e+00,-7.63640497e+00,
  2.38186070e+00, 3.08912868e+00,-1.03654960e+00, 1.71124306e+02,
  1.47250337e+02,-2.20266456e+00]

qfrc_actuator:
[ 4.08921191e-03, 7.12517669e-02, 2.01007349e-02, 1.88160782e-03,
  3.30904709e-05, 3.48065111e-02, 1.09343668e-02, 1.73351847e-03,
 -3.02285940e-03, 3.47186883e-02, 1.08621099e-02, 1.73312573e-03,
  0.00000000e+00, 2.92173426e-03, 0.00000000e+00,-1.09467898e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006854023578554969
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02007525e-01,  8.79770088e-02, -9.49237326e-01, -2.66731437e-02,
        9.96122505e-01,  8.38361347e-02,  9.52932316e-01, -3.46944695e-18,
        3.03183116e-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([ 0.07204086, -0.04290166,  0.22464188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003687240529979763
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.52746543e-15,  1.50549309e-14,  1.00000000e+00,  1.13325472e-28,
        1.00000000e+00, -1.50549309e-14, -1.00000000e+00,  0.00000000e+00,
       -7.52746543e-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([-0.07813036, -0.13838686,  0.06167356])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16070206e-03, 3.63909310e-02, 9.23237120e-03, 8.75063450e-05,
  1.13468202e-05, 9.64215716e-06, 6.39178428e-06,-1.11961253e-05,
 -5.05615900e-06, 2.02926325e-05,-2.94448376e-05,-4.85593494e-05,
  3.24119752e-03, 4.74818765e-03, 8.52580919e-03, 1.56869805e-03,
  7.91117075e-05, 6.11782359e-05,-4.90502700e+00, 6.40329230e-03,
  2.18237858e-03, 1.59775568e-04]


--- Step 2698 ---
qpos:
[-0.01626182, 1.29600912,-0.03202882, 0.94843466, 0.00435613, 1.33159354,
 -0.02976147, 0.94627322, 0.01674136, 1.3365697 ,-0.02394059, 0.95497762,
  1.39470157,-0.00603009, 1.18900255, 0.06134096,-0.05236933,-0.11139088,
  0.07930481, 0.57641142,-0.01218659,-0.00382247, 0.81705982]

qacc:
[-9.96183556e-02, 8.55791375e-01,-4.98392727e+00, 2.23040419e+01,
  9.10735387e-02, 4.79506543e-01, 5.26480117e-01,-1.00204040e+01,
 -7.89040642e-02, 2.31375598e+00,-6.05089363e+00, 2.30792331e+00,
 -4.29961512e-01, 4.93317646e-01, 2.46466814e+00,-5.81705672e+00,
  3.36030117e+00,-2.07722924e+00, 9.91538327e-01, 1.46906701e+02,
 -1.91643478e+02, 1.05825270e+01]

qfrc_actuator:
[ 4.05871569e-03, 7.11800998e-02, 2.01321218e-02, 1.96360038e-03,
  5.26445911e-05, 3.48147381e-02, 1.09023089e-02, 1.69135438e-03,
 -3.04257449e-03, 3.47776736e-02, 1.08385014e-02, 1.72448337e-03,
  0.00000000e+00, 2.94026499e-03, 0.00000000e+00,-1.38608600e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006853814821461794
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30199704,  0.08797755, -0.94924061, -0.02667238,  0.99612246,
        0.08383695,  0.95293566,  0.        ,  0.30317261])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07203966, -0.04290215,  0.22464216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003622587008404385
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.06472425e-14,  3.83090531e-15,  1.00000000e+00, -1.17406684e-28,
        1.00000000e+00, -3.83090531e-15, -1.00000000e+00,  0.00000000e+00,
        3.06472425e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07919759, -0.10098089,  0.06167847])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12311539e-03, 3.62990078e-02, 9.23774455e-03, 8.76074637e-05,
  2.62503816e-05, 1.44778994e-05,-2.97739242e-05,-4.19488863e-05,
 -2.26993353e-05, 6.30178109e-05,-2.44122870e-05,-1.00331570e-05,
  3.26348880e-03, 4.76583619e-03, 8.44597052e-03, 1.55269092e-03,
  2.89686731e-04, 3.39051799e-04,-4.90514021e+00, 6.42238361e-03,
  2.16613272e-03, 2.41448690e-04]


--- Step 2699 ---
qpos:
[-0.016264  , 1.29601997,-0.03202554, 0.9484371 , 0.00435695, 1.33159323,
 -0.02976169, 0.94626946, 0.01674122, 1.33657081,-0.02394122, 0.9549779 ,
  1.39470872,-0.0060303 , 1.18899176, 0.06133881,-0.05234819,-0.11139626,
  0.07931729, 0.57650769,-0.01161859,-0.00358838, 0.81700123]

qacc:
[-2.28538233e-01,-1.85645224e+00, 7.99769779e+00,-1.21059066e+01,
  3.14666783e-02,-4.01273118e+00, 1.76071625e+01,-4.10309618e+01,
 -8.72483679e-02, 7.63821336e-01,-2.92599994e+00, 8.70488861e+00,
 -4.79749687e-02, 9.20879152e-02,-2.40641733e+00, 5.12356403e+00,
 -3.31140101e+00,-3.77499060e+00,-1.95514286e-01,-2.27307260e+02,
 -1.91283243e+02,-1.41314064e+01]

qfrc_actuator:
[ 4.04121492e-03, 7.11326372e-02, 2.01315858e-02, 1.93968740e-03,
  4.61980974e-05, 3.48018750e-02, 1.09012747e-02, 1.57839418e-03,
 -3.05432099e-03, 3.48123985e-02, 1.08606110e-02, 1.75504962e-03,
  0.00000000e+00, 2.93369189e-03, 0.00000000e+00,-6.63426441e-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: -0.0006854890968132112
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30198496,  0.08797818, -0.9492444 , -0.02667151,  0.9961224 ,
        0.08383789,  0.95293951,  0.        ,  0.30316049])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07203853, -0.04290264,  0.22464246])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003650638146146301
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.52058761e-14,  1.52058761e-14,  1.00000000e+00,  2.31218667e-28,
        1.00000000e+00, -1.52058761e-14, -1.00000000e+00,  0.00000000e+00,
       -1.52058761e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02070743, -0.07997052,  0.06167654])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.11730273e-03, 3.62179933e-02, 9.18654915e-03,-1.57879599e-05,
  9.04486949e-06,-1.19337262e-05,-2.82049388e-06,-1.14374749e-04,
 -2.51455736e-05, 6.45035913e-05, 3.13486129e-05, 3.14851281e-05,
  3.28146762e-03, 4.75422746e-03, 8.38247265e-03, 1.63415543e-03,
  5.92604281e-04, 2.29665055e-04,-4.90516365e+00, 6.39113094e-03,
  2.16539838e-03, 1.59748103e-04]


--- Step 2700 ---
qpos:
[-0.0162665 , 1.29603063,-0.03202266, 0.94843801, 0.00435763, 1.33159297,
 -0.02976198, 0.94626437, 0.01674091, 1.33657226,-0.02394126, 0.95497887,
  1.39471573,-0.00603045, 1.18897861, 0.06133672,-0.05233874,-0.11141513,
  0.0793247 , 0.57661909,-0.01100659,-0.00387916, 0.81692976]

qacc:
[-1.38290356e-01,-1.76414266e+00, 8.60381063e+00,-2.51827895e+01,
 -5.78331520e-02,-1.98006531e+00, 9.27385386e+00,-2.34302687e+01,
 -7.52974585e-02, 8.56276830e-02,-1.13562101e+00, 8.84357442e+00,
 -2.22454142e-02, 2.06030223e-02,-3.65626048e+00, 7.72488515e+00,
 -2.92505441e+00,-3.37322694e+00,-1.27023212e+00,-2.01663596e+02,
 -1.69175588e+02,-1.30188770e+01]

qfrc_actuator:
[ 4.06741274e-03, 7.11526606e-02, 2.00939825e-02, 1.85359569e-03,
  2.42061953e-05, 3.48120526e-02, 1.09007024e-02, 1.51345865e-03,
 -3.06119191e-03, 3.48325303e-02, 1.08917097e-02, 1.79069850e-03,
  0.00000000e+00, 2.94752964e-03, 0.00000000e+00,-4.39878678e-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: -0.0006855661630945226
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30197147,  0.08797899, -0.94924861, -0.02667057,  0.99612233,
        0.08383904,  0.95294381,  0.        ,  0.30314698])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07203726, -0.04290311,  0.22464279])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -8.38512025,  -2.06797854,  -8.38512025,
        12.00375925, -13.65392179,  -2.06797854, -13.65392179,
        63.99949924,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003672857253869677
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.77847187e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.77847187e-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([-0.02072737, -0.08000526,  0.06167505])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17031311e-03, 3.62031142e-02, 9.11050614e-03,-8.13303081e-05,
 -1.66544582e-05,-4.06929686e-07,-6.58262905e-06,-6.80356170e-05,
 -2.17142230e-05, 6.28494495e-05, 4.81794537e-05, 3.92113562e-05,
  3.28579940e-03, 4.76343437e-03, 8.45961123e-03, 1.69386665e-03,
  1.61596398e-04,-4.37516541e-05,-4.90503509e+00, 6.36558027e-03,
  2.17793479e-03, 8.19007760e-05]


--- Step 2701 ---
qpos:
[-0.01626877, 1.29604091,-0.0320204 , 0.9484386 , 0.00435827, 1.33159294,
 -0.02976276, 0.94626062, 0.01674061, 1.33657359,-0.02394121, 0.95497964,
  1.3947226 ,-0.00603058, 1.18896452, 0.06133448,-0.05233969,-0.11144612,
  0.0793233 , 0.57674439,-0.01035607,-0.00463792, 0.81684586]

qacc:
[ 9.95323952e-02, 6.31227209e-01,-1.99099975e+00,-1.73813754e+00,
 -1.90831149e-02, 3.89868724e+00,-1.51114499e+01, 2.84840426e+01,
  3.65378617e-03,-7.69254393e-01, 2.71096572e+00,-4.60070244e+00,
 -9.05663973e-02, 8.15218083e-02,-9.30764663e-01, 1.24992912e+00,
 -2.59851761e+00,-3.03048662e+00,-2.20060730e+00,-1.79995743e+02,
 -1.50557064e+02,-1.19180600e+01]

qfrc_actuator:
[ 4.11983231e-03, 7.11605286e-02, 2.00705193e-02, 1.83800879e-03,
  2.85733349e-05, 3.48359755e-02, 1.08827681e-02, 1.58384338e-03,
 -3.04733056e-03, 3.47728067e-02, 1.08745296e-02, 1.77577362e-03,
  0.00000000e+00, 2.95585938e-03, 0.00000000e+00,-1.93547881e-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: -0.0006854898083387718
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30195856,  0.08797989, -0.94925263, -0.0266697 ,  0.99612225,
        0.08384026,  0.95294793,  0.        ,  0.30313404])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07203581, -0.04290353,  0.22464313])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -8.46166096,  -1.72831439,  -8.46166096,
        11.35535397, -13.31191503,  -1.72831439, -13.31191503,
        73.81021869,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0036461943214065595
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.52244083e-14,  3.04488167e-14,  1.00000000e+00,  4.63565219e-28,
        1.00000000e+00, -3.04488167e-14, -1.00000000e+00,  0.00000000e+00,
       -1.52244083e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0206836 , -0.07997319,  0.06167714])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.23894681e-03, 3.62205492e-02, 9.10772287e-03,-1.97683404e-05,
 -5.46061474e-06, 2.03651313e-05,-2.07624497e-05, 6.85934390e-05,
  1.04399768e-06,-1.44068575e-05, 1.71625328e-06,-1.07368697e-05,
  3.29277160e-03, 4.76888689e-03, 8.57787700e-03, 1.69355364e-03,
 -3.07214525e-05, 4.33224064e-05,-4.90503005e+00, 6.33721115e-03,
  2.19160907e-03, 1.02769679e-04]


--- Step 2702 ---
qpos:
[-0.01627089, 1.29605112,-0.03201849, 0.94843896, 0.00435904, 1.33159325,
 -0.02976388, 0.94625876, 0.01674053, 1.33657392,-0.02394004, 0.95497921,
  1.39472934,-0.00603069, 1.18894954, 0.06133214,-0.05235694,-0.11146864,
  0.07931265, 0.5768301 ,-0.01027005,-0.00543014, 0.81678153]

qacc:
[ 6.23737952e-02, 4.29295183e-01,-1.04534712e+00,-1.73607077e+00,
  5.86544017e-02, 4.57241757e+00,-1.82546809e+01, 3.75002169e+01,
  9.32685373e-02,-6.40416131e+00, 2.17230641e+01,-3.20099317e+01,
 -8.47280970e-02, 8.59417989e-02,-1.01225298e+00, 1.64630037e+00,
 -4.07612945e+00, 2.11990953e+00,-2.31217876e+00,-1.76612597e+02,
  2.20715661e+02, 2.29539294e+01]

qfrc_actuator:
[ 4.13429869e-03, 7.11613563e-02, 2.00559067e-02, 1.82861264e-03,
  4.87187545e-05, 3.48679613e-02, 1.08726120e-02, 1.68002736e-03,
 -3.02114514e-03, 3.46832618e-02, 1.09174036e-02, 1.71337437e-03,
  0.00000000e+00, 2.96089766e-03, 0.00000000e+00, 1.82812271e-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: -0.0006853231393669744
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3019466 ,  0.08798071, -0.94925637, -0.02666889,  0.99612218,
        0.08384137,  0.95295174,  0.        ,  0.30312205])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0720343 , -0.04290393,  0.22464346])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0036637270217078632
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.03031044e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.03031044e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00452262, -0.12518339,  0.06167584])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.24172134e-03, 3.62397358e-02, 9.12384735e-03,-1.32136296e-05,
  1.69235828e-05, 4.12431653e-05,-6.52974913e-06, 9.77714977e-05,
  2.68020231e-05,-9.75028410e-05, 3.99409797e-05,-6.30227828e-05,
  3.30011051e-03, 4.77286380e-03, 8.62516636e-03, 1.72132788e-03,
 -5.14110996e-05, 3.82091724e-04,-4.90511098e+00, 6.30728218e-03,
  2.20638994e-03, 1.91873286e-04]


--- Step 2703 ---
qpos:
[-0.01627293, 1.29606132,-0.03201667, 0.94843883, 0.00435985, 1.33159375,
 -0.02976447, 0.94625769, 0.0167407 , 1.33657437,-0.0239394 , 0.9549801 ,
  1.39473631,-0.00603081, 1.18893411, 0.06132986,-0.0523888 ,-0.11148366,
  0.07928941, 0.57688137,-0.01068541,-0.00625154, 0.81673412]

qacc:
[ 3.30007627e-02,-5.77906921e-01, 2.84123795e+00,-8.00060514e+00,
  1.36803945e-02, 2.16370261e-01,-1.99689245e+00, 1.07340124e+01,
  1.08918527e-01, 3.88690741e+00,-1.51454073e+01, 2.82417679e+01,
  2.22136546e-01,-2.18886165e-01,-8.46940950e-01, 1.95038225e+00,
 -3.65206065e+00, 1.87144802e+00,-3.14625845e+00,-1.56649702e+02,
  1.96159075e+02, 2.01518076e+01]

qfrc_actuator:
[ 4.10823427e-03, 7.11400617e-02, 2.00465784e-02, 1.80521912e-03,
  4.26603007e-05, 3.48868300e-02, 1.09026697e-02, 1.71959520e-03,
 -3.00553242e-03, 3.47365107e-02, 1.09064771e-02, 1.78333957e-03,
  0.00000000e+00, 2.92843663e-03, 0.00000000e+00, 3.14048707e-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: -0.0006850938206342527
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01935026e-01,  8.79814815e-02, -9.49259974e-01, -2.66681069e-02,
        9.96122110e-01,  8.38424306e-02,  9.52955430e-01,  3.46944695e-18,
        3.03110455e-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([ 0.07203273, -0.0429043 ,  0.2246438 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -2.49928267,  8.26682303, -2.49928267, 53.70022158,
       13.62401479,  8.26682303, 13.62401479, 12.75526929,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0036534753065669764
  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([-0.00451116, -0.12519625,  0.06167648])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20832656e-03, 3.62221479e-02, 9.13163893e-03,-2.49893223e-05,
  3.92950328e-06, 4.33344614e-05, 4.02434029e-05, 4.28779099e-05,
  3.14337333e-05, 5.26021448e-06,-2.72753081e-05, 6.67793019e-05,
  3.30666315e-03, 4.73880380e-03, 8.66987545e-03, 1.73939581e-03,
  1.88760282e-04, 3.66064592e-04,-4.90510048e+00, 6.35766588e-03,
  2.21477447e-03, 2.13761979e-04]


--- Step 2704 ---
qpos:
[-0.01627429, 1.29607022,-0.03201572, 0.94844031, 0.0043605 , 1.33159438,
 -0.02976459, 0.94625642, 0.0167411 , 1.33657592,-0.02394028, 0.95498247,
  1.39474349,-0.00603097, 1.18892252, 0.06132726,-0.05240715,-0.11148139,
  0.07927608, 0.57694602,-0.01115973,-0.00644658, 0.81668059]

qacc:
[ 2.93933122e-01, 3.39914658e+00,-1.64091405e+01, 3.35641205e+01,
 -6.73527346e-02,-1.46546376e+00, 5.36682889e+00,-7.01293859e+00,
  9.57239907e-02, 8.07204162e+00,-2.75614345e+01, 4.03069050e+01,
 -1.10062845e-02, 5.21996679e-02, 6.62731738e+00,-1.49146113e+01,
  3.37651274e+00, 4.32418647e+00, 2.47512702e+00, 2.38827744e+02,
  2.04820424e+02,-3.69232001e+00]

qfrc_actuator:
[ 4.09336708e-03, 7.11587218e-02, 2.00403110e-02, 1.88028333e-03,
  2.09305639e-05, 3.48800729e-02, 1.09206310e-02, 1.70778613e-03,
 -2.99638903e-03, 3.48392226e-02, 1.08467362e-02, 1.85967754e-03,
  0.00000000e+00, 2.92677126e-03, 0.00000000e+00,-1.37364708e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006848366451292116
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30192356,  0.08798223, -0.94926355, -0.02666732,  0.99612204,
        0.08384346,  0.95295908,  0.        ,  0.30309897])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07203112, -0.04290469,  0.22464414])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00372389004331046
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.49067643e-14,  1.49067643e-14,  1.00000000e+00,  2.22211623e-28,
        1.00000000e+00, -1.49067643e-14, -1.00000000e+00,  0.00000000e+00,
       -1.49067643e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07813642, -0.13830487,  0.06167097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18957996e-03, 3.62415026e-02, 9.13015976e-03, 7.40684190e-05,
 -1.94095557e-05, 2.63649232e-05, 3.22685461e-05,-8.33729213e-06,
  2.77021144e-05, 1.02271518e-04,-5.98593922e-05, 7.72526469e-05,
  3.29511514e-03, 4.73804402e-03, 8.69294798e-03, 1.56807169e-03,
  5.04531207e-04, 2.81056787e-04,-4.90516764e+00, 6.38732028e-03,
  2.21655872e-03, 1.55166069e-04]


--- Step 2705 ---
qpos:
[-0.01627514, 1.29607783,-0.03201586, 0.94844269, 0.00436109, 1.33159469,
 -0.02976452, 0.94625439, 0.01674154, 1.3365785 ,-0.02394154, 0.95498293,
  1.39475053,-0.0060312 , 1.18891407, 0.06132435,-0.05241363,-0.11146381,
  0.07926702, 0.57702316,-0.01168586,-0.00608793, 0.81662148]

qacc:
[ 2.16240545e-01, 2.75918214e+00,-1.29007220e+01, 2.24139223e+01,
 -2.38921604e-02,-2.24251041e+00, 8.39543715e+00,-1.59831264e+01,
  1.30423921e-02,-9.10523172e-01, 8.44974057e+00,-3.00680788e+01,
 -2.63164057e-01, 2.45563426e-01, 5.59711233e+00,-1.28185546e+01,
  2.96901166e+00, 3.82881539e+00, 1.06755469e+00, 2.11197896e+02,
  1.80948321e+02,-3.45649697e+00]

qfrc_actuator:
[ 4.10232748e-03, 7.11848818e-02, 2.00189458e-02, 1.92376793e-03,
  2.54817662e-05, 3.48224431e-02, 1.09134195e-02, 1.66582136e-03,
 -3.00895225e-03, 3.48995676e-02, 1.08298970e-02, 1.76161975e-03,
  0.00000000e+00, 2.96137532e-03, 0.00000000e+00,-2.37400665e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000684693914637418
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01914168e-01,  8.79827416e-02, -9.49266492e-01, -2.66666496e-02,
        9.96121999e-01,  8.38442164e-02,  9.52962079e-01, -3.46944695e-18,
        3.03089550e-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([ 0.07202983, -0.04290515,  0.22464441])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037609372683894415
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.37996240e-15,  4.42797744e-14,  1.00000000e+00, -3.26783070e-28,
        1.00000000e+00, -4.42797744e-14, -1.00000000e+00,  0.00000000e+00,
        7.37996240e-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([-0.07809494, -0.13825399,  0.06166805])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16404207e-03, 3.63320486e-02, 9.15257938e-03, 3.74004072e-05,
 -6.90168399e-06,-3.69922205e-05, 1.36837483e-06,-4.04231410e-05,
  3.79611893e-06, 1.07494262e-04,-1.40597584e-06,-9.49766227e-05,
  3.28403586e-03, 4.77516357e-03, 8.50073654e-03, 1.48367982e-03,
  1.16234601e-04,-1.40093205e-05,-4.90507290e+00, 6.40865674e-03,
  2.21122542e-03, 8.30677660e-05]


--- Step 2706 ---
qpos:
[-0.01627622, 1.29608556,-0.03201612, 0.94844402, 0.00436181, 1.33159446,
 -0.02976378, 0.94625082, 0.01674178, 1.33658108,-0.02394171, 0.95498084,
  1.39475706,-0.00603146, 1.18890488, 0.06132146,-0.05240961,-0.11143258,
  0.07925736, 0.57711133,-0.01225777,-0.00523684, 0.81655669]

qacc:
[-1.01515274e-01,-1.32226586e+00, 6.67094124e+00,-1.80888463e+01,
  5.64699854e-02,-5.12457075e+00, 1.89863089e+01,-3.38026567e+01,
 -8.03887408e-02,-7.33278044e+00, 2.90559115e+01,-5.45536564e+01,
 -3.42943037e-01, 2.60643898e-01,-1.13379943e+00, 2.45074799e+00,
  2.62605592e+00, 3.41096773e+00,-1.47662625e-01, 1.87911869e+02,
  1.60839199e+02,-3.12521482e+00]

qfrc_actuator:
[ 4.12549075e-03, 7.11628083e-02, 2.00068348e-02, 1.87735422e-03,
  4.57626065e-05, 3.47879280e-02, 1.09444537e-02, 1.58866030e-03,
 -3.03443432e-03, 3.48631207e-02, 1.08737900e-02, 1.63274335e-03,
  0.00000000e+00, 3.00001856e-03, 0.00000000e+00,-1.71798220e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006846217888272742
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30190705,  0.08798308, -0.94926873, -0.02666612,  0.99612197,
        0.08384474,  0.95296435,  0.        ,  0.30308241])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07202883, -0.04290563,  0.22464463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037454005850093564
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.44634559e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.44634559e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07811528, -0.13826863,  0.06166906])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16182083e-03, 3.63748099e-02, 9.19475021e-03,-5.41011722e-05,
  1.62068854e-05,-5.59273685e-05, 2.27680951e-05,-7.91703025e-05,
 -2.32354238e-05, 1.98924172e-05, 6.19464320e-05,-1.27940381e-04,
  3.29171520e-03, 4.81682692e-03, 8.34441063e-03, 1.56517104e-03,
 -1.24711014e-05, 8.94725560e-05,-4.90511984e+00, 6.43384972e-03,
  2.19795459e-03, 1.26585316e-04]


--- Step 2707 ---
qpos:
[-0.01627777, 1.2960941 ,-0.032016  , 0.948444  , 0.00436257, 1.33159419,
 -0.02976259, 0.94624633, 0.01674178, 1.33658287,-0.02394008, 0.95497725,
  1.39476327,-0.00603166, 1.18889372, 0.0613187 ,-0.05239623,-0.11138913,
  0.07924293, 0.57720869,-0.01287039,-0.00394499, 0.81648571]

qacc:
[-1.97088957e-01,-2.26967599e+00, 1.14339168e+01,-2.59905735e+01,
  1.26170177e-02,-2.86228020e+00, 1.11933819e+01,-2.04741832e+01,
 -1.00175680e-01,-8.46914819e+00, 2.93514613e+01,-4.21457428e+01,
 -1.80281020e-01, 1.52626957e-01,-3.29750067e+00, 7.31377519e+00,
  2.33626557e+00, 3.05663583e+00,-1.19464288e+00, 1.68240366e+02,
  1.43866432e+02,-2.72954434e+00]

qfrc_actuator:
[ 4.12221322e-03, 7.11819032e-02, 2.00174947e-02, 1.81410523e-03,
  3.98091374e-05, 3.48208939e-02, 1.09801296e-02, 1.54470485e-03,
 -3.04970610e-03, 3.47869531e-02, 1.09527934e-02, 1.55778267e-03,
  0.00000000e+00, 3.00556481e-03, 0.00000000e+00,-9.57923292e-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: -0.0006845167395593196
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30189992,  0.08798349, -0.94927095, -0.02666562,  0.99612193,
        0.08384532,  0.95296662,  0.        ,  0.30307527])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07202778, -0.04290605,  0.22464485])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003687434893370631
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.52706866e-15,  4.51624120e-14,  1.00000000e+00,  3.39940576e-28,
        1.00000000e+00, -4.51624120e-14, -1.00000000e+00,  0.00000000e+00,
       -7.52706866e-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([-0.0781848 , -0.1383354 ,  0.06167318])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17044689e-03, 3.63876793e-02, 9.21126313e-03,-6.44774226e-05,
  3.60862672e-06, 4.10441105e-06, 2.50035825e-05,-4.68064434e-05,
 -2.89872392e-05,-5.68816039e-05, 8.61792601e-05,-7.55359389e-05,
  3.31688461e-03, 4.82342204e-03, 8.38101777e-03, 1.63991145e-03,
  4.27597496e-05, 4.68046032e-04,-4.90526551e+00, 6.46099761e-03,
  2.17899343e-03, 2.50504000e-04]


--- Step 2708 ---
qpos:
[-0.01627962, 1.29610308,-0.03201552, 0.94844256, 0.00436316, 1.33159398,
 -0.02976171, 0.94624414, 0.01674157, 1.33658442,-0.02393765, 0.95497314,
  1.39476926,-0.00603188, 1.18888161, 0.06131619,-0.05239798,-0.11136219,
  0.07923238, 0.57731895,-0.01342287,-0.00331838, 0.81640164]

qacc:
[-1.30188819e-01,-2.79038647e+00, 1.27096956e+01,-2.76719753e+01,
 -6.78659362e-02, 4.87412271e+00,-2.05414841e+01, 4.44617393e+01,
 -9.05131991e-02,-3.36976328e+00, 1.16691212e+01,-1.60007404e+01,
 -8.99364562e-02, 3.81727055e-02,-2.14481030e+00, 5.48339231e+00,
 -3.77889042e+00,-4.12994327e+00, 9.70085676e-01,-2.54159620e+02,
 -2.16434934e+02,-1.34488250e+01]

qfrc_actuator:
[ 4.12114341e-03, 7.11717102e-02, 2.00236111e-02, 1.74146777e-03,
  1.81652429e-05, 3.48230462e-02, 1.09652792e-02, 1.66270945e-03,
 -3.05872850e-03, 3.47942764e-02, 1.09984682e-02, 1.53288796e-03,
  0.00000000e+00, 3.00894678e-03, 0.00000000e+00,-6.69148201e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25326736,  0.25056747, -0.03688224,  0.25056747,  0.25900803,
        0.0390005 , -0.03688224,  0.0390005 ,  0.51822575,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006843613178434751
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30189166,  0.08798404, -0.94927353, -0.02666506,  0.99612188,
        0.08384609,  0.95296926,  0.        ,  0.30306699])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07202655, -0.04290642,  0.22464512])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003685912314271296
  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([-0.02071428, -0.08010468,  0.06167304])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19249605e-03, 3.63371678e-02, 9.19821140e-03,-6.97523401e-05,
 -1.95141401e-05, 7.90315295e-06,-1.25821676e-05, 1.17769415e-04,
 -2.61367724e-05,-9.55972005e-06, 4.21413139e-05,-2.58168920e-05,
  3.33339404e-03, 4.82449556e-03, 8.48014471e-03, 1.66243146e-03,
  2.27829516e-04, 1.03451537e-03,-4.90548124e+00, 6.48863593e-03,
  2.15601786e-03, 4.30043309e-04]


--- Step 2709 ---
qpos:
[-0.01628179, 1.29611311,-0.03201407, 0.94844087, 0.00436355, 1.33159393,
 -0.02976149, 0.94624649, 0.01674119, 1.33658637,-0.0239359 , 0.95497121,
  1.3947751 ,-0.00603202, 1.18886873, 0.06131381,-0.05241296,-0.11134993,
  0.07922074, 0.5774431 ,-0.0139245 ,-0.00327737, 0.8163056 ]

qacc:
[-1.31615430e-01,-1.66162140e+00, 7.58598342e+00,-1.01453457e+01,
 -8.57806971e-02, 9.73284683e+00,-4.07902944e+01, 8.79014192e+01,
 -7.17551468e-02, 6.09064067e+00,-2.35907569e+01, 4.52212731e+01,
 -1.27976498e-01, 1.64492540e-01,-1.52847141e+00, 3.69546695e+00,
 -3.31005697e+00,-3.66870642e+00,-2.72271440e-01,-2.24291414e+02,
 -1.89694399e+02,-1.31329355e+01]

qfrc_actuator:
[ 4.12142635e-03, 7.11617310e-02, 2.00623773e-02, 1.73481580e-03,
  5.03744141e-06, 3.48421464e-02, 1.09384615e-02, 1.89278043e-03,
 -3.06392962e-03, 3.48336960e-02, 1.09711650e-02, 1.64417658e-03,
  0.00000000e+00, 3.01107230e-03, 0.00000000e+00,-3.09814017e-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: -0.0006841935054834845
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01882623e-01,  8.79847050e-02, -9.49276342e-01, -2.66644630e-02,
        9.96121826e-01,  8.38469721e-02,  9.52972134e-01, -3.46944695e-18,
        3.03057935e-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([ 0.07202525, -0.04290675,  0.22464541])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.6016117 ,  -4.09905799,  -7.6016117 ,
        16.31590636, -14.24154085,  -4.09905799, -14.24154085,
        35.04698379,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0037513536643893203
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.47976321e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.47976321e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02079531, -0.08020744,  0.06166802])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20805245e-03, 3.63046573e-02, 9.21899861e-03,-5.58092131e-06,
 -2.46434220e-05, 2.45394534e-05,-2.32565038e-05, 2.32669675e-04,
 -2.06309906e-05, 4.15782061e-05,-2.51464082e-05, 1.11637402e-04,
  3.34388342e-03, 4.82733933e-03, 8.52767352e-03, 1.68596177e-03,
  8.09690959e-06, 2.65254989e-04,-4.90520562e+00, 6.46058558e-03,
  2.17652416e-03, 2.11338961e-04]


--- Step 2710 ---
qpos:
[-0.01628356, 1.29612295,-0.03201242, 0.94844064, 0.0043639 , 1.33159377,
 -0.02976104, 0.94624915, 0.01674084, 1.33658818,-0.02393544, 0.95497139,
  1.39478148,-0.00603213, 1.18885852, 0.06131123,-0.05242435,-0.11135619,
  0.07923043, 0.57757582,-0.01401781,-0.00358427, 0.81620881]

qacc:
[ 1.63501642e-01, 1.70299803e+00,-8.83830302e+00, 2.47053780e+01,
 -1.62903213e-02,-2.30279812e-01,-6.62877759e-02, 3.64078176e+00,
  9.17830629e-03, 6.93821123e+00,-2.71346972e+01, 4.80619826e+01,
  2.56120494e-01,-1.38254160e-01, 4.52449388e+00,-1.01055222e+01,
  9.00072317e-01,-4.63025065e+00, 5.33464834e+00,-2.40530190e+01,
 -2.67084329e+02,-6.80822977e+00]

qfrc_actuator:
[ 4.06938868e-03, 7.11688618e-02, 2.00844807e-02, 1.80266399e-03,
  1.48779685e-05, 3.48180163e-02, 1.09404194e-02, 1.90288682e-03,
 -3.04904478e-03, 3.47675605e-02, 1.08834755e-02, 1.74592719e-03,
  0.00000000e+00, 2.95909609e-03, 0.00000000e+00,-1.50566790e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006840677382934333
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01871678e-01,  8.79854799e-02, -9.49279751e-01, -2.66637329e-02,
        9.96121757e-01,  8.38480174e-02,  9.52975622e-01,  3.46944695e-18,
        3.03046968e-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([ 0.07202386, -0.04290708,  0.22464573])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.97967664,  -3.30326165,  -7.97967664,
        17.86731337, -22.2991703 ,  -3.30326165, -22.2991703 ,
        62.50438483,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003763784657997607
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.94975171e-14,  7.37437929e-15,  1.00000000e+00, -2.17525879e-28,
        1.00000000e+00, -7.37437929e-15, -1.00000000e+00,  0.00000000e+00,
        2.94975171e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05465811, -0.09224564,  0.06166694])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17145718e-03, 3.62596832e-02, 9.19293242e-03, 7.49481280e-05,
 -4.70173120e-06,-8.12482498e-06, 1.09317321e-05, 1.55626166e-05,
  2.70697002e-06,-4.47648607e-05,-7.91676171e-05, 1.04847704e-04,
  3.35161234e-03, 4.77129338e-03, 8.56688519e-03, 1.56002994e-03,
  5.12042495e-05,-4.63609918e-07,-4.90510227e+00, 6.43199829e-03,
  2.19612839e-03, 1.33282067e-04]


--- Step 2711 ---
qpos:
[-0.01628485, 1.29613263,-0.03201112, 0.94844125, 0.00436443, 1.33159317,
 -0.02976088, 0.94624988, 0.01674057, 1.33658943,-0.02393612, 0.95497248,
  1.39478879,-0.00603225, 1.18884891, 0.0613083 ,-0.05242014,-0.11137239,
  0.07924835, 0.57768897,-0.01359824,-0.00386583, 0.81613454]

qacc:
[ 2.10175156e-01, 2.17187452e+00,-9.05969659e+00, 1.77057836e+01,
  7.21589391e-02,-3.07702223e+00, 1.32897040e+01,-3.34540779e+01,
  3.68503446e-02, 3.94198663e+00,-1.55310998e+01, 2.41940284e+01,
  6.83141599e-01,-5.75082599e-01, 1.91002111e+00,-5.50400244e+00,
  3.89865828e+00,-2.48545383e+00, 2.05366320e+00, 1.58356678e+02,
 -2.02184425e+02, 1.37460077e+01]

qfrc_actuator:
[ 4.05640017e-03, 7.11693129e-02, 2.00614551e-02, 1.84258622e-03,
  3.84168152e-05, 3.47504226e-02, 1.09057815e-02, 1.80119119e-03,
 -3.03998461e-03, 3.47094977e-02, 1.08136979e-02, 1.78787860e-03,
  0.00000000e+00, 2.89243648e-03, 0.00000000e+00,-1.67915184e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006840801801662744
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01860714e-01,  8.79861396e-02, -9.49283176e-01, -2.66629660e-02,
        9.96121699e-01,  8.38489535e-02,  9.52979116e-01,  3.46944695e-18,
        3.03035979e-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([ 0.07202266, -0.04290749,  0.22464603])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.77221716, -3.76555671, -7.77221716,  8.868291  ,
       -0.47870474, -3.76555671, -0.47870474,  9.62442396,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037530233864452797
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.39552429e-15,  1.47910486e-14,  1.00000000e+00,  1.09387559e-28,
        1.00000000e+00, -1.47910486e-14, -1.00000000e+00,  0.00000000e+00,
       -7.39552429e-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([-0.07899397, -0.1009705 ,  0.06166789])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13928143e-03, 3.62691913e-02, 9.15970437e-03, 4.17091193e-05,
  2.07639327e-05,-6.94794492e-05,-3.45238404e-05,-1.01253831e-04,
  1.06576783e-05,-9.51839487e-05,-8.44511784e-05, 4.07523041e-05,
  3.32474745e-03, 4.70344280e-03, 8.43307629e-03, 1.55235545e-03,
  6.43186962e-05, 6.29549531e-05,-4.90502011e+00, 6.38106142e-03,
  2.19774621e-03, 1.78280792e-04]


--- Step 2712 ---
qpos:
[-0.0162859 , 1.296142  ,-0.03201005, 0.94844131, 0.00436502, 1.3315924 ,
 -0.02976187, 0.94625081, 0.0167401 , 1.33658971,-0.02393602, 0.95497296,
  1.3947965 ,-0.00603254, 1.18883965, 0.06130535,-0.05240193,-0.1113974 ,
  0.07926942, 0.57778499,-0.01271863,-0.00412593, 0.81607948]

qacc:
[ 1.02404102e-01,-7.31479739e-01, 3.01434605e+00,-8.81108782e+00,
  2.87176845e-02, 3.19888024e+00,-1.10858512e+01, 1.18286085e+01,
 -8.20591869e-02,-4.46853162e+00, 1.42313467e+01,-1.86866529e+01,
  4.09957167e-01,-4.90320039e-01, 5.55232187e-01,-1.25958697e+00,
  3.49838982e+00,-2.20213102e+00, 7.91310841e-01, 1.41556460e+02,
 -1.81690996e+02, 1.17969885e+01]

qfrc_actuator:
[ 4.06657801e-03, 7.11480517e-02, 2.00473291e-02, 1.81252910e-03,
  3.44760089e-05, 3.47458642e-02, 1.08495970e-02, 1.81203835e-03,
 -3.06999857e-03, 3.46744846e-02, 1.08615585e-02, 1.75881593e-03,
  0.00000000e+00, 2.88800046e-03, 0.00000000e+00,-1.76938544e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000684099915910584
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30185024,  0.08798665, -0.94928646, -0.02666219,  0.99612165,
        0.08384973,  0.95298246,  0.        ,  0.30302547])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0720215 , -0.04290799,  0.22464632])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037119565997528817
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.47734379e-15,  1.49546876e-14,  1.00000000e+00,  1.11821340e-28,
        1.00000000e+00, -1.49546876e-14, -1.00000000e+00,  0.00000000e+00,
       -7.47734379e-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([-0.07904812, -0.10094424,  0.06167119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12478702e-03, 3.62557319e-02, 9.16303030e-03,-3.05321788e-05,
  8.31015757e-06,-5.27731229e-05,-7.66643614e-05, 5.40332820e-06,
 -2.37244072e-05,-1.02940185e-04, 2.08677649e-05,-3.34032544e-05,
  3.27841378e-03, 4.69944519e-03, 8.40349443e-03, 1.56119373e-03,
 -2.15599604e-05, 5.27779907e-05,-4.90500587e+00, 6.35231522e-03,
  2.18593278e-03, 1.59009660e-04]


--- Step 2713 ---
qpos:
[-0.01628728, 1.29615189,-0.0320088 , 0.94844092, 0.00436563, 1.33159184,
 -0.02976348, 0.94625144, 0.01673938, 1.3365896 ,-0.02393559, 0.95497341,
  1.39480416,-0.00603278, 1.18882876, 0.06130232,-0.05238065,-0.1114371 ,
  0.07929911, 0.57788777,-0.01151514,-0.00466421, 0.81602168]

qacc:
[-1.42483941e-01,-5.96578816e-01, 3.69892626e+00,-8.81419418e+00,
  7.74617685e-03, 1.44020954e+00,-3.79067939e+00,-1.53096197e-01,
 -1.09930045e-01,-1.43361961e+00, 4.14066576e+00,-3.76559937e+00,
  1.02675438e-02,-1.23227468e-03,-2.14949326e+00, 4.04066933e+00,
  7.68999024e-01,-3.67287037e+00, 2.15198927e+00,-1.99003094e+01,
 -2.12493412e+02,-5.98609985e+00]

qfrc_actuator:
[ 4.07295875e-03, 7.11139855e-02, 2.00385656e-02, 1.79480163e-03,
  3.18340378e-05, 3.47967995e-02, 1.08347294e-02, 1.80031618e-03,
 -3.08770503e-03, 3.46894615e-02, 1.08897578e-02, 1.75930021e-03,
  0.00000000e+00, 2.90330022e-03, 0.00000000e+00,-1.10147126e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006841140898854493
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30184028,  0.08798707, -0.94928959, -0.02666145,  0.99612162,
        0.08385042,  0.95298563,  0.        ,  0.30301549])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07202037, -0.04290852,  0.22464658])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003648694426381535
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.08559060e-14,  7.60698825e-15,  1.00000000e+00, -4.62930161e-28,
        1.00000000e+00, -7.60698825e-15, -1.00000000e+00,  0.00000000e+00,
        6.08559060e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05466774, -0.09214089,  0.06167619])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.11914735e-03, 3.62374452e-02, 9.16586931e-03,-2.05978497e-05,
  2.26017796e-06, 6.92149870e-06,-3.37469649e-05,-1.54267526e-05,
 -3.17168356e-05,-3.88650612e-05, 9.49026409e-06,-2.73153082e-06,
  3.25807622e-03, 4.72272428e-03, 8.38620130e-03, 1.62918376e-03,
 -9.54520998e-06,-5.27578629e-06,-4.90509574e+00, 6.33949373e-03,
  2.18362358e-03, 6.61127368e-05]


--- Step 2714 ---
qpos:
[-0.01628925, 1.29616326,-0.03200709, 0.94843987, 0.00436652, 1.33159183,
 -0.02976519, 0.94625118, 0.01673871, 1.33658994,-0.02393635, 0.95497421,
  1.394812  ,-0.00603283, 1.18881336, 0.06129915,-0.05234843,-0.11146354,
  0.07932789, 0.57799641,-0.01036224,-0.00470857, 0.81595993]

qacc:
[-2.51473291e-01,-3.82463305e-01, 4.94999014e+00,-1.28302962e+01,
  1.21489401e-01,-5.31381863e-01, 4.46132181e+00,-1.46099521e+01,
  2.26667200e-02, 4.41493341e+00,-1.43875119e+01, 1.62471084e+01,
  2.39353492e-01,-1.27183449e-01,-6.29162515e+00, 1.22675070e+01,
  2.73522523e+00, 3.31554403e+00,-2.25815548e-01, 1.86930408e+02,
  1.63399342e+02,-5.70307006e-01]

qfrc_actuator:
[ 4.07753970e-03, 7.11425404e-02, 2.00326960e-02, 1.76684449e-03,
  6.54990067e-05, 3.48629704e-02, 1.08445749e-02, 1.75769481e-03,
 -3.06237850e-03, 3.47342260e-02, 1.08353031e-02, 1.77718630e-03,
  0.00000000e+00, 2.87704456e-03, 0.00000000e+00, 3.77050142e-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: -0.0006840701411514952
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30182966,  0.08798761, -0.94929291, -0.02666067,  0.99612157,
        0.08385122,  0.95298902,  0.        ,  0.30300484])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0720191 , -0.04290902,  0.22464688])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00358590090817347
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.09607837e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.09607837e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07837034, -0.13842659,  0.0616813 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14043661e-03, 3.62401004e-02, 9.15077751e-03,-2.56928300e-05,
  3.49990881e-05, 6.29442986e-05, 6.91156699e-06,-4.37626939e-05,
  6.59939154e-06, 2.50442537e-05,-6.10459013e-05, 1.69498154e-05,
  3.26058599e-03, 4.69430335e-03, 8.46737415e-03, 1.78111350e-03,
 -9.95860280e-05, 1.31385929e-04,-4.90523716e+00, 6.31236138e-03,
  2.19039159e-03, 2.42176754e-05]


--- Step 2715 ---
qpos:
[-0.01629032, 1.29617264,-0.03200597, 0.94843851, 0.00436775, 1.33159188,
 -0.02976633, 0.94625077, 0.0167382 , 1.33659014,-0.02393674, 0.95497518,
  1.39481994,-0.00603336, 1.18880348, 0.06129629,-0.05233519,-0.11148018,
  0.07935066, 0.57806115,-0.00982581,-0.0047896 , 0.81592023]

qacc:
[ 3.80340719e-01,-1.55942469e+00, 2.56114819e+00,-4.50408196e+00,
  1.40118949e-01,-1.71693047e+00, 5.99277106e+00,-6.99874747e+00,
  6.71108127e-02,-8.95257555e-01, 2.33212135e+00, 1.28535161e-01,
  1.42903814e-01,-4.52901547e-01, 7.20152891e+00,-1.33791770e+01,
 -4.74411535e+00, 2.45210139e+00,-1.50341721e+00,-1.93295077e+02,
  2.40690957e+02, 2.55427661e+01]

qfrc_actuator:
[ 4.08143013e-03, 7.11364800e-02, 2.00459754e-02, 1.73313313e-03,
  8.51671224e-05, 3.48490795e-02, 1.08689764e-02, 1.75051711e-03,
 -3.04694737e-03, 3.47251705e-02, 1.08569073e-02, 1.78738733e-03,
  0.00000000e+00, 2.87895229e-03, 0.00000000e+00,-2.09537772e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006838676135860512
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01817189e-01,  8.79883426e-02, -9.49296811e-01, -2.66597941e-02,
        9.96121504e-01,  8.38522737e-02,  9.52992990e-01,  3.46944695e-18,
        3.02992343e-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([ 0.07201743, -0.04290949,  0.22464724])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003655914592201659
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.59196500e-15,  1.51839300e-14,  1.00000000e+00, -1.15275865e-28,
        1.00000000e+00, -1.51839300e-14, -1.00000000e+00,  0.00000000e+00,
        7.59196500e-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([-0.0045539 , -0.12535054,  0.06167649])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17381638e-03, 3.61595897e-02, 9.14150934e-03,-2.65015532e-05,
  4.03238835e-05, 2.09694242e-05, 3.62163275e-05,-6.10597400e-06,
  1.93284487e-05,-6.62637161e-06, 2.00551163e-05, 9.55210901e-06,
  3.25172710e-03, 4.68684127e-03, 8.69374431e-03, 1.54058423e-03,
  1.68185018e-04,-1.50558314e-04,-4.90516340e+00, 6.32384533e-03,
  2.18378991e-03,-7.93168612e-05]


--- Step 2716 ---
qpos:
[-0.01629122, 1.29618148,-0.03200494, 0.94843695, 0.00436897, 1.33159173,
 -0.02976616, 0.94624991, 0.01673786, 1.33659041,-0.02393692, 0.95497592,
  1.39482765,-0.00603407, 1.18879543, 0.06129347,-0.0523388 ,-0.11148822,
  0.07936366, 0.5780884 ,-0.0098353 ,-0.00490208, 0.81590014]

qacc:
[ 7.75073276e-02,-8.25265749e-01, 2.22918027e+00,-3.87992734e+00,
 -1.86095545e-03,-4.58095353e+00, 1.55492178e+01,-1.85261560e+01,
  7.21058345e-02,-8.88204270e-01, 3.48610470e+00,-5.83906611e+00,
 -1.66841567e-01, 2.23384571e-02, 2.62810403e+00,-5.22544761e+00,
 -4.21448238e+00, 2.14735887e+00,-2.44211450e+00,-1.70756982e+02,
  2.13433652e+02, 2.21174175e+01]

qfrc_actuator:
[ 4.08366007e-03, 7.11125298e-02, 2.00538439e-02, 1.73138525e-03,
  6.07734306e-05, 3.48406971e-02, 1.09369946e-02, 1.72871538e-03,
 -3.03757938e-03, 3.47374955e-02, 1.08697992e-02, 1.77525710e-03,
  0.00000000e+00, 2.89835144e-03, 0.00000000e+00,-2.14904668e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006838504897032881
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01807170e-01,  8.79887804e-02, -9.49299956e-01, -2.66590428e-02,
        9.96121466e-01,  8.38529720e-02,  9.52996184e-01, -3.46944695e-18,
        3.02982297e-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([ 0.07201626, -0.04291001,  0.22464752])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -5.91901693,  6.28903931, -5.91901693, 35.4176951 ,
       25.2056231 ,  6.28903931, 25.2056231 , 32.35898686,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0036901503648343326
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.52152971e-15,  4.51291783e-14,  1.00000000e+00,  3.39440455e-28,
        1.00000000e+00, -4.51291783e-14, -1.00000000e+00,  0.00000000e+00,
       -7.52152971e-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([-0.00461807, -0.12534133,  0.06167428])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13142836e-03, 3.62349150e-02, 9.17846047e-03,-1.29674393e-05,
 -5.97389837e-07, 1.01181812e-05, 7.60604228e-05,-2.02556660e-05,
  2.07792358e-05, 1.28611962e-05, 1.41578971e-05,-1.15163869e-05,
  3.24650892e-03, 4.73030120e-03, 8.41803195e-03, 1.51984095e-03,
  1.70286973e-05,-2.19065108e-05,-4.90502955e+00, 6.36673900e-03,
  2.19711467e-03, 7.11407837e-05]


--- Step 2717 ---
qpos:
[-0.01629369, 1.29619342,-0.03200257, 0.94843498, 0.00436978, 1.33159152,
 -0.02976516, 0.94624915, 0.01673767, 1.33659065,-0.02393741, 0.95497516,
  1.39483502,-0.00603421, 1.18877946, 0.06129037,-0.05235747,-0.11148869,
  0.07936363, 0.57808308,-0.0103309 ,-0.00504181, 0.81589693]

qacc:
[-6.72312951e-01,-2.26865721e-01, 6.50920291e+00,-1.23893770e+01,
 -1.76931815e-01,-2.12625617e+00, 6.61646680e+00,-4.47456166e+00,
  6.21683790e-02,-1.78480782e+00, 8.79030881e+00,-2.48563073e+01,
 -2.51753335e-01, 5.74730018e-01,-1.08635625e+01, 2.10314059e+01,
 -3.76225044e+00, 1.89226417e+00,-3.25763341e+00,-1.51738627e+02,
  1.90272603e+02, 1.92199816e+01]

qfrc_actuator:
[ 4.06749465e-03, 7.11127064e-02, 2.00582023e-02, 1.73107786e-03,
  1.01458886e-05, 3.48358444e-02, 1.09769425e-02, 1.73399901e-03,
 -3.03192449e-03, 3.47092386e-02, 1.08419765e-02, 1.69681836e-03,
  0.00000000e+00, 2.91037930e-03, 0.00000000e+00, 1.02533517e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006839035694697279
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01797756e-01,  8.79891567e-02, -9.49302914e-01, -2.66583261e-02,
        9.96121433e-01,  8.38535947e-02,  9.52999186e-01, -3.46944695e-18,
        3.02972857e-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([ 0.07201525, -0.04291052,  0.22464777])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -6.01211253,  6.20010321, -6.01211253, 36.2891228 ,
       26.8143117 ,  6.20010321, 26.8143117 , 34.63765007,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003671776568676649
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.51183358e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.51183358e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00457686, -0.12536305,  0.06167583])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10616789e-03, 3.62623957e-02, 9.18708866e-03,-3.34984660e-06,
 -5.09797746e-05, 1.50106366e-05, 4.99840537e-05, 7.34456476e-06,
  1.79235382e-05,-1.87212030e-05,-2.40381932e-05,-7.79103093e-05,
  3.25871990e-03, 4.75109655e-03, 8.32623503e-03, 1.83572823e-03,
  5.60029635e-06, 7.53501540e-06,-4.90500194e+00, 6.38589079e-03,
  2.20200528e-03, 1.10778719e-04]


--- Step 2718 ---
qpos:
[-0.01629778, 1.29620846,-0.03199856, 0.94843265, 0.00437009, 1.33159091,
 -0.02976375, 0.94624817, 0.01673744, 1.33659041,-0.0239384 , 0.95497524,
  1.39484222,-0.00603376, 1.18875588, 0.06128726,-0.05238962,-0.11148245,
  0.07934774, 0.57804901,-0.01126183,-0.00520534, 0.81590773]

qacc:
[-6.87564391e-01,-9.59104438e-01, 8.78262627e+00,-1.36732468e+01,
 -2.10117336e-01,-1.98530246e+00, 6.32676533e+00,-7.85016512e+00,
 -1.31766406e-02, 2.19448081e+00,-9.61724346e+00, 1.83674342e+01,
 -1.34889186e-01, 4.91257228e-01,-1.11807070e+01, 2.28147588e+01,
 -3.37367648e+00, 1.67752121e+00,-3.96449897e+00,-1.35652847e+02,
  1.70564683e+02, 1.67533091e+01]

qfrc_actuator:
[ 4.05973110e-03, 7.11239269e-02, 2.00768231e-02, 1.71417887e-03,
 -2.03017131e-05, 3.47798004e-02, 1.09822650e-02, 1.71965558e-03,
 -3.04629481e-03, 3.46566996e-02, 1.08079095e-02, 1.73972045e-03,
  0.00000000e+00, 2.91731102e-03, 0.00000000e+00, 3.12151325e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006837189830271873
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3017841 ,  0.08799006, -0.94930717, -0.02665739,  0.99612135,
        0.08385483,  0.95300353,  0.        ,  0.30295918])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07201352, -0.04291093,  0.22464816])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -6.37127971,  5.83040064, -6.37127971, 34.8827834 ,
       28.68126773,  5.83040064, 28.68126773, 39.97835717,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0036109149703468513
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.53731538e-14,  3.07463076e-14,  1.00000000e+00, -4.72667716e-28,
        1.00000000e+00, -3.07463076e-14, -1.00000000e+00,  0.00000000e+00,
        1.53731538e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00445225, -0.12540927,  0.06168035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17726589e-03, 3.61183323e-02, 9.13904106e-03, 5.51191151e-07,
 -6.05309367e-05,-3.77484311e-05, 1.41570869e-05,-1.22581174e-05,
 -3.78835020e-06,-6.98963624e-05,-4.27352793e-05, 3.98293346e-05,
  3.27521721e-03, 4.72960329e-03, 8.72295638e-03, 2.05903721e-03,
  9.12931246e-05,-3.26114715e-05,-4.90505015e+00, 6.38891047e-03,
  2.20083364e-03, 7.35275717e-05]


--- Step 2719 ---
qpos:
[-0.01630229, 1.29622399,-0.03199426, 0.94843114, 0.0043701 , 1.33158986,
 -0.02976221, 0.94624739, 0.01673728, 1.33658912,-0.02393849, 0.95497754,
  1.39484915,-0.00603301, 1.18873097, 0.06128417,-0.0524101 ,-0.11145948,
  0.07933571, 0.57803644,-0.01223148,-0.00482616, 0.815905  ]

qacc:
[-1.81062756e-01, 1.23959878e+00,-4.95860291e+00, 1.34345803e+01,
 -1.25179111e-01,-5.99008395e-01, 8.22410543e-01, 1.91836459e+00,
  2.44730611e-02,-2.85124837e-03,-6.10673079e+00, 3.14811593e+01,
 -3.58034760e-01, 5.56639659e-01,-1.97023894e+00, 4.11490271e+00,
  2.91953547e+00, 4.18284577e+00, 9.63542034e-01, 2.10291724e+02,
  1.72789989e+02,-9.52121572e+00]

qfrc_actuator:
[ 4.09318081e-03, 7.11050229e-02, 2.00676519e-02, 1.74069001e-03,
 -2.06432845e-05, 3.47466453e-02, 1.09846527e-02, 1.72932944e-03,
 -3.03705589e-03, 3.46078093e-02, 1.08591825e-02, 1.85368451e-03,
  0.00000000e+00, 2.95644387e-03, 0.00000000e+00, 2.79399670e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006833254923600124
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01765917e-01,  8.79914901e-02, -9.49312819e-01, -2.66562261e-02,
        9.96121226e-01,  8.38567108e-02,  9.53009327e-01, -3.46944695e-18,
        3.02940956e-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([ 0.07201109, -0.04291127,  0.22464869])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003581979371367325
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.74866987e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -7.74866987e-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([-0.07840186, -0.13845773,  0.0616823 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.29137058e-03, 3.59439156e-02, 9.04764768e-03, 4.49145938e-05,
 -3.60629223e-05,-5.16358276e-05,-3.74513226e-06, 8.67234151e-06,
  6.99951737e-06,-9.47055431e-05, 3.39329474e-05, 1.11567944e-04,
  3.28350759e-03, 4.73933916e-03, 9.10376437e-03, 2.02702276e-03,
  2.44418608e-04,-1.21448723e-04,-4.90515181e+00, 6.38116546e-03,
  2.19528602e-03,-1.65113561e-05]


--- Step 2720 ---
qpos:
[-0.01630628, 1.29623792,-0.03199085, 0.94843125, 0.00436994, 1.33158851,
 -0.02976133, 0.94624815, 0.01673719, 1.33658754,-0.02393786, 0.95497975,
  1.39485574,-0.0060322 , 1.18870972, 0.061281  ,-0.05242022,-0.11142174,
  0.07932276, 0.57804178,-0.013237  ,-0.00396274, 0.81589017]

qacc:
[ 2.20644188e-01, 3.06703248e+00,-1.58369186e+01, 3.34413398e+01,
 -7.41138236e-02, 3.98783165e+00,-1.66221188e+01, 3.23371856e+01,
  3.37954819e-02,-2.48990660e+00, 7.83344842e+00,-7.65710845e+00,
 -4.95595605e-01, 5.59220099e-01, 5.63907620e+00,-1.18002274e+01,
  2.58937284e+00, 3.69466285e+00,-2.29109302e-01, 1.87266527e+02,
  1.54699218e+02,-7.75930574e+00]

qfrc_actuator:
[ 4.11531003e-03, 7.10694338e-02, 2.00425051e-02, 1.80997030e-03,
 -2.06759866e-05, 3.47274444e-02, 1.09498875e-02, 1.80633390e-03,
 -3.03148007e-03, 3.46328751e-02, 1.09071908e-02, 1.84880304e-03,
  0.00000000e+00, 2.99719323e-03, 0.00000000e+00, 1.18956936e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006828913549009434
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.301747  ,  0.08799306, -0.94931869, -0.02665503,  0.99612109,
        0.08385874,  0.95301535,  0.        ,  0.30292201])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07200855, -0.04291159,  0.22464924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.34622087,  -4.54090474,  -7.34622087,
        32.06468413, -37.90205408,  -4.54090474, -37.90205408,
        69.95384919,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003573501027648869
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.66023243e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.66023243e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07840957, -0.13847307,  0.06168276])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.33472885e-03, 3.58844408e-02, 9.00813429e-03, 7.34382905e-05,
 -2.13157375e-05,-4.82326440e-05,-4.50365522e-05, 7.55473379e-05,
  9.70352913e-06,-1.73605698e-05, 3.66381430e-05,-4.09705729e-06,
  3.29756799e-03, 4.76485781e-03, 9.17044873e-03, 1.86597436e-03,
 -3.55828693e-05, 5.43449310e-05,-4.90520675e+00, 6.39415795e-03,
  2.19512401e-03, 5.88342465e-05]


--- Step 2721 ---
qpos:
[-0.01630961, 1.29625077,-0.03198812, 0.94843248, 0.00436967, 1.33158713,
 -0.02976071, 0.94624943, 0.01673703, 1.33658679,-0.02393816, 0.95497945,
  1.39486254,-0.00603142, 1.18869097, 0.06127775,-0.05242606,-0.11140257,
  0.07933517, 0.57805818,-0.01379636,-0.00348563, 0.81587147]

qacc:
[ 2.82652199e-01, 2.32097582e+00,-1.15829994e+01, 2.36900288e+01,
 -4.32129136e-02, 1.54691207e+00,-6.17452266e+00, 1.14696632e+01,
 -3.03190925e-02,-6.98890118e-01, 8.64862924e+00,-3.69079543e+01,
  4.36491909e-02,-1.46231323e-02, 3.94927068e+00,-8.46284659e+00,
  1.07170581e+00,-4.64387266e+00, 6.34187059e+00,-2.85835254e+01,
 -2.93608589e+02,-9.06671994e+00]

qfrc_actuator:
[ 4.11212160e-03, 7.10434626e-02, 2.00265875e-02, 1.86827710e-03,
 -2.05260229e-05, 3.47521503e-02, 1.09468204e-02, 1.83356390e-03,
 -3.04589980e-03, 3.47019832e-02, 1.08643010e-02, 1.72077696e-03,
  0.00000000e+00, 2.96802486e-03, 0.00000000e+00, 5.95032542e-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: -0.0006825470541041781
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01730451e-01,  8.79944487e-02, -9.49323818e-01, -2.66539965e-02,
        9.96120965e-01,  8.38605240e-02,  9.53020619e-01, -3.46944695e-18,
        3.02905432e-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([ 0.07200634, -0.04291193,  0.22464973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0036168248169196754
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.67401713e-15,  7.67401713e-15,  1.00000000e+00,  5.88905390e-29,
        1.00000000e+00, -7.67401713e-15, -1.00000000e+00,  0.00000000e+00,
       -7.67401713e-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([-0.05466818, -0.09214448,  0.06167932])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30563804e-03, 3.59379124e-02, 9.03668225e-03, 5.08138762e-05,
 -1.24306288e-05,-8.50743213e-06,-1.54071612e-05, 2.62173843e-05,
 -8.69254593e-06, 6.65550856e-05,-4.22322544e-05,-1.27562146e-04,
  3.31413685e-03, 4.73268740e-03, 8.98819654e-03, 1.81006035e-03,
 -1.13038002e-04, 4.83698547e-04,-4.90535904e+00, 6.41321127e-03,
  2.18556280e-03, 2.07679056e-04]


--- Step 2722 ---
qpos:
[-0.01631134, 1.29626003,-0.03198681, 0.94843362, 0.00436921, 1.33158606,
 -0.02976004, 0.94625132, 0.01673676, 1.33658617,-0.02393949, 0.9549808 ,
  1.39486946,-0.0060313 , 1.18868118, 0.06127489,-0.05242805,-0.11140007,
  0.07936601, 0.57808513,-0.01395985,-0.00335151, 0.81585015]

qacc:
[ 6.82088578e-01,-1.02884355e+00,-2.16493366e+00, 3.17598897e+00,
 -8.62833004e-02, 1.35861442e+00,-5.17970210e+00, 1.13996388e+01,
 -4.76313533e-02, 5.76269110e+00,-2.19007636e+01, 3.78588000e+01,
  1.10688248e-01,-5.15702969e-01, 1.20618049e+01,-2.29580377e+01,
  9.62334944e-01,-4.16810204e+00, 4.60468155e+00,-2.54304076e+01,
 -2.60588455e+02,-8.12033892e+00]

qfrc_actuator:
[ 4.11114260e-03, 7.09878859e-02, 2.00163534e-02, 1.84883858e-03,
 -3.80220173e-05, 3.48030517e-02, 1.09626351e-02, 1.86682691e-03,
 -3.05444525e-03, 3.46722352e-02, 1.08037435e-02, 1.80535812e-03,
  0.00000000e+00, 2.96798660e-03, 0.00000000e+00,-2.41104555e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006822616524161593
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30171559,  0.08799562, -0.94932843, -0.02665304,  0.99612086,
        0.08386205,  0.95302535,  0.        ,  0.30289054])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07200436, -0.04291233,  0.22465016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003637902989253587
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.62955354e-15,  2.28886606e-14,  1.00000000e+00,  1.74630261e-28,
        1.00000000e+00, -2.28886606e-14, -1.00000000e+00,  0.00000000e+00,
       -7.62955354e-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([-0.0546636 , -0.09216569,  0.06167792])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.27148310e-03, 3.59364221e-02, 9.06042324e-03,-2.47096335e-05,
 -2.48318278e-05, 4.39788421e-05, 1.31692795e-05, 3.31655037e-05,
 -1.36751210e-05,-4.96657342e-06,-5.60907233e-05, 8.23469725e-05,
  3.30430719e-03, 4.73434868e-03, 8.86382753e-03, 1.51396780e-03,
 -3.21832532e-05, 1.48261663e-04,-4.90511852e+00, 6.40476308e-03,
  2.18383896e-03, 1.80705062e-04]


--- Step 2723 ---
qpos:
[-0.01631277, 1.29626782,-0.03198595, 0.9484336 , 0.00436854, 1.3315848 ,
 -0.02975897, 0.94625362, 0.01673638, 1.33658596,-0.02394197, 0.95498313,
  1.3948758 ,-0.00603149, 1.18867489, 0.06127233,-0.05242655,-0.11141266,
  0.07940934, 0.57812178,-0.01376921,-0.0035244 , 0.81582669]

qacc:
[ 1.29706324e-01,-2.71035414e+00, 8.91325259e+00,-2.03419774e+01,
 -8.62005799e-02,-6.26967572e-01, 8.80881158e-01, 4.13497303e+00,
 -4.54162395e-02, 5.34504579e+00,-1.87518556e+01, 2.73328922e+01,
 -4.15663860e-01, 1.45350953e-01, 4.27099175e+00,-7.39115698e+00,
  8.71367000e-01,-3.77263854e+00, 3.12458233e+00,-2.28096787e+01,
 -2.33169385e+02,-7.31314508e+00]

qfrc_actuator:
[ 4.11028700e-03, 7.09707422e-02, 2.00282917e-02, 1.80126063e-03,
 -4.82104978e-05, 3.47628139e-02, 1.09718312e-02, 1.88565904e-03,
 -3.05939689e-03, 3.47078173e-02, 1.07508007e-02, 1.85458160e-03,
  0.00000000e+00, 3.02156875e-03, 0.00000000e+00,-2.60784453e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006822440444579879
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01705502e-01,  8.79962523e-02, -9.49331580e-01, -2.66523431e-02,
        9.96120806e-01,  8.38629419e-02,  9.53028563e-01, -3.46944695e-18,
        3.02880434e-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([ 0.0720032 , -0.04291281,  0.22465043])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003616653013999903
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.53487634e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.53487634e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05466617, -0.09214815,  0.06167994])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19060718e-03, 3.60986401e-02, 9.14322329e-03,-6.81802393e-05,
 -2.48405881e-05,-1.23324117e-05, 2.02694227e-05, 2.13083636e-05,
 -1.30264475e-05, 2.43285398e-05,-5.78737781e-05, 4.93509436e-05,
  3.29769723e-03, 4.82081664e-03, 8.41529501e-03, 1.47485472e-03,
 -1.00050865e-06, 1.24473219e-05,-4.90501345e+00, 6.39498325e-03,
  2.18377587e-03, 1.69079788e-04]


--- Step 2724 ---
qpos:
[-0.01631488, 1.29627729,-0.03198373, 0.94843297, 0.00436784, 1.33158286,
 -0.0297573 , 0.9462572 , 0.01673592, 1.33658606,-0.0239438 , 0.95498249,
  1.39488161,-0.00603154, 1.1886661 , 0.06126983,-0.05242186,-0.11143902,
  0.07946014, 0.57816704,-0.01325914,-0.00397434, 0.815801  ]

qacc:
[-2.94033599e-01,-2.48369992e+00, 1.20000424e+01,-1.84550355e+01,
 -8.99233705e-03,-3.57109314e-01,-2.52059403e+00, 1.73896135e+01,
 -3.61137822e-02,-6.43215332e+00, 2.74360279e+01,-5.81637423e+01,
 -3.82699190e-01, 4.05071092e-01,-3.86910140e+00, 8.22809447e+00,
  7.95617568e-01,-3.44364593e+00, 1.86587864e+00,-2.06271687e+01,
 -2.10351578e+02,-6.62349323e+00]

qfrc_actuator:
[ 4.11016144e-03, 7.09937221e-02, 2.00886349e-02, 1.79117821e-03,
 -3.61803684e-05, 3.47037933e-02, 1.09944389e-02, 1.94904705e-03,
 -3.06215271e-03, 3.47467536e-02, 1.07917259e-02, 1.70506728e-03,
  0.00000000e+00, 3.03622405e-03, 0.00000000e+00,-1.11974672e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006823331675926171
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01697241e-01,  8.79967744e-02, -9.49334157e-01, -2.66517727e-02,
        9.96120760e-01,  8.38636710e-02,  9.53031195e-01, -3.46944695e-18,
        3.02872155e-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([ 0.07200236, -0.04291327,  0.22465065])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003561535581115119
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.79314848e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.79314848e-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([-0.0546744 , -0.09209996,  0.06168465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17526870e-03, 3.61947680e-02, 9.22589674e-03,-1.97311057e-05,
 -2.62914842e-06,-6.12297467e-05, 2.31295371e-05, 6.41094961e-05,
 -1.04464864e-05, 4.25563701e-05, 4.05494119e-05,-1.49338541e-04,
  3.32698776e-03, 4.85077946e-03, 8.24084295e-03, 1.60865612e-03,
 -5.35170946e-06, 1.97592973e-05,-4.90500627e+00, 6.38437087e-03,
  2.18527463e-03, 1.67389367e-04]


--- Step 2725 ---
qpos:
[-0.01631641, 1.29628651,-0.03198124, 0.94843314, 0.00436735, 1.33158065,
 -0.02975544, 0.94626116, 0.01673554, 1.33658491,-0.02394346, 0.95498289,
  1.39488785,-0.00603171, 1.18865962, 0.06126721,-0.05241103,-0.11147704,
  0.07951446, 0.57821386,-0.0124084 ,-0.00460407, 0.81577789]

qacc:
[ 2.53159730e-01, 3.01385651e-01,-3.02035980e+00, 1.20355602e+01,
  8.23813806e-02,-1.99210062e-01,-5.32580954e-01, 4.94360398e+00,
  3.57007825e-02,-5.76053943e+00, 1.47025063e+01,-3.32742349e-02,
  2.93816947e-01,-3.14668947e-01, 3.79436830e+00,-8.36265496e+00,
  1.53812867e+00,-2.91332636e+00, 8.80802828e-01, 2.51610175e+01,
 -1.90946375e+02,-1.76543550e+00]

qfrc_actuator:
[ 4.09359390e-03, 7.09849620e-02, 2.01053875e-02, 1.82125033e-03,
 -1.09197451e-05, 3.47050681e-02, 1.10069660e-02, 1.96712953e-03,
 -3.04581684e-03, 3.46278666e-02, 1.08876419e-02, 1.75941396e-03,
  0.00000000e+00, 2.97393955e-03, 0.00000000e+00,-2.34763561e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006824131546777322
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01686086e-01,  8.79975366e-02, -9.49337632e-01, -2.66510199e-02,
        9.96120692e-01,  8.38647100e-02,  9.53034747e-01, -3.46944695e-18,
        3.02860976e-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([ 0.07200129, -0.04291365,  0.22465093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -8.27708259,  -2.46509242,  -8.27708259,
        12.4011965 , -12.6412431 ,  -2.46509242, -12.6412431 ,
        51.08207974,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0034795718028519116
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.07939463e-07,  2.92895247e-14,  1.00000000e+00, -9.01940052e-21,
        1.00000000e+00, -2.92895247e-14, -1.00000000e+00,  0.00000000e+00,
        3.07939463e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06132868, -0.09440114,  0.0616915 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19320172e-03, 3.61020477e-02, 9.17488300e-03, 4.06964594e-05,
  2.37066446e-05,-2.61327337e-05, 5.06803881e-06, 1.84162115e-05,
  1.01701764e-05,-9.18600553e-05, 1.04466723e-04, 5.33152161e-05,
  3.35365172e-03, 4.78138396e-03, 8.36597868e-03, 1.48252807e-03,
 -3.54075434e-05, 1.30944447e-04,-4.90506991e+00, 6.37327810e-03,
  2.18823129e-03, 1.71914050e-04]


--- Step 2726 ---
qpos:
[-0.01631829, 1.2962969 ,-0.03197852, 0.94843354, 0.00436723, 1.33157853,
 -0.02975353, 0.94626389, 0.01673514, 1.33658266,-0.02394127, 0.95498394,
  1.39489444,-0.0060316 , 1.1886495 , 0.06126416,-0.05238909,-0.11152132,
  0.0795622 , 0.57825053,-0.01119398,-0.00522289, 0.81576574]

qacc:
[-1.53582327e-01, 1.31995722e+00,-2.93340159e+00, 4.53900233e+00,
  1.63182790e-01,-2.12872111e+00, 9.58086901e+00,-2.24950699e+01,
 -6.04912027e-03,-5.28129459e+00, 1.41929118e+01,-4.14013401e+00,
  2.55286843e-01,-3.22905298e-02,-4.12240140e+00, 6.57221843e+00,
  2.77514787e+00,-1.56486994e+00,-1.64588922e+00, 1.09555736e+02,
 -1.45280461e+02, 6.54421101e+00]

qfrc_actuator:
[ 4.08390583e-03, 7.09761697e-02, 2.00787756e-02, 1.83874576e-03,
  2.20719099e-05, 3.47246264e-02, 1.10136308e-02, 1.90516367e-03,
 -3.05366596e-03, 3.45755066e-02, 1.09792517e-02, 1.79124166e-03,
  0.00000000e+00, 2.95446409e-03, 0.00000000e+00,-9.42735227e-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: -0.0006826092507187902
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01674916e-01,  8.79981205e-02, -9.49341127e-01, -2.66502113e-02,
        9.96120641e-01,  8.38655796e-02,  9.53038305e-01,  3.46944695e-18,
        3.02849779e-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([ 0.07200039, -0.0429141 ,  0.2246512 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -8.01497647,  -3.21666427,  -8.01497647,
        14.70614178, -15.12409282,  -3.21666427, -15.12409282,
        46.32113202,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0033789873143187654
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.64283396e-14,  4.10708491e-15,  1.00000000e+00, -6.74725858e-29,
        1.00000000e+00, -4.10708491e-15, -1.00000000e+00,  0.00000000e+00,
        1.64283396e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07951969, -0.10080499,  0.06169981])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.15381139e-03, 3.61058043e-02, 9.13472287e-03, 1.82049077e-05,
  4.69801979e-05, 6.66570516e-06, 2.67620020e-06,-6.21687947e-05,
 -1.84894272e-06,-8.11682326e-05, 8.71033895e-05, 3.34025151e-05,
  3.33224585e-03, 4.76813371e-03, 8.25068430e-03, 1.62977248e-03,
 -8.96115308e-05, 2.50905390e-04,-4.90518635e+00, 6.36679191e-03,
  2.19205430e-03, 1.49976709e-04]


--- Step 2727 ---
qpos:
[-0.01632129, 1.29630916,-0.03197513, 0.9484351 , 0.00436751, 1.33157681,
 -0.02975196, 0.94626516, 0.0167347 , 1.33658093,-0.02393933, 0.9549836 ,
  1.39490053,-0.00603088, 1.18863469, 0.06126061,-0.05235735,-0.11155254,
  0.07960637, 0.57829932,-0.01001865,-0.00538189, 0.8157454 ]

qacc:
[-4.75608179e-01, 2.62006273e+00,-7.93870249e+00, 1.90574805e+01,
  1.64321819e-01,-1.04716954e+00, 7.03323860e+00,-2.32672399e+01,
 -1.96180440e-02,-1.05477212e+00, 7.03008461e+00,-2.23734990e+01,
 -5.96501542e-01, 9.79846416e-01,-5.38263568e+00, 8.86190689e+00,
  2.45257297e+00, 3.26504979e+00,-8.91483491e-01, 1.76299458e+02,
  1.48968897e+02,-4.63544594e+00]

qfrc_actuator:
[ 4.09681460e-03, 7.09837887e-02, 2.00793355e-02, 1.90219675e-03,
  4.16810449e-05, 3.47549098e-02, 1.09990763e-02, 1.83211766e-03,
 -3.05820834e-03, 3.46521551e-02, 1.09789808e-02, 1.72076606e-03,
  0.00000000e+00, 3.03133154e-03, 0.00000000e+00, 2.69970159e-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: -0.0006826649612687308
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01662410e-01,  8.79988277e-02, -9.49345036e-01, -2.66493224e-02,
        9.96120578e-01,  8.38666041e-02,  9.53042289e-01,  3.46944695e-18,
        3.02837243e-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([ 0.07199916, -0.04291455,  0.22465151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003368387584804386
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.24001838e-15,  3.29600735e-14,  1.00000000e+00,  2.71591612e-28,
        1.00000000e+00, -3.29600735e-14, -1.00000000e+00,  0.00000000e+00,
       -8.24001838e-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([-0.07872162, -0.13879522,  0.06170126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18472250e-03, 3.60548171e-02, 9.12378610e-03, 6.98549393e-05,
  4.73331328e-05, 3.26477638e-05,-1.47641788e-05,-7.42068300e-05,
 -5.63838094e-06, 4.97776632e-05,-5.24505689e-06,-6.95534283e-05,
  3.31435151e-03, 4.83107420e-03, 8.43294409e-03, 1.77210263e-03,
 -1.15123469e-04, 2.07245213e-04,-4.90533159e+00, 6.37476340e-03,
  2.19824055e-03, 3.93568665e-05]


--- Step 2728 ---
qpos:
[-0.01632489, 1.29632303,-0.03197138, 0.94843883, 0.00436796, 1.33157551,
 -0.0297509 , 0.94626487, 0.0167345 , 1.33658035,-0.02393955, 0.95498419,
  1.39490631,-0.00602956, 1.1886158 , 0.06125641,-0.05234384,-0.11157496,
  0.07964199, 0.57831201,-0.00941778,-0.00557105, 0.81574229]

qacc:
[-2.56666014e-01, 4.83887003e+00,-1.76719498e+01, 3.93870311e+01,
  7.49383627e-02,-7.54246065e-01, 6.35250779e+00,-2.39674458e+01,
  1.02420250e-01, 8.92347112e+00,-2.91328110e+01, 3.52217208e+01,
 -4.93706873e-01, 9.09388038e-01,-3.99555441e+00, 5.32865188e+00,
 -4.55866770e+00, 2.19856523e+00,-2.13796127e+00,-1.78542389e+02,
  2.25405503e+02, 2.11003460e+01]

qfrc_actuator:
[ 4.14193377e-03, 7.09823316e-02, 2.00601620e-02, 2.00996113e-03,
  3.53511129e-05, 3.47735334e-02, 1.09721710e-02, 1.75315212e-03,
 -3.02522423e-03, 3.47162874e-02, 1.08716751e-02, 1.76820970e-03,
  0.00000000e+00, 3.05904970e-03, 0.00000000e+00, 1.01475130e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00068257190474438
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01647475e-01,  8.79998975e-02, -9.49349682e-01, -2.66483295e-02,
        9.96120484e-01,  8.38680422e-02,  9.53047043e-01,  6.93889390e-18,
        3.02822279e-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([ 0.07199748, -0.04291494,  0.22465191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0033901629335704453
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.63741839e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.63741839e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00390858, -0.12565619,  0.06170019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.28562234e-03, 3.59596255e-02, 9.07113326e-03, 1.19922307e-04,
  2.16033238e-05, 3.15842239e-05,-2.43728193e-05,-8.01395512e-05,
  2.96564212e-05, 8.85823939e-05,-1.00216259e-04, 4.71462937e-05,
  3.33947617e-03, 4.82845491e-03, 8.66789826e-03, 1.87149037e-03,
  1.00115878e-04,-1.05262157e-04,-4.90523273e+00, 6.36543004e-03,
  2.19983563e-03,-7.56732772e-05]


--- Step 2729 ---
qpos:
[-0.0163279 , 1.29633634,-0.03196792, 0.94844233, 0.00436834, 1.33157407,
 -0.02974974, 0.94626468, 0.01673432, 1.33657946,-0.02394002, 0.95498642,
  1.3949124 ,-0.00602838, 1.18859725, 0.06125234,-0.05234659,-0.11158961,
  0.07966573, 0.57829339,-0.00932831,-0.00578664, 0.81575502]

qacc:
[ 2.51693561e-01,-3.69614493e-01, 7.96855007e-01,-3.04526548e+00,
 -3.15351345e-02,-2.48115923e-01, 3.67164425e-01, 1.04806787e+00,
  5.96452742e-03, 3.10679115e+00,-1.38976008e+01, 3.10305560e+01,
  3.39055182e-01,-4.17700872e-01, 8.95594779e-02, 3.56800309e-01,
 -4.06634067e+00, 1.94439451e+00,-2.96901686e+00,-1.58760070e+02,
  2.00774384e+02, 1.86493463e+01]

qfrc_actuator:
[ 4.17080637e-03, 7.09926984e-02, 2.00469453e-02, 1.98306376e-03,
  1.35134691e-05, 3.47494666e-02, 1.09736614e-02, 1.76009192e-03,
 -3.04100537e-03, 3.46477902e-02, 1.08441717e-02, 1.84914142e-03,
  0.00000000e+00, 3.02152933e-03, 0.00000000e+00, 4.17183708e-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: -0.0006823398311765483
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30163067,  0.08800117, -0.9493549 , -0.02664723,  0.99612037,
        0.08386973,  0.95305239,  0.        ,  0.30280544])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07199542, -0.04291529,  0.22465238])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003414593554927868
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.12851520e-15,  1.62570304e-14,  1.00000000e+00,  1.32145519e-28,
        1.00000000e+00, -1.62570304e-14, -1.00000000e+00,  0.00000000e+00,
       -8.12851520e-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([-0.00394681, -0.12564934,  0.06169883])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.34458157e-03, 3.58895527e-02, 9.04003299e-03,-1.53848255e-05,
 -9.08784034e-06,-1.37568187e-05, 2.54608605e-06, 5.31251367e-06,
  1.73080055e-06,-3.76805099e-05,-2.02117443e-05, 8.17213193e-05,
  3.35534523e-03, 4.76052367e-03, 8.87188854e-03, 1.84455231e-03,
 -4.06714470e-06, 4.02373984e-06,-4.90507252e+00, 6.38673716e-03,
  2.20463593e-03, 6.39243171e-05]


--- Step 2730 ---
qpos:
[-0.01632973, 1.29634775,-0.03196519, 0.94844424, 0.00436856, 1.33157228,
 -0.02974903, 0.94626462, 0.01673392, 1.33657809,-0.02393975, 0.95498748,
  1.39491911,-0.00602778, 1.18858206, 0.06124879,-0.05236394,-0.11159733,
  0.07967472, 0.57824715,-0.00969684,-0.00602565, 0.81578177]

qacc:
[ 5.00502943e-01,-3.20475223e+00, 1.06696598e+01,-2.63332564e+01,
 -6.45240632e-02, 9.56328764e-01,-3.96074700e+00, 5.19839622e+00,
 -9.04780598e-02,-4.62780740e+00, 1.66481643e+01,-2.74491048e+01,
  7.37075329e-01,-1.10377193e+00, 3.35519241e+00,-4.64277108e+00,
 -3.64756122e+00, 1.73108074e+00,-3.68904404e+00,-1.42064826e+02,
  1.79895368e+02, 1.65400128e+01]

qfrc_actuator:
[ 4.17122669e-03, 7.09761778e-02, 2.00378000e-02, 1.89465700e-03,
  3.04562111e-07, 3.47001770e-02, 1.09385304e-02, 1.76426432e-03,
 -3.06816151e-03, 3.46249833e-02, 1.08812712e-02, 1.78931804e-03,
  0.00000000e+00, 2.96312513e-03, 0.00000000e+00,-6.35941243e-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: -0.000682089214839917
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01614662e-01,  8.80022544e-02, -9.49359889e-01, -2.66461500e-02,
        9.96120275e-01,  8.38712077e-02,  9.53057489e-01, -3.46944695e-18,
        3.02789402e-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([ 0.0719934 , -0.04291566,  0.22465284])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0033925820210074648
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.63625082e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.63625082e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00389211, -0.12567071,  0.0617008 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.31546386e-03, 3.59009024e-02, 9.04501923e-03,-9.20762648e-05,
 -1.85722526e-05,-5.62338816e-05,-3.73758623e-05, 3.95715811e-06,
 -2.61366710e-05,-4.51599970e-05, 2.98394316e-05,-5.96280953e-05,
  3.33942635e-03, 4.70919339e-03, 8.85534396e-03, 1.73296622e-03,
  7.89306978e-06, 2.84848654e-05,-4.90501286e+00, 6.39168189e-03,
  2.20376999e-03, 1.06907015e-04]


--- Step 2731 ---
qpos:
[-0.01633065, 1.2963575 ,-0.03196347, 0.94844612, 0.00436863, 1.3315706 ,
 -0.02974958, 0.946266  , 0.01673326, 1.33657711,-0.02394017, 0.95498609,
  1.39492617,-0.00602751, 1.18857036, 0.06124526,-0.05239444,-0.11159885,
  0.07966646, 0.57817611,-0.0104781 ,-0.00628556, 0.8158205 ]

qacc:
[ 3.90239758e-01, 4.69062894e-01,-4.06366435e+00, 4.05024190e+00,
 -6.58052523e-02, 5.99934780e+00,-2.23221741e+01, 3.58744888e+01,
 -1.09141384e-01,-1.84392176e+00, 1.15896171e+01,-3.85930092e+01,
  3.24355054e-01,-5.08352969e-01, 5.03230730e+00,-1.01817313e+01,
 -3.28901561e+00, 1.55097379e+00,-4.31188795e+00,-1.27947328e+02,
  1.62173136e+02, 1.47141236e+01]

qfrc_actuator:
[ 4.15375577e-03, 7.09983495e-02, 2.00316637e-02, 1.89505311e-03,
 -7.61958451e-06, 3.47247941e-02, 1.08819289e-02, 1.83772020e-03,
 -3.08416742e-03, 3.46653969e-02, 1.08497211e-02, 1.66492805e-03,
  0.00000000e+00, 2.94594138e-03, 0.00000000e+00,-1.61173567e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006819082018890976
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30160118,  0.08800296, -0.94936411, -0.02664517,  0.99612021,
        0.08387226,  0.95306178,  0.        ,  0.30277589])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07199172, -0.04291608,  0.22465321])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0033331159608987054
  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([-0.00376401, -0.12571433,  0.06170541])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.23927411e-03, 3.60181071e-02, 9.07565929e-03,-1.26408004e-05,
 -1.88857926e-05,-1.36684468e-05,-7.17328758e-05, 7.07648941e-05,
 -3.14393828e-05, 1.95104986e-05,-3.87204299e-05,-1.26242778e-04,
  3.30868952e-03, 4.72089718e-03, 8.68739378e-03, 1.60970651e-03,
  1.01876444e-04,-7.51289085e-06,-4.90502605e+00, 6.38527533e-03,
  2.19867414e-03, 8.16346673e-05]


--- Step 2732 ---
qpos:
[-0.01633091, 1.29636571,-0.03196266, 0.94844934, 0.00436857, 1.33156957,
 -0.02975086, 0.94626887, 0.01673252, 1.33657646,-0.02394144, 0.95498634,
  1.39493335,-0.00602741, 1.1885636 , 0.06124147,-0.05241359,-0.11158345,
  0.0796604 , 0.57813092,-0.01129052,-0.00602521, 0.81584365]

qacc:
[ 2.81446348e-01, 2.70795416e+00,-1.40537795e+01, 2.88176398e+01,
 -5.51994310e-02, 5.36027170e+00,-1.95028338e+01, 3.36925875e+01,
 -3.48654541e-02, 5.57372317e+00,-2.09740474e+01, 3.69299134e+01,
 -6.28795163e-02, 3.47179869e-03, 8.07547205e+00,-1.76406435e+01,
  2.83756582e+00, 4.22943534e+00, 5.52453305e-01, 2.03304558e+02,
  1.63272453e+02,-1.22194644e+01]

qfrc_actuator:
[ 4.10758626e-03, 7.10442499e-02, 2.00456510e-02, 1.96557866e-03,
 -1.23093925e-05, 3.48111765e-02, 1.08666956e-02, 1.91588798e-03,
 -3.07560142e-03, 3.46897936e-02, 1.08136193e-02, 1.75209665e-03,
  0.00000000e+00, 2.95347405e-03, 0.00000000e+00,-3.24843304e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006818037669930679
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01590239e-01,  8.80033581e-02, -9.49367546e-01, -2.66443291e-02,
        9.96120178e-01,  8.38729442e-02,  9.53065269e-01, -3.46944695e-18,
        3.02764913e-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([ 0.07199036, -0.04291656,  0.22465351])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003348402642742651
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.48675968e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.48675968e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07876683, -0.13888064,  0.06170416])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14731088e-03, 3.61466671e-02, 9.13998873e-03, 6.00666947e-05,
 -1.58351188e-05, 6.69292736e-05,-2.39881615e-05, 7.72968462e-05,
 -9.99506976e-06, 2.38868573e-05,-4.03859094e-05, 8.36719877e-05,
  3.29106124e-03, 4.74497174e-03, 8.51343368e-03, 1.44466564e-03,
  2.53983773e-04,-8.66971335e-05,-4.90509173e+00, 6.37111899e-03,
  2.19039968e-03, 8.36232445e-06]


--- Step 2733 ---
qpos:
[-0.01633125, 1.29637406,-0.03196188, 0.9484525 , 0.00436856, 1.33156897,
 -0.02975227, 0.94627194, 0.01673193, 1.33657675,-0.02394376, 0.95498794,
  1.39494064,-0.00602737, 1.18855691, 0.06123752,-0.05242262,-0.1115531 ,
  0.07965212, 0.57810741,-0.0121326 ,-0.00529853, 0.81585327]

qacc:
[-3.40597926e-02, 1.97892840e-01,-2.76068621e-01,-6.46442283e-01,
  1.97180924e-02, 1.27072752e+00,-3.89258406e+00, 5.53846317e+00,
  5.98510891e-02, 6.35457304e+00,-2.19415323e+01, 3.39031542e+01,
  1.06583182e-01,-1.30902578e-01, 6.13644876e-01,-2.00447107e+00,
  2.53030339e+00, 3.73716096e+00,-5.57934278e-01, 1.81733792e+02,
  1.47039602e+02,-1.00345928e+01]

qfrc_actuator:
[ 4.09734443e-03, 7.10161768e-02, 2.00365038e-02, 1.97028466e-03,
  2.73100558e-06, 3.48275263e-02, 1.08585071e-02, 1.92524799e-03,
 -3.05236493e-03, 3.47755091e-02, 1.07752315e-02, 1.82106237e-03,
  0.00000000e+00, 2.94030941e-03, 0.00000000e+00,-2.79354594e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006818606975447089
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30158163,  0.08800353, -0.94937026, -0.02664362,  0.99612016,
        0.08387335,  0.95306801,  0.        ,  0.30275628])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07198943, -0.04291711,  0.22465373])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.53987463,  -4.2115398 ,  -7.53987463,
        21.26490735, -22.60874667,  -4.2115398 , -22.60874667,
        49.11256086,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0033424013620216436
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.98244931e-14,  1.66081644e-14,  1.00000000e+00,  8.27493372e-28,
        1.00000000e+00, -1.66081644e-14, -1.00000000e+00,  0.00000000e+00,
       -4.98244931e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07877126, -0.13889814,  0.06170454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10403758e-03, 3.61958018e-02, 9.17587426e-03,-2.98306092e-06,
  5.69811507e-06, 5.10108421e-05, 4.44279562e-06, 1.24582085e-05,
  1.73355150e-05, 9.35223417e-05,-3.58620452e-05, 7.04370450e-05,
  3.28534758e-03, 4.74064081e-03, 8.26672656e-03, 1.50312587e-03,
 -1.21861334e-05, 6.90060468e-06,-4.90511279e+00, 6.37386288e-03,
  2.19746055e-03, 5.62955050e-05]


--- Step 2734 ---
qpos:
[-0.01633201, 1.29638412,-0.03196022, 0.94845446, 0.0043688 , 1.33156806,
 -0.02975343, 0.9462748 , 0.01673139, 1.3365774 ,-0.02394602, 0.95498896,
  1.39494822,-0.00602734, 1.18854599, 0.06123356,-0.05242256,-0.11150945,
  0.07963779, 0.57810169,-0.01300286,-0.00415112, 0.81585056]

qacc:
[-1.80137824e-01,-2.18765612e+00, 1.22912400e+01,-2.55598062e+01,
  1.04673993e-01,-1.42462174e+00, 4.59842997e+00,-6.23203844e+00,
  2.28068801e-02,-6.89447966e-01, 3.98083393e+00,-1.03026623e+01,
  4.63850947e-01,-5.05855993e-01,-6.29426423e+00, 1.28431587e+01,
  2.27022904e+00, 3.32595939e+00,-1.51220881e+00, 1.63556091e+02,
  1.33235566e+02,-8.19422863e+00]

qfrc_actuator:
[ 4.12688802e-03, 7.09604006e-02, 2.00307344e-02, 1.91862817e-03,
  2.94849368e-05, 3.47663076e-02, 1.08542342e-02, 1.91175618e-03,
 -3.05602250e-03, 3.47730062e-02, 1.07715046e-02, 1.78998807e-03,
  0.00000000e+00, 2.89691727e-03, 0.00000000e+00,-1.08356567e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006819264611563416
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01572935e-01,  8.80037332e-02, -9.49373008e-01, -2.66429148e-02,
        9.96120145e-01,  8.38737870e-02,  9.53070784e-01, -3.46944695e-18,
        3.02747552e-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([ 0.07198849, -0.04291766,  0.22465396])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.51957527,  -4.24767755,  -7.51957527,
        22.02149582, -23.69542127,  -4.24767755, -23.69542127,
        50.58387535,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003297693193144713
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.6833328e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.6833328e-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([-0.07882241, -0.13896094,  0.06170779])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13756917e-03, 3.61327378e-02, 9.17241527e-03,-5.11937130e-05,
  3.01182307e-05,-3.17490926e-05, 6.57964204e-06,-1.15416027e-05,
  6.58025806e-06, 4.43006779e-05, 1.25270390e-05,-2.77136182e-05,
  3.27979786e-03, 4.69972227e-03, 8.26313224e-03, 1.68263766e-03,
 -8.69148377e-05, 3.41935952e-04,-4.90522678e+00, 6.38490426e-03,
  2.19392197e-03, 1.74057540e-04]


--- Step 2735 ---
qpos:
[-0.01633341, 1.29639633,-0.03195708, 0.94845537, 0.00436916, 1.33156706,
 -0.02975463, 0.94627679, 0.01673086, 1.33657755,-0.02394761, 0.9549893 ,
  1.39495617,-0.0060273 , 1.18853027, 0.06122977,-0.05241362,-0.11148224,
  0.07964624, 0.57809845,-0.01336893,-0.00326993, 0.81585095]

qacc:
[-2.71044594e-01,-2.97491601e+00, 1.52697049e+01,-2.67557871e+01,
  5.49980637e-02,-1.49476905e+00, 6.52045721e+00,-1.57486294e+01,
  6.67381934e-03,-3.60355907e+00, 1.23287178e+01,-1.82075146e+01,
  5.33841542e-01,-5.43449767e-01,-7.58424318e+00, 1.61672336e+01,
  2.22381829e+00,-4.11087862e+00, 5.69639229e+00, 3.71607340e+01,
 -2.82641026e+02,-2.89307339e+00]

qfrc_actuator:
[ 4.12741978e-03, 7.08863805e-02, 2.00438289e-02, 1.86981515e-03,
  2.75428041e-05, 3.47656248e-02, 1.08519863e-02, 1.86713704e-03,
 -3.05803257e-03, 3.47000167e-02, 1.07878838e-02, 1.75352753e-03,
  0.00000000e+00, 2.85313081e-03, 0.00000000e+00, 4.90816367e-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: -0.0006818753546114116
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30156176,  0.08800409, -0.94937652, -0.02664204,  0.99612011,
        0.08387444,  0.95307435,  0.        ,  0.30273634])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07198717, -0.04291817,  0.22465426])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0032879622398081223
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.27764462e-07,  1.22666618e-14,  1.00000000e+00, -6.47390817e-21,
        1.00000000e+00, -1.22666618e-14, -1.00000000e+00,  0.00000000e+00,
        5.27764462e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06148639, -0.09432002,  0.06170831])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.15923128e-03, 3.59731990e-02, 9.14111882e-03,-4.01455650e-05,
  1.58298148e-05,-1.72915884e-05,-8.04006892e-06,-4.56451205e-05,
  1.87663062e-06,-4.68670642e-05, 2.56465427e-05,-3.54271074e-05,
  3.26521318e-03, 4.65689137e-03, 8.47524028e-03, 1.84010886e-03,
 -2.31545860e-05, 8.47722191e-04,-4.90540813e+00, 6.40064919e-03,
  2.18293796e-03, 3.41738459e-04]


--- Step 2736 ---
qpos:
[-0.01633478, 1.29640849,-0.03195325, 0.94845627, 0.00436959, 1.33156681,
 -0.02975622, 0.94627747, 0.01673033, 1.33657785,-0.02394945, 0.95498816,
  1.39496432,-0.00602744, 1.18851578, 0.06122623,-0.05241681,-0.11146964,
  0.0796517 , 0.57811618,-0.01369494,-0.00295319, 0.81583418]

qacc:
[ 1.20385407e-02,-1.92754272e+00, 6.21941533e+00,-5.42113108e+00,
  2.75042676e-02,-2.29765520e-01, 4.59411495e+00,-1.95047310e+01,
  3.36277740e-04,-1.70566534e+00, 8.79453376e+00,-2.48414317e+01,
  2.49345222e-01,-3.70834689e-01, 1.01222665e+00,-9.57047065e-01,
 -3.03373192e+00,-3.65059175e+00,-7.50437500e-01,-2.18563071e+02,
 -1.79346578e+02,-1.73505069e+01]

qfrc_actuator:
[ 4.11092699e-03, 7.08357915e-02, 2.00672881e-02, 1.85854910e-03,
  2.61540416e-05, 3.48544357e-02, 1.08511500e-02, 1.80459198e-03,
 -3.05903723e-03, 3.47274725e-02, 1.07802019e-02, 1.67866428e-03,
  0.00000000e+00, 2.84457853e-03, 0.00000000e+00,-3.25577220e-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: -0.0006817173435767279
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01547111e-01,  8.80046736e-02, -9.49381123e-01, -2.66409202e-02,
        9.96120062e-01,  8.38754073e-02,  9.53079011e-01,  3.46944695e-18,
        3.02721652e-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([ 0.07198541, -0.04291866,  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([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0033422685633066676
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.66088243e-14,  1.66088243e-14,  1.00000000e+00,  2.75853044e-28,
        1.00000000e+00, -1.66088243e-14, -1.00000000e+00,  0.00000000e+00,
       -1.66088243e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0200891 , -0.0797303 ,  0.06170429])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17453954e-03, 3.58148584e-02, 9.09024002e-03, 1.29600482e-06,
  7.95211388e-06, 7.63167153e-05,-6.46447604e-06,-6.43585270e-05,
  1.01651299e-07, 5.49853502e-06,-1.49546424e-05,-7.63276282e-05,
  3.24683725e-03, 4.64717996e-03, 8.71490260e-03, 1.75066333e-03,
  1.09482691e-04, 4.74849966e-04,-4.90517888e+00, 6.39130129e-03,
  2.18172149e-03, 2.91357799e-04]


--- Step 2737 ---
qpos:
[-0.01633567, 1.29642005,-0.03194913, 0.94845849, 0.00437019, 1.33156713,
 -0.02975752, 0.94627704, 0.01672981, 1.33657864,-0.02395105, 0.95498711,
  1.39497243,-0.00602778, 1.18850429, 0.06122264,-0.05243083,-0.11147013,
  0.07965025, 0.57815357,-0.01398602,-0.00313876, 0.81580205]

qacc:
[ 2.03225491e-01, 6.69628684e-01,-5.84109183e+00, 2.06596453e+01,
  7.43305757e-02,-1.91576414e+00, 9.45976949e+00,-2.15452449e+01,
 -1.17592241e-03, 1.34194998e-01, 1.43636362e-01, 6.39818577e-01,
 -6.47637569e-02,-6.18391333e-02, 4.57679109e+00,-9.56875716e+00,
 -2.70963911e+00,-3.27475274e+00,-1.72366870e+00,-1.94692764e+02,
 -1.59311198e+02,-1.59529829e+01]

qfrc_actuator:
[ 4.13706770e-03, 7.08183561e-02, 2.00971714e-02, 1.92244343e-03,
  4.28626701e-05, 3.48896235e-02, 1.08692598e-02, 1.74981729e-03,
 -3.05943022e-03, 3.47969913e-02, 1.08119784e-02, 1.68835316e-03,
  0.00000000e+00, 2.85737283e-03, 0.00000000e+00,-1.33537340e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006816423614241854
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30153186,  0.08800526, -0.94938591, -0.02663975,  0.99612001,
        0.08387639,  0.95308387,  0.        ,  0.30270635])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07198375, -0.04291916,  0.22465504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.6311742 ,  0.29934722, -8.6311742 ,  8.70605735,
        2.00950112,  0.29934722,  2.00950112, 66.57695228,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003363686456103007
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.30061389e-14,  1.65030695e-14,  1.00000000e+00,  5.44702603e-28,
        1.00000000e+00, -1.65030695e-14, -1.00000000e+00,  0.00000000e+00,
       -3.30061389e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02011585, -0.0797637 ,  0.06170274])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19927308e-03, 3.57998392e-02, 9.08578019e-03, 6.55401703e-05,
  2.14042196e-05, 7.42137833e-05, 3.04160518e-05,-5.41706217e-05,
 -3.32308517e-07, 6.73751850e-05, 2.89175891e-05, 7.63415324e-06,
  3.23637522e-03, 4.66958530e-03, 8.65399299e-03, 1.63692032e-03,
 -9.07530017e-06, 6.57685820e-05,-4.90504781e+00, 6.39648701e-03,
  2.18313242e-03, 1.76092633e-04]


--- Step 2738 ---
qpos:
[-0.01633688, 1.2964325 ,-0.03194467, 0.94846062, 0.00437098, 1.33156747,
 -0.02975838, 0.94627634, 0.01672928, 1.33657952,-0.02395215, 0.95498724,
  1.39498035,-0.00602803, 1.18848927, 0.06121887,-0.05245459,-0.11148244,
  0.07963855, 0.57820893,-0.01424647,-0.00377423, 0.81575562]

qacc:
[-1.37095303e-01, 1.29131522e-01, 1.16738047e+00,-2.49973318e+00,
  7.75541824e-02,-1.64250481e+00, 5.92483083e+00,-8.22834814e+00,
 -7.21138801e-04, 8.54429916e-01,-5.00746379e+00, 1.78873970e+01,
 -4.42557809e-02, 6.29701605e-02,-4.65324888e+00, 8.71224193e+00,
 -2.43288529e+00,-2.95401861e+00,-2.56572872e+00,-1.74553685e+02,
 -1.42424067e+02,-1.46602278e+01]

qfrc_actuator:
[ 4.17057595e-03, 7.08036401e-02, 2.00777781e-02, 1.92359951e-03,
  5.25407678e-05, 3.48570031e-02, 1.08804788e-02, 1.73555113e-03,
 -3.05945295e-03, 3.47848388e-02, 1.08315344e-02, 1.74778972e-03,
  0.00000000e+00, 2.86530690e-03, 0.00000000e+00, 2.03712581e-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: -0.000681703084219297
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01516913e-01,  8.80056943e-02, -9.49390620e-01, -2.66385637e-02,
        9.96119972e-01,  8.38772267e-02,  9.53088631e-01,  3.46944695e-18,
        3.02691364e-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([ 0.07198233, -0.04291969,  0.2246554 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.62969946,  0.33921087, -8.62969946,  8.73676181,
        2.55418137,  0.33921087,  2.55418137, 73.61605454,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0033402749805763327
  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([-0.02008231, -0.07973607,  0.06170449])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20893773e-03, 3.58155328e-02, 9.05211191e-03, 9.80944740e-07,
  2.23117160e-05, 1.27545600e-05, 2.76052477e-05,-1.24085607e-05,
 -2.16154207e-07, 3.09735394e-05, 3.62228683e-05, 6.24542070e-05,
  3.23904039e-03, 4.68751424e-03, 8.50432749e-03, 1.79333379e-03,
  6.33840348e-05, 1.16957641e-06,-4.90503028e+00, 6.39379307e-03,
  2.18818800e-03, 1.56142125e-04]


--- Step 2739 ---
qpos:
[-0.01633937, 1.29644588,-0.03193985, 0.94846137, 0.00437207, 1.33156801,
 -0.02975913, 0.94627547, 0.01672904, 1.33658041,-0.02395351, 0.95498881,
  1.39498745,-0.00602796, 1.18846952, 0.06121526,-0.05249961,-0.11151545,
  0.07963067, 0.5781058 ,-0.01389284,-0.00420382, 0.81583271]

qacc:
[-5.42371598e-01,-2.13053665e+00, 1.12587904e+01,-2.64010202e+01,
  1.26070131e-01,-3.05947924e-01, 1.66248456e+00,-3.47985516e+00,
  1.23345378e-01, 3.18534867e+00,-1.32923068e+01, 2.82178705e+01,
 -5.96762986e-01, 6.92645260e-01,-7.45813743e+00, 1.60180096e+01,
 -5.31550008e+00,-5.17554613e+00, 9.57038220e-01, 2.60609239e+02,
 -1.92125512e+02, 1.00664952e+02]

qfrc_actuator:
[ 4.15585448e-03, 7.08070432e-02, 2.00641557e-02, 1.85247621e-03,
  7.56755274e-05, 3.48727936e-02, 1.08872850e-02, 1.72743132e-03,
 -3.02374812e-03, 3.47593813e-02, 1.08079153e-02, 1.81819717e-03,
  0.00000000e+00, 2.94111241e-03, 0.00000000e+00, 1.67592576e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006816220885551456
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01500788e-01,  8.80062412e-02, -9.49395690e-01, -2.66373059e-02,
        9.96119923e-01,  8.38781999e-02,  9.53093767e-01, -3.46944695e-18,
        3.02675191e-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([ 0.07198061, -0.04292016,  0.2246558 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -0.46411327,  8.62388403, -0.46411327,  3.12301952,
       -0.29671273,  8.62388403, -0.29671273,  8.62039539,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0062789125387550625
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75528575, -0.37764288,  0.53565781, -0.3080381 ,  0.92595133,
        0.21846435, -0.57849457,  0.        , -0.81568624])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0795728 , -0.1008549 ,  0.06170262])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.21028918e-03, 3.57738768e-02, 9.02149808e-03,-6.61185627e-05,
  3.63015526e-05, 2.78704959e-05, 1.20766947e-05,-7.21817061e-06,
  3.55784387e-05, 5.90326198e-07,-1.16260808e-05, 7.38385241e-05,
  3.24829700e-03, 4.75816159e-03, 8.68094153e-03, 1.94977496e-03,
  2.71175077e-04, 1.82589034e-04,-4.90509330e+00, 6.38538147e-03,
  2.19623505e-03, 2.03880064e-04]


--- Step 2740 ---
qpos:
[-0.0163425 , 1.29645894,-0.03193549, 0.94846211, 0.00437344, 1.33156905,
 -0.02975994, 0.94627519, 0.01672929, 1.33658165,-0.02395544, 0.95498879,
  1.39499392,-0.00602758, 1.18844872, 0.06121167,-0.05255951,-0.11156575,
  0.07962269, 0.57787639,-0.01299728,-0.00446999, 0.81600856]

qacc:
[-2.72023453e-01, 8.19230487e-01,-3.13713854e+00, 2.77192666e+00,
  1.20405214e-01, 1.83021571e+00,-6.38276129e+00, 1.19813333e+01,
  2.08400823e-01,-7.67193661e-01, 6.26901565e+00,-2.40749576e+01,
 -6.57975605e-01, 8.20803808e-01,-1.53287467e+00, 3.21938796e+00,
 -3.72072203e+00,-4.32182060e+00,-2.67487098e-02, 2.22638597e+02,
 -1.74776019e+02, 8.00568997e+01]

qfrc_actuator:
[ 4.14878017e-03, 7.08564357e-02, 2.00538353e-02, 1.84584203e-03,
  8.89438181e-05, 3.49174324e-02, 1.08916023e-02, 1.75850965e-03,
 -2.98465194e-03, 3.47792509e-02, 1.07766861e-02, 1.73467288e-03,
  0.00000000e+00, 2.98638239e-03, 0.00000000e+00, 1.50750188e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000681340268490576
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30148343,  0.08800718, -0.94940112, -0.02663606,  0.99611984,
        0.08387959,  0.95309929,  0.        ,  0.30265779])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0719785 , -0.04292051,  0.22465627])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -5.71414728,  -6.47574688,  -5.71414728,
        35.10549757, -23.35615218,  -6.47574688, -23.35615218,
        29.2456456 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006229627910272188
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.53639423e-01, -3.76819712e-01,  5.38548535e-01, -3.06585655e-01,
        9.26286621e-01,  2.19085215e-01, -5.81405931e-01,  2.77555756e-17,
       -8.13613633e-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([-0.07963112, -0.10087236,  0.06170316])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.26684029e-03, 3.57768161e-02, 8.99293891e-03,-3.28164275e-06,
  3.46911606e-05, 6.21979826e-05, 1.09287910e-05, 3.20987938e-05,
  6.01017498e-05, 2.01122174e-05,-3.02721317e-05,-8.21269981e-05,
  3.28910539e-03, 4.78793192e-03, 8.91810147e-03, 1.92463612e-03,
  1.56522247e-05, 1.27247305e-04,-4.90510171e+00, 6.43569409e-03,
  2.18005030e-03, 1.89100522e-04]


--- Step 2741 ---
qpos:
[-0.01634525, 1.29647146,-0.03193187, 0.9484628 , 0.00437474, 1.33156968,
 -0.02976008, 0.94627636, 0.01672973, 1.3365826 ,-0.02395719, 0.9549871 ,
  1.39500077,-0.0060272 , 1.1884277 , 0.06120806,-0.05259147,-0.11161989,
  0.0796169 , 0.57768678,-0.01169721,-0.00478922, 0.81616066]

qacc:
[ 1.59815253e-01, 1.19464777e+00,-4.68374464e+00, 3.86924815e+00,
 -2.69381211e-02, 1.24178080e-01,-4.02502955e+00, 2.05669044e+01,
  8.00226272e-02,-3.73211939e+00, 1.50730423e+01,-3.21609518e+01,
  3.05077395e-01,-2.52182834e-01,-3.01093835e-01, 5.51326485e-01,
  6.98737145e+00,-9.59741325e-01, 5.49635480e-01, 9.54372003e+01,
 -1.80127197e+02,-2.43543140e+01]

qfrc_actuator:
[ 4.16392134e-03, 7.08810288e-02, 2.00284235e-02, 1.84157424e-03,
  6.06811580e-05, 3.48547417e-02, 1.09123128e-02, 1.83017723e-03,
 -2.99709628e-03, 3.47372111e-02, 1.07768123e-02, 1.65002053e-03,
  0.00000000e+00, 2.92445022e-03, 0.00000000e+00, 1.42075490e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006809706984915453
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01466795e-01,  8.80083103e-02, -9.49406293e-01, -2.66349337e-02,
        9.96119740e-01,  8.38811242e-02,  9.53104586e-01, -3.46944695e-18,
        3.02641122e-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([ 0.07197632, -0.04292082,  0.22465674])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  3.8847854 , -7.71331441,  3.8847854 ,  7.93781746,
       -0.35182048, -7.71331441, -0.35182048,  8.45917041,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003307797512794655
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.67819073e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.67819073e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07977535, -0.10089268,  0.06170662])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.31388108e-03, 3.58167344e-02, 8.99057715e-03,-6.94816135e-06,
 -7.78900038e-06,-2.51913581e-05, 3.50566892e-05, 7.45973152e-05,
  2.30413957e-05,-3.92675993e-05,-1.78849952e-06,-8.68547198e-05,
  3.32127053e-03, 4.71080597e-03, 8.97097805e-03, 1.91553619e-03,
  8.89406040e-05, 6.98199971e-05,-4.90535568e+00, 6.54959520e-03,
  2.21632468e-03, 6.85838126e-05]


--- Step 2742 ---
qpos:
[-0.01634695, 1.2964815 ,-0.03192936, 0.94846259, 0.00437572, 1.33156953,
 -0.02975971, 0.94627842, 0.01673008, 1.33658232,-0.02395752, 0.95498753,
  1.39500783,-0.0060273 , 1.18841233, 0.06120494,-0.05260458,-0.11165339,
  0.07961247, 0.57749914,-0.01044841,-0.00464615, 0.81631121]

qacc:
[ 4.46067841e-01,-1.81593285e+00, 3.84339664e+00,-1.21895307e+01,
 -1.38052997e-01,-8.83110170e-01,-1.75606430e-01, 1.09745334e+01,
 -4.10120976e-02,-1.80611574e+00,-3.29416753e-01, 2.55272050e+01,
  2.38571347e-01,-5.49500028e-01, 6.86560272e+00,-1.19370108e+01,
  4.70996201e+00, 5.15906428e+00, 3.37880553e-01, 1.73851648e+02,
  1.54464409e+02, 1.57652542e+00]

qfrc_actuator:
[ 4.15612844e-03, 7.08911130e-02, 2.00299281e-02, 1.78550714e-03,
  2.54869973e-05, 3.47816145e-02, 1.09243893e-02, 1.87183861e-03,
 -3.02260569e-03, 3.46585262e-02, 1.08484969e-02, 1.76068354e-03,
  0.00000000e+00, 2.92263072e-03, 0.00000000e+00,-5.69601175e-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: -0.0006805397657215287
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01451405e-01,  8.80093098e-02, -9.49411087e-01, -2.66338788e-02,
        9.96119652e-01,  8.38825077e-02,  9.53109483e-01,  6.93889390e-18,
        3.02625698e-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([ 0.07197415, -0.04292115,  0.22465719])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -3.26831501,  7.99405366, -3.26831501, 62.88397856,
       22.17877209,  7.99405366, 22.17877209, 17.70400527,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003281406751091148
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.6916876e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.6916876e-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([-0.07899841, -0.13907367,  0.06170854])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.28731953e-03, 3.58545177e-02, 9.02919896e-03,-6.07098627e-05,
 -3.97917276e-05,-7.79725296e-05, 1.33248359e-05, 4.36662995e-05,
 -1.19062414e-05,-1.03328317e-04, 6.12699409e-05, 1.07422051e-04,
  3.30191131e-03, 4.70813687e-03, 8.98204041e-03, 1.71716105e-03,
  1.20260952e-04, 2.66809202e-05,-4.90557295e+00, 6.58218686e-03,
  2.23390381e-03,-5.93166686e-05]


--- Step 2743 ---
qpos:
[-0.01634781, 1.29648878,-0.03192832, 0.94846107, 0.00437633, 1.33156963,
 -0.02975952, 0.94628022, 0.01673024, 1.33658163,-0.02395657, 0.95498749,
  1.39501478,-0.00602788, 1.18840292, 0.06120221,-0.05262991,-0.11167985,
  0.07960184, 0.57727259,-0.0098887 ,-0.00453524, 0.81647903]

qacc:
[ 3.59305138e-01,-1.84648710e+00, 4.33551070e+00,-1.72030485e+01,
 -1.55629454e-01, 3.77036933e-01,-3.08285752e-01,-2.91131934e+00,
 -7.75316161e-02,-4.80555334e+00, 1.59726546e+01,-1.90148910e+01,
 -4.97426996e-02,-2.69279365e-01, 7.61392754e+00,-1.38543779e+01,
 -3.05390050e+00, 1.76082912e+00,-1.54936444e+00,-2.12262451e+02,
  2.71791836e+02, 2.23041459e+01]

qfrc_actuator:
[ 4.13375366e-03, 7.08946314e-02, 2.00127304e-02, 1.71698528e-03,
  4.17441669e-06, 3.48447773e-02, 1.09311757e-02, 1.85997012e-03,
 -3.03799079e-03, 3.46831738e-02, 1.09262878e-02, 1.73687168e-03,
  0.00000000e+00, 2.93963052e-03, 0.00000000e+00,-2.10927060e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006802657896326572
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30143942,  0.08800996, -0.94941483, -0.02663302,  0.9961196 ,
        0.08388346,  0.9531133 ,  0.        ,  0.30261369])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07197251, -0.04292154,  0.22465752])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.57350295,  1.04010769, -8.57350295,  9.76757215,
        9.32443783,  1.04010769,  9.32443783, 85.49676555,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003364003981600361
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.30030235e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.30030235e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00407471, -0.12571154,  0.06170222])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.21260867e-03, 3.59816017e-02, 9.06692556e-03,-8.42353003e-05,
 -4.47970029e-05, 2.39489969e-05,-5.66385769e-06,-1.27996082e-05,
 -2.24189293e-05,-1.73407205e-05, 6.77188033e-05,-2.25811628e-05,
  3.29150462e-03, 4.74985115e-03, 8.69988090e-03, 1.53918245e-03,
  4.32119730e-04,-1.25744990e-04,-4.90549651e+00, 6.52851612e-03,
  2.26207326e-03,-1.29483820e-04]


--- Step 2744 ---
qpos:
[-0.01634846, 1.29649599,-0.03192742, 0.9484598 , 0.00437662, 1.3315701 ,
 -0.02975905, 0.94628114, 0.01673036, 1.33658162,-0.02395557, 0.95498472,
  1.39502163,-0.00602851, 1.18839499, 0.06119934,-0.05266685,-0.11169987,
  0.07958146, 0.57701232,-0.00993524,-0.00445276, 0.81666287]

qacc:
[ 9.25399045e-02, 7.04679280e-01,-2.94460416e+00, 5.59355926e+00,
 -1.36289129e-01,-1.79361879e+00, 8.24434608e+00,-1.76116848e+01,
 -1.62049728e-02,-3.94889139e+00, 1.94343343e+01,-4.87585360e+01,
 -1.21775156e-01, 8.47462372e-02, 2.61216315e+00,-5.94814704e+00,
 -2.90348334e+00, 1.60955477e+00,-2.43541544e+00,-1.86724483e+02,
  2.39133967e+02, 1.96174504e+01]

qfrc_actuator:
[ 4.13791990e-03, 7.08599778e-02, 2.00206430e-02, 1.74827772e-03,
 -8.63764714e-06, 3.48824894e-02, 1.09530364e-02, 1.81678001e-03,
 -3.02942350e-03, 3.47517384e-02, 1.09363068e-02, 1.59861440e-03,
  0.00000000e+00, 2.93258924e-03, 0.00000000e+00,-1.95932659e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000680139965317187
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30143149,  0.0880103 , -0.94941732, -0.02663242,  0.99611956,
        0.08388401,  0.95311582,  0.        ,  0.30260573])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07197143, -0.04292197,  0.22465774])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  2.41379425,  8.29218754,  2.41379425, 14.2647342 ,
       -1.6383769 ,  8.29218754, -1.6383769 ,  9.11328299,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0034415625446884215
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.03240901e-15, -1.61296360e-14,  1.00000000e+00, -6.50412896e-29,
        1.00000000e+00,  1.61296360e-14, -1.00000000e+00,  0.00000000e+00,
       -4.03240901e-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([-0.00427733, -0.12565004,  0.06169625])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17461688e-03, 3.60847224e-02, 9.14910706e-03, 1.26227573e-05,
 -3.92462774e-05, 4.94681439e-05, 2.55270306e-05,-4.29319051e-05,
 -4.66986773e-06, 7.15341331e-05, 1.36672333e-05,-1.37314974e-04,
  3.29689621e-03, 4.76628176e-03, 8.40232554e-03, 1.53472808e-03,
  1.51050316e-04, 2.07607484e-05,-4.90516062e+00, 6.45258520e-03,
  2.23397919e-03, 6.09801549e-05]


--- Step 2745 ---
qpos:
[-0.0163492 , 1.29650405,-0.03192628, 0.94845985, 0.00437695, 1.33157071,
 -0.02975852, 0.94628157, 0.0167305 , 1.33658207,-0.02395505, 0.95498139,
  1.39502833,-0.00602896, 1.18838681, 0.06119602,-0.05271478,-0.111714  ,
  0.07954822, 0.57672237,-0.01051819,-0.00439561, 0.81686067]

qacc:
[-4.35474877e-02, 2.68679800e+00,-1.00915658e+01, 2.33758455e+01,
  1.64524434e-02,-8.01499693e-01, 3.86118620e+00,-9.15525558e+00,
  8.08013706e-03, 9.66052405e-01,-1.27927157e+00,-5.57924041e+00,
 -2.71250720e-01, 4.09360839e-01, 9.96088007e-01,-3.96542534e+00,
 -2.74643461e+00, 1.47217073e+00,-3.21653724e+00,-1.65215656e+02,
  2.11585813e+02, 1.72207246e+01]

qfrc_actuator:
[ 4.14054675e-03, 7.08540983e-02, 2.00251110e-02, 1.82066025e-03,
  1.92572807e-05, 3.48692041e-02, 1.09480405e-02, 1.79102889e-03,
 -3.02430928e-03, 3.47569789e-02, 1.09063882e-02, 1.57166668e-03,
  0.00000000e+00, 2.94640732e-03, 0.00000000e+00,-1.85703319e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006800897985258653
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30142376,  0.08801058, -0.94941975, -0.02663182,  0.99611954,
        0.0838845 ,  0.95311828,  0.        ,  0.30259798])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07197047, -0.04292241,  0.22465795])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  2.1208108 ,  8.37191367,  2.1208108 , 15.70386025,
       -1.79037001,  8.37191367, -1.79037001,  9.08990821,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003459857596229146
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.02217283e-15,  3.20886913e-14,  1.00000000e+00,  2.57421028e-28,
        1.00000000e+00, -3.20886913e-14, -1.00000000e+00,  0.00000000e+00,
       -8.02217283e-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([-0.00435164, -0.12562848,  0.0616946 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16637829e-03, 3.60824465e-02, 9.16022939e-03, 7.20544502e-05,
  4.73722096e-06, 1.77789469e-05, 6.32394922e-06,-2.45132959e-05,
  2.36049039e-06, 4.33935513e-05,-1.84177962e-05,-2.76265001e-05,
  3.30178633e-03, 4.78312315e-03, 8.32861143e-03, 1.55199922e-03,
  4.88782960e-05, 4.85141516e-05,-4.90498654e+00, 6.36880438e-03,
  2.20340395e-03, 1.13182236e-04]


--- Step 2746 ---
qpos:
[-0.01635022, 1.29651231,-0.03192501, 0.94846049, 0.00437729, 1.33157165,
 -0.02975814, 0.94628237, 0.01673068, 1.33658223,-0.02395432, 0.95497814,
  1.39503461,-0.00602928, 1.18837949, 0.06119251,-0.05277306,-0.11172274,
  0.07949937, 0.57640584,-0.01157849,-0.0043612 , 0.8170699 ]

qacc:
[-1.15342311e-01, 9.22303777e-01,-3.91029297e+00, 1.00586588e+01,
  5.57978333e-03, 1.48053708e+00,-5.08616388e+00, 8.54585448e+00,
  1.53115344e-02,-8.38740501e-01, 2.09686177e+00,-7.02390364e-01,
 -4.63502807e-01, 5.38224220e-01, 1.90652132e+00,-4.73713841e+00,
 -2.58686158e+00, 1.34711416e+00,-3.90291523e+00,-1.47050809e+02,
  1.88295572e+02, 1.50785869e+01]

qfrc_actuator:
[ 4.12472967e-03, 7.08468325e-02, 2.00271846e-02, 1.84553045e-03,
  1.80866245e-05, 3.48964029e-02, 1.09447967e-02, 1.81120967e-03,
 -3.02130919e-03, 3.47063965e-02, 1.09062706e-02, 1.57491438e-03,
  0.00000000e+00, 2.99027142e-03, 0.00000000e+00,-2.31231606e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006800754413347869
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.30141497,  0.08801091, -0.94942251, -0.02663115,  0.99611951,
        0.08388505,  0.95312108,  0.        ,  0.30258917])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07196946, -0.04292285,  0.22465819])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  1.74134244,  8.4589895 ,  1.74134244, 17.59703127,
       -1.84461641,  8.4589895 , -1.84461641,  9.01609089,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003429971738913587
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.09207123e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.09207123e-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([-0.00432399, -0.12563847,  0.0616964 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.15565658e-03, 3.60324055e-02, 9.14990639e-03, 3.13688615e-05,
  1.62553325e-06, 3.75307626e-05, 2.33355191e-07, 2.03325552e-05,
  4.39609711e-06,-3.10097737e-05, 5.44989915e-06, 3.34836834e-06,
  3.30996091e-03, 4.81768891e-03, 8.34110118e-03, 1.52868306e-03,
  7.13437855e-05,-5.52349766e-06,-4.90492768e+00, 6.28177148e-03,
  2.17140484e-03, 7.08852415e-05]


